用扩展卡尔曼滤波观察磁粒子在流体中的运动

Alireza Mazinani, H. N. Pishkenari
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引用次数: 1

摘要

内窥镜检查是一种医学手术,将相机放入患者体内,医生在指定的时间开始拍照。在传统的内窥镜检查过程中,摄像机通过导丝送入体内。这会给病人带来剧烈的疼痛。在较新的方法中,将相机安装在一个小胶囊上,患者吞下胶囊。然后,太空舱内的相机开始拍照并将照片发送出去。这个过程,除了无痛之外,还允许医生进入身体的最深处或消化道。在胶囊内窥镜中,与旧的方法不同,人们必须在任何给定的时刻找到胶囊的位置和方向。这有助于医生知道每个图片属于消化系统的哪个部分。胶囊位置信息也可以用作外部控制系统的输入。利用磁场控制太空舱并确定其位置和方向。在本文中,考虑了一个磁偶极子在一个小胶囊内,它将通过一组磁传感器来实现胶囊的位置。利用胶囊运动的动力学和卡尔曼滤波也可以获得更精确的胶囊定位。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Observation of a Magnetic Particle Moving in a Fluid Using Extended Kalman Filter
Endoscopy is a medical operation in which a camera is sent into the patient's body and the physician starts taking pictures at specified times. In the traditional endoscopic procedure, a camera is sent into the body by a guiding wire. This can cause severe pain to the patient. In the newer method, a camera is mounted on a small capsule and the patient swallows the capsule. Then the camera inside the capsule starts taking photos and sends them out. This procedure, in addition to being painless, allows the physician to access the innermost parts of the body or the digestive tract. In capsule endoscopy, unlike the older method, one has to find the position and orientation of the capsule at any given moment. This helps the physician know which part of the digestive system each picture belongs to. Capsule positional information can also be used as an input for external control systems. Control of the capsule and finding its position and direction is done using magnetic fields. In this paper, a magnetic dipole is considered inside a small capsule that will achieve the position of the capsule using an array of magnetic sensors. It is also possible to obtain a more accurate positioning of the capsule using the dynamics of the capsule motion and the Kalman filter.
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