阅读说明：本技术 一种消化道动力检测方法、系统和胶囊 (Digestive tract dynamic detection method, digestive tract dynamic detection system and digestive tract dynamic detection capsule ) 是由 怀效宁 于 2021-11-03 设计创作，主要内容包括：本发明提供了一种基于消化道胶囊的消化道动力检测系统和胶囊,包括数据采集模块、数据处理模块。用于获取消化道内壁的深度图或点云,提取形态特征,包括消化道的曲率、内径和容积,作为消化道动力评估的一个参照。本发明还提供了一种消化道动力磁控检测系统,包括：控制模块、磁驱动模块、磁定位模块、胶囊；磁驱动模块驱动胶囊在消化道中运动；控制模块根据胶囊在胃肠动力和磁力作用下的位置和运动数据和驱动磁力估计胃肠动力。(The invention provides a digestive tract dynamic detection system based on a digestive tract capsule and the digestive tract dynamic detection system based on the digestive tract capsule. The method is used for acquiring a depth map or a point cloud of the inner wall of the digestive tract, and extracting morphological characteristics including the curvature, the inner diameter and the volume of the digestive tract to be used as a reference for evaluating the kinetic force of the digestive tract. The invention also provides a magnetic control detection system for the digestive tract power, which comprises: the device comprises a control module, a magnetic driving module, a magnetic positioning module and a capsule; the magnetic driving module drives the capsule to move in the digestive tract; the control module estimates gastrointestinal motility according to the position and movement data of the capsule under the action of the gastrointestinal motility and the magnetic force and the driving magnetic force.)

1. The digestive tract dynamic detection system is characterized by comprising a data acquisition module and a system

A control and processing module, a capsule; the data acquisition module and the system control and processing module are connected by a wired or wireless communication link; the data acquisition module is arranged in the capsule and is used for acquiring one or more items of depth, shape and image data of the inner wall of the alimentary canal; the system control and processing module is configured to receive the data and further extract morphological features of the alimentary tract from the data, including one or more of curvature, inner diameter, and volume, as parameters for the assessment of the motility of the alimentary tract.

2. The system of claim 1, further configured to obtain a frequency and intensity of gastrointestinal motility based on changes in the inner diameter and curvature.

3. The system of claim 1, wherein the data acquisition module comprises an ultrasonic ranging device or a camera.

4. An ultrasonic capsule for detecting the digestive tract is characterized by comprising at least one ultrasonic distance measuring probe pair for synchronously and bidirectionally acquiring depth and/or shape data of the opposite side of the inner wall of the digestive tract.

5. The capsule of claim 4, wherein the capsule is in the form of a capsuleThe ultrasonic ranging probe pair comprises a probe 1 and a probe 2, the probe 1 is used for measuring the direction alpha from the probe 2 to the probe 1₀Acquiring a first distance from the probe 1 to one side of the alimentary canal to obtain an actually measured direction alpha₁(ii) a The probe 2 is used for measuring the direction-alpha from the probe 1 to the probe 2₀Obtaining a second distance from the probe 2 to the other side of the alimentary canal to obtain an actually measured direction alpha₂(ii) a Calculating and obtaining the sum of the first distance, the second distance and a third distance between the two probes as a directional cavity diameter for measuring the inner diameter of the digestive tract; wherein | α₁ -α₀| <T_α；

|α₂ +α₀| <T_α；

Wherein probe 1 and probe 2 are synchronized.

6. A capsule according to any of claims 4 to 5, for deriving from said data

The morphological characteristics of the digestive tract, including one or more of curvature, inner diameter and volume, are extracted as parameters for digestive tract motility assessment.

7. The capsule according to claim 4, further comprising a plurality of ultrasound probes,

the plurality of probes are arranged on the outer surface of a central symmetrical body comprising a sphere, the outer surface of the central symmetrical body comprising a shell of a capsule for isotropically acquiring multi-directional depth and/or form data comprising a panorama.

8. A digestive tract motility detection method is characterized by comprising the following steps: obtaining digestion

Morphological features of the tract, including one or more of curvature, internal diameter, and volume, are parameters for assessing gut motility.

9. The method of claim 8, wherein obtaining the inner diameter of the alimentary tract

The method comprises the following steps: acquiring a region of interest of the alimentary tract; acquiring a main channel direction of the concerned part, wherein the main channel direction is the emptying direction of food; acquiring an average value of cavity diameters in a plurality of directions perpendicular to the direction of the main channel as the inner diameter of the digestive tract at the concerned part; the method for acquiring the cavity diameter in any direction comprises the following steps:

s1, acquiring a first distance from a first probe in an ultrasonic probe pair to one side of the inner wall of the alimentary canal along a first direction;

s2, acquiring a second distance from the second probe in the ultrasonic probe pair to the other side of the inner wall of the alimentary canal along the direction opposite to the first direction;

and S3, calculating and obtaining the sum of the first distance, the second distance and the third distance between the first probe and the second probe.

10. The method of claim 8, wherein the obtaining a volume of the alimentary tract

The method comprises the following steps:

acquiring a focus part;

acquiring curved surface data of the inner wall of the digestive tract of the concerned part;

acquiring a main channel direction of the concerned part, wherein the main channel direction is the emptying direction of food;

acquiring a line segment (L1, L2) along the main channel direction, wherein L1, L2 are coordinates of end points of the line segment;

s1 and S2 which respectively obtain the perpendicularity of L1 and L2 to the main channel direction;

calculating and obtaining the volume of a closed body enclosed by the planes S1 and S2 and the inner wall curved surface.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a method, a capsule and a system for detecting a digestive tract.

Background

The digestive tract dynamics has a close relationship with human physiology and pathology. Prior art means of detection of gut motility are primarily based on the tracking of radioactive labels, as disclosed in U.S. patent application No. 15881671. Since the radiological examination is harmful to the living body, the basic research and clinical application of the digestive tract dynamics requires a non-destructive examination scheme of the living body. Optical, acoustic, magnetic are common non-destructive testing means. 3D cameras and video capsule robots with magnetic positioning of the alimentary tract such as EndoCapsule 10 by Olympus and ultrasound endoscopes have been commercially available. Capsule robots may generally include sensors, controllers, and intelligent processors. The sensors and at least part of the controller are typically located within the capsule and the intelligent processor is typically located in a control terminal outside the body. The sensors, controller and intelligent processor are typically connected by a wired or wireless communication link. Due to the widespread commercial use of capsule robots, the present invention is based on implementation means well known to those of ordinary skill in the art as prior art and is not summarized in the following summary of the invention.

Disclosure of Invention

The invention provides a first digestive tract dynamic detection system, which comprises a data acquisition module,

System control and processing module, capsule. The data acquisition module and the system control and processing module are connected by a wired or wireless communication link; the data acquisition module is arranged in the capsule and is used for acquiring one or more items of depth, shape and image data of the inner wall of the alimentary canal; the system control and processing module is configured to receive the data and extract morphological features of the alimentary tract from the data, including one or more of curvature, inner diameter, and volume of the alimentary tract, as parameters for the assessment of the motility of the alimentary tract.

The invention provides a first digestive tract dynamic detection method corresponding to the system, which comprises the following steps: morphological features of the alimentary tract, including one or more of curvature, inner diameter and volume, are acquired as parameters for assessing the motility of the alimentary tract.

The invention provides an ultrasonic capsule for detecting digestive tract, which comprises at least one ultrasonic capsule

And the ultrasonic ranging probe pair is used for synchronously and bidirectionally acquiring depth and/or shape data related to the opposite side of the inner wall of the alimentary canal.

The present invention provides a second digestive tract motility detection system comprising: the system comprises a system control and processing module, a magnetic driving module and a capsule; the capsule is provided with at least one magnet and is driven by the magnetic field generated by the magnetic driving module to move the capsule in the digestive tract; the system control and processing module obtains the data of the motion and estimates the digestive tract dynamics based on the data and the driving magnetic force.

The invention provides a second digestive tract motility detection method corresponding to the second digestive tract motility detection system, which comprises the following steps: acquiring motion data of the capsule with the magnet in the digestive tract under the action of a magnetic field; estimating the power of the digestive tract from the data and the magnetic field force.

Description of the drawings:

fig. 1 is a schematic diagram of gastric peristalsis.

FIG. 2 is a schematic diagram of one embodiment of an ultrasound capsule and calculation of the inner diameter of the alimentary tract.

FIG. 3 is a schematic diagram of a first digestive tract motility detection system architecture.

FIG. 4 is a schematic diagram of a portion of the configuration of a first digestive tract motility detection system capsule and data acquisition module.

Fig. 5 is a schematic structural view of an ultrasound capsule.

FIG. 6 is a schematic diagram of a second digestive tract motility detection system architecture.

Fig. 7 is a schematic diagram of a spherical capsule of the second digestive tract motility detection system.

Figure 8 is a schematic diagram of an ellipsoid capsule of a second digestive tract motility detection system.

The specific implementation scheme is as follows:

the present invention will be described in further detail below with reference to the accompanying drawings and examples, which are illustrative of the present invention and are not intended to limit the present invention.

The digestive tract dynamics generally refers to the force and frequency of contraction, relaxation and peristalsis of the digestive tract under the action of digestive tract muscles, and the function of the digestive tract muscles is to make food move and be transmitted so as to be absorbed and emptied by the digestive tract. The relationship between the morphological characteristics of the digestive tract and the kinetic energy of the digestive tract is visualized, and under the action of digestive tract muscles, the peristaltic movement of the digestive tract firstly generates deformation, including the change of the curvature of the digestive tract and the change of the inner diameter of the digestive tract; the deformation then transfers the force of the digestive tract muscles to the digestive tract contents, such as chyme, causing the digestive tract contents to move. Second, the digestive tract, like most other tissues of the human body, may have elastic properties. It is well known that the force applied to an elastic body is proportional to the deformation of the body under the force applied. Therefore, there is a close correlation between the magnitude of the change in the morphology of the inner wall of the digestive tract and the magnitude of the motility of the digestive tract. Specifically, as shown in fig. 1, the change of the inner diameter and curvature of the digestive tract includes the frequency of jump of the concavity and convexity of the curvature of the curved surface of the digestive tract and the frequency and intensity of the gastrointestinal motility directly related, so that the frequency and intensity of the gastrointestinal motility can be obtained according to the change of the inner diameter and curvature. On the other hand, the physiology and pathology of the digestive tract peristalsis also differ significantly in morphology. For example, when stenosis, dilation or obstruction occurs, the normal rhythm of contraction and relaxation changes. And carrying out statistical analysis on the data of the morphological characteristics of the digestive tract focus points at different parts, the data of the change of the morphological characteristics and the data of the frequency of the change to obtain models of the morphology and the power of the digestive tract focus points at different parts as parameters for evaluating the power of the digestive tract. Like the curvature and the inner diameter, the morphological characteristics of the digestive tract also comprise data of the change of the volume of the lumen of the digestive tract at different parts during peristalsis, and the change of the volume reflects the emptying amount generated by the peristalsis force of the digestive tract and the work performed by the muscles of the digestive tract, and the generated energy is related.

The digestive tract dynamic parameters provided by the invention can preferably obtain one or more items of depth, form and image data of the inner wall of the digestive tract to obtain the data of the curved surface of the inner wall surface of the digestive tract; and then morphological characteristics are extracted. Specifically, the ultrasonic distance measuring device can be preferably arranged in the capsule, after the capsule enters the body, the ultrasonic distance measuring device is started to obtain the distance from the capsule to the surface of the inner wall of the alimentary canal, and the ultrasonic wave of the detection device can also acquire the distance from the capsule to the multilayer tissue structure of the inner wall of the alimentary canal. The ultrasonic distance measurement mainly uses a time difference distance measurement method. The ultrasonic probe transmits directional ultrasonic waves, timing is started at the same time of transmitting time, and the same ultrasonic probe stops timing after receiving the reflected waves. The propagation speed V of the ultrasonic wave in the medium, the time difference T between the transmitted and received return waves recorded by the timer, and the distance S from the transmitting point to the reflecting point are set as the following expression:

S = V ×T / 2 【1】

the capsule is a sphere, the center of which is positioned at any point in the alimentary canal and passes through the point

The sum of the distance from any point to a point on the inner wall of the digestive tract in any direction and the distance from the point to a point on the inner wall of the other side of the digestive tract in the opposite direction is a measure of the morphology of the digestive tract, defined in the present invention as a directional lumen diameter for measuring the inner diameter of the digestive tract, and contains a pair of depth data of the inner wall of the digestive tract. The capsule can pass through any point and has a plurality of cavity diameters. The directional lumen diameter is a direct measure of the morphology of the alimentary tract, eliminating the errors that exist with prior art unidirectional measurements due to the motion of the capsule in the alimentary tract. Further, assuming that the relative position of the two probes in the capsule is constant at least during measurement, corresponding to any pose of the capsule, the pose includes the coordinates of the position of the capsule in the alimentary tract in the world spherical coordinate system outside the body, and the angular difference of the spherical coordinate system inside the capsule relative to the world spherical coordinate system outside the body, the probes 1 of the probe pair are arranged in the direction alpha from the probe 2 to the probe 1₀Measuring a first distance from the probe 1 to one side of the digestive tract with a measuring direction alpha₁(ii) a The probe 2 is oriented in the direction-alpha from the probe 1 to the probe 2₀Measuring a second distance from the probe 2 to the other side of the digestive tract with a measuring direction alpha₂(ii) a The sum of the first distance, the second distance and the third distance between the two probes is the direction cavity diameter of the capsule obtained in any pose and corresponding to the pose. Due to design or actual manufacturing errors of the capsule and the probe, an error threshold for the measurement direction can be set.

|α₁ -α₀| < T_α； 【2】

|α₂ +α₀| < T_α； 【3】

Wherein T is_α=19°。

The sampling interval determines the depth map or point cloud, and the spatial resolution of the curved surface of the inner wall of the alimentary tract, which conforms to the relationship of the nyquist's law. A plurality of ultrasonic ranging probes may preferably be arranged in the capsule to form an ultrasonic ranging probe array platform comprising mechanical, electrical and control software structures, the probes may be located on the outer surface of a central symmetric body comprising a sphere, the outer surface of the central symmetric body comprising the shell of the capsule for isotropically acquiring multi-directional depth and/or shape data. Obviously, the denser the probe array, the more sampling points, and the higher the corresponding cost and power consumption of the circuit. Or a platform mechanical rotating device can be arranged on a platform of the sparse probe array, and after one-time sampling, the system controls the platform to rotate by an angle and then performs the next-time sampling. The platform may preferably implement features in implementing a single measurement, first, a plurality of probes are positioned on the outer surface of a central symmetric body, including a sphere, for isotropically acquiring multi-aspect depth and/or morphology data. Secondly, the distance measuring directions of two probes of any one probe pair are opposite; the distance measurement of any one probe to the two probes is synchronous, and the data obtained by the two probes are related; third, multiple probe ranging is simultaneous, or synchronized and time-spaced, wherein the additional measurement error resulting from the time interval may preferably be less than the measurement error of a single probe. Since the capsule is constantly moving with the peristaltic movement of the digestive tract. The depth or the morphology obtained by multiple sampling can be matched, registered and fused.

Besides the ultrasonic distance measuring device, a panoramic depth map or a point cloud can be obtained by adopting a 3D camera based on an infrared or visible light sensor.

The movement of the capsule in the digestive tract following the peristaltic movement of the digestive tract is passive, random, and eventually expelled from the body. In a preferred embodiment of the present invention, the magnetic field generated by the magnetic control device can be used to drive the capsule with the magnet to move in the digestive tract to one or more regions of interest, so as to realize fixed-point detection.

FIG. 2 is one embodiment of an ultrasound capsule containing a pair of probes. The probe pair comprises a probe

A head 1 and a probe 2 for bi-directionally acquiring depth and/or morphology data of the relevant contralateral side of the inner wall of the alimentary tract. When the capsule ball enters the body of the subject, the capsule ball can reach the position of Pa first. The distance that the probe 1 positioned outside the capsule acquires a point on the stomach wall along any one direction (theta, phi) of a spherical coordinate system with Pa as a coordinate origin is represented by | A210, A21 |; meanwhile, the other sensor probe 2 located on the opposite side of the capsule acquires a distance from one point to another on the stomach wall in the opposite direction (- θ, - φ) of the arbitrary direction, which is represented by | A200, A20 |. The distance | A210, A21| + | A200, A20| + | A200, A210| is a directional cavity diameter D of the crossing point Pa. Where a200 and a210 are the coordinates of the two ultrasound probes, respectively. The coordinates (θ, φ, | A210, A21| +1/2 | A200, A210 |) and (- θ, - φ, | A200, A20| +1/2 | A200, A210 |) are a pair of depth data obtained with the capsule center at point Pa. The set of depth data acquired by the capsule at point Pa for all points of the stomach wall is a depth map at point Pa. The depth maps obtained at different points, such as Pb and Pc … …, may be matched and fused into one depth map, and then the depth map is converted into a point cloud, or each depth map may be converted into a point cloud, and then the point cloud is matched and fused. And the fusion of the depth map and the point cloud can preferably refer to the position and posture data of the capsule. The invention preferably adopts a magnetic positioning system to acquire the pose of the capsule. The implementation of magnetic positioning comprises a first positioning mode, wherein a system control and processing module acquires data of a magnetic field signal generated by a magnet arranged in a capsule and received by a magnetic field sensor arranged outside the capsule, and then the data is processed by adopting a positioning algorithm to acquire the pose of the capsule; and in the second positioning mode, the magnetic sensor in the capsule acquires data of magnetic field signals of a positioning magnet arranged outside the body, and then the data are wirelessly transmitted to the system control and processing module, and the system control and processing module processes the data by adopting a positioning algorithm to obtain the pose of the capsule. The system control and processing module can switch between the two positioning modes according to the requirement. The time sequence of the pose data is processed, and the motion data of the capsule including the position, the displacement (including the selection angle), the speed (including the angular speed), the acceleration (including the angular acceleration) and the frequency characteristic can be obtained. The pose positioning of the capsule can be used for data fusion to obtain the panoramic view of the digestive tract, and can also be used for acquiring the position of the digestive tract position in the body relative to the body surface, such as detecting the position of the capsule at the pylorus, and the pose positioning can be used as a detection means for gastroptosis.

The point cloud can be viewed as a sample of the curved surface of the inner wall of the digestive tract. The sparse point cloud can be smoothed and denoised by surface fitting to obtain surface data. The peristaltic motion of the capsule along the alimentary canal can cumulatively obtain the curved surface data of the inner wall surface of the whole alimentary canal. As each different digestive tract part of the human body has unique morphological characteristics and corresponding relations, the detection program of the system control and processing module or the capsule can identify the morphological characteristics of the digestive tract part of the collected digestive tract data. When a certain specific focus part needs to be detected, such as the point Pc in fig. 2, if the current position of the capsule is at the point Pa, the magnetic control device can be activated to drive the capsule from the point Pa to the point Pc. And when the magnetic positioning device confirms that the capsule reaches the Pc point, the system control and processing module or the detection program of the capsule starts the ultrasonic distance measuring device of the capsule to start to acquire data. Further, the system control and processing module or the detection program of the capsule matches the current pose information of the capsule acquired by magnetic positioning with the position characteristics extracted from the data of the inner wall of the alimentary tract acquired by the capsule to ensure the accuracy of positioning. To minimize the disturbance of the test to the surrounding physiological environment, capsule designs such as small volume, and density of chyme may be used. In a test without intervention, the driving force of the magnetron device may be normally in a zero state. Specific intervention forces may be applied to maintain the capsule in residence around the point of interest or to antagonistically interfere with the capsule's motion to measure the motility of the digestive tract while testing for intervention. As one example, the capsule may be observed at a Pc point, such as near the pylorus. The magnetic control device can apply an interference magnetic field to the movement of the capsule with the magnet, and when the magnetic field force reaches a first threshold value, the emptying time of the capsule is visually increased; when the magnetic field force reaches a second threshold value, the capsule cannot be emptied. The peristaltic force to which the capsule is subjected can be estimated from the magnitude and direction of the magnetic field acting force, the emptying time of the capsule, the physical properties of the capsule and the physical properties of the stomach contents. After the depth and/or shape data of the inner wall of the alimentary tract of the time sequence acquired by the capsule are acquired by the system control and processing module or the detection program of the capsule, the data can be converted into point cloud firstly, and then the curved surface fitting is carried out. The morphological feature extraction may be based directly on the original depth and/or morphological data, or on the data of the fitted surface. Since the main function of the digestive tract is to move around the food, the direction of the movement of the food can be taken as the direction of the main axis or main channel of the digestive tract. The statistical average of the cavity diameters in a plurality of directions perpendicular to the main axis at any one of the interested parts in the digestive tract can be set as the cavity diameter or the inner diameter of the main direction of the interested part of the digestive tract. From the data of the curved surface and the anatomical morphological features of the alimentary tract, the main channel direction of each point within the alimentary tract can be estimated. The calculation of the curvature of the curved surface is a classic subject of differential geometry, and a large number of algorithms are available. The calculation of the partial derivative can be performed on the data of the curved surface of the inner wall of the digestive tract, or the data obtained after the down-sampling of the curved surface of the inner wall of the digestive tract. Different parts can have different curvature radius characteristics, and the curvatures of the curved surface data with different spatial frequencies correspond to different curvature radii. The calculation of the volume can select a length-adjustable line segment (L1, L2) as the height along the main channel direction, wherein L1 and L2 are coordinates of end points. L1 and L2 are perpendicular to the main channel direction S1 and S2, respectively. A closed volume enclosed by the planes S1, S2 and the curved surface data of the inner wall of the digestive tract can be regarded as a volume at the point Pc, and the calculation can be performed by an integral numerical solution. The motion data of the capsule including displacement, velocity, frequency can be obtained by magnetic positioning means. The rate of change and amplitude of change of the morphological features of the alimentary tract as described above may be extracted from the time series of said feature data, wherein the frequency characteristics resulting from the change of the morphological features may be correlatively matched to the frequency characteristics of the capsule motion resulting from the magnetic localization. Different foods or drugs can affect the digestive tract motility, and the detection can be carried out in food environments such as clear water, starch and wine.

As shown in FIGS. 3 and 4, the first digestive tract motility detecting system of the invention comprises

A data acquisition module, a system control and processing module and a capsule. The data acquisition module and the system control and processing module are connected by a wired or wireless communication link; the system control and processing module is usually located in an external control terminal or an upper computer, or is distributed, that is, part of functions are completed in the external control terminal or the upper computer, and part of functions are completed in the capsule. The system control and processing module comprises at least one processor and at least one solid-state storage medium, wherein the solid-state storage medium comprises instructions and parameters which can be read by the at least one processor and is used for running a digestive tract dynamic detection program to coordinate the work of each module. The data acquisition module is arranged in the capsule and is used for acquiring one or more items of depth, shape and image data of the inner wall of the alimentary canal; the system control and processing module is used for receiving one or more items of the depth, the shape and the image data from the data acquisition module, processing the data, and extracting shape characteristics of the digestive tract, including one or more items of the curvature, the inner diameter and the volume of the digestive tract, as parameters for evaluating the kinetic force of the digestive tract; wherein, the change of the inner diameter and the curvature comprises that the frequency of the jump of the convexity and concavity of the curvature of the curved surface of the digestive tract and the frequency and the intensity of the gastrointestinal peristalsis are directly related, and the system can acquire the frequency and the intensity of the gastrointestinal peristalsis according to the change of the inner diameter and the curvature. The system also comprises a magnetic positioning module, wherein at least one magnet or a first magnetic sensor is arranged in the capsule; and receiving the magnetic field signal generated by the at least one magnet by a magnetic sensor arranged outside the alimentary canal, or receiving the magnetic field signal of the magnet arranged outside the alimentary canal by the first magnetic sensor to acquire the pose data of the capsule.The system also comprises a magnetic driving module which comprises an external magnetic control device and a magnet in the capsule and is used for generating a magnetic field to drive the capsule to move to or stay at one or more interested parts in the alimentary canal so as to realize the fixed-point detection. The system control and processing module performs morphological feature recognition on the acquired digestive tract data to determine the position of the capsule. And fusing a plurality of depth maps or point clouds according to the pose data of the capsule, and fitting the point clouds to obtain curved surface data. The data acquisition module comprises an ultrasonic distance measuring device or a camera. The ultrasonic ranging device comprises at least one ultrasonic ranging probe pair used for synchronously and bidirectionally acquiring depth and/or shape data of the related opposite side of the inner wall of the alimentary canal. The probe 1 of the probe pair is oriented in the direction alpha from the probe 2 to the probe 1, corresponding to any pose of the capsule₀Measuring a first distance from the probe 1 to one side of the digestive tract with a measuring direction alpha₁(ii) a The probe 2 is oriented in the direction-alpha from the probe 1 to the probe 2₀Measuring a second distance from the probe 2 to the other side of the digestive tract with a measuring direction alpha₂(ii) a The sum of the first distance, the second distance and the third distance between the two probes is the direction cavity diameter of the capsule obtained in any pose and corresponding to the pose. Wherein

|α₁ -α₀| < T_α；

|α₂ +α₀| < T_α(ii) a Wherein T is_{α =} 19°。

The ultrasonic distance measuring device can also acquire data of the position of any one concerned part in the alimentary canal, drive the capsule to the concerned part, acquire the main channel direction of the concerned part, and acquire the average value of the cavity diameters in a plurality of directions vertical to the main channel direction as the cavity diameter or the inner diameter of the main direction of the alimentary canal of the concerned part. When the number of the probe pairs is more than one, or a plurality of ultrasonic probes with one-way distance measurement are adopted at the same time, the probes are arranged on the outer surface of a central symmetrical body comprising a sphere, the outer surface of the central symmetrical body comprises a shell of a capsule, and the central symmetrical body is used for isotropically acquiring multi-azimuth depth and/or form data comprising a panorama.

The first digestive tract dynamic detection method comprises the following steps: morphological features of the alimentary tract, including one or more of curvature, inner diameter and volume, are acquired as parameters for assessing the motility of the alimentary tract. Acquiring one or more of depth, morphology and image data of the inner wall of the alimentary tract, and extracting the morphological characteristics from the data; or acquiring curved surface data of the inner wall of the alimentary canal, and extracting the morphological characteristics from the curved surface data; the frequency and intensity of gastrointestinal motility are obtained from the frequency of the changes in internal diameter and curvature, including the jump in concavity and convexity of curvature of the curved surface of the alimentary tract. Obtaining an inner diameter of the alimentary tract

The method comprises the following steps: acquiring a region of interest of the alimentary tract; acquiring a main channel direction of the concerned part, wherein the main channel direction is the emptying direction of food; acquiring an average value of cavity diameters in a plurality of directions perpendicular to the direction of the main channel as the inner diameter of the digestive tract at the concerned part; the method for acquiring the cavity diameter in any direction comprises the following steps:

s1, acquiring a first distance from a first probe in an ultrasonic probe pair to one side of the inner wall of the alimentary canal along a first direction;

s2, acquiring a second distance from the second probe in the ultrasonic probe pair to the other side of the inner wall of the alimentary canal along the direction opposite to the first direction;

and S3, calculating and obtaining the sum of the first distance, the second distance and the third distance between the first probe and the second probe.

The method for obtaining the volume of the digestive tract comprises the following steps:

acquiring a focus part;

acquiring curved surface data of the inner wall of the digestive tract of the concerned part;

acquiring a main channel direction of the concerned part, wherein the main channel direction is the emptying direction of food;

acquiring a line segment (L1, L2) along the main channel direction, wherein L1, L2 are coordinates of end points of the line segment;

s1 and S2 which respectively obtain the perpendicularity of L1 and L2 to the main channel direction;

calculating and obtaining the volume of a closed body enclosed by the planes S1 and S2 and the inner wall curved surface.

As shown in FIG. 5, an ultrasonic capsule for digestive tract examination according to the present invention is described above and comprises

And the at least one ultrasonic ranging probe pair is used for synchronously acquiring depth and/or shape data of the related opposite side of the inner wall of the digestive tract in a two-way mode. The ultrasonic ranging probe pair comprises a probe 1 and a probe 2, and the probe 1 is used for corresponding to any pose of the capsule and along the direction alpha from the probe 2 to the probe 1₀Acquiring a first distance from the probe 1 to one side of the alimentary canal to obtain an actually measured direction alpha₁(ii) a The probe 2 is used for measuring the direction-alpha from the probe 1 to the probe 2₀Obtaining a second distance from the probe 2 to the other side of the alimentary canal to obtain an actually measured direction alpha₂(ii) a Acquiring the sum of the first distance, the second distance and a third distance between the two probes as a measurement of the inner diameter of the digestive tract of the capsule; wherein

|α₁ -α₀| < T_α；

|α₂ +α₀| < T_α(ii) a Wherein T is_{α =} 19°。

When the number of the probe pairs is more than one, or a plurality of ultrasonic probes for one-way distance measurement are adopted at the same time, the probes can be arranged on the outer surface of a central symmetric body comprising a sphere, and the outer surface of the central symmetric body comprises a shell of a capsule, so that the data of the depth or the shape in multiple directions can be acquired isotropically. The capsule contains at least one processor, at least one solid-state storage medium containing instructions and parameters readable by the at least one processor for running a digestive tract detection program. The capsule can be used as a component of the first digestive tract dynamic detection system, control data and collected digestive tract data are transmitted wirelessly, and can also be used as an independent device, and the collected digestive tract data are stored in a storage medium in the capsule and are collected and processed after being discharged outside the body. A first magnet or a first magnetic sensor is also arranged in the capsule; and receiving the magnetic field signal generated by the first magnet by a second magnetic sensor arranged outside the alimentary canal, or receiving the magnetic field signal of a second magnet arranged outside the alimentary canal by the first magnetic sensor to acquire the pose data of the capsule. At least one processor of the capsule performs morphological feature recognition of the alimentary tract site on the acquired alimentary tract data to determine the site at which the capsule is located. Further, data of a position of a region of interest in the alimentary tract is acquired, the capsule is driven to the region of interest, a main channel direction of the region of interest is acquired, and an average value of a plurality of directional cavity diameters perpendicular to the main channel direction of the region of interest is acquired as a main directional cavity diameter or an inner diameter of the alimentary tract of the region of interest. Furthermore, a plurality of depth maps or point clouds are fused according to the position and posture data of the capsule, the point clouds are fitted to obtain curved surface data, and morphological characteristics of the alimentary tract, including one or more of the curvature, the inner diameter and the volume of the alimentary tract, are extracted to be used as parameters for evaluating the power of the alimentary tract. Wherein, since the change of the inner diameter and the curvature comprises the frequency of jump of the convexity and concavity of the curvature of the curved surface of the alimentary canal and the frequency and intensity of the gastrointestinal peristalsis are directly related, the frequency and intensity of the gastrointestinal peristalsis can be obtained according to the change of the inner diameter and the curvature. An external magnetic control device is adopted to generate a magnetic field to drive a magnet in the capsule to enable the capsule to move to or stay at one or more interested parts in the alimentary canal, so that the fixed-point detection is realized.

As shown in fig. 6, 7 and 8, the second digestive tract motility detecting system of the present invention includes: the system comprises a system control and processing module, a magnetic driving module and a capsule; the system control and processing module, the magnetic driving module and the capsule are connected by a communication link; the system control and processing module is usually located in a control terminal or upper computer outside the body. The system control and processing module comprises at least one processor and at least one solid-state storage medium, wherein the solid-state storage medium comprises instructions and parameters which can be read by the at least one processor and is used for running a digestive tract dynamic detection program to coordinate the work of each module. The capsule is provided with at least one driving magnet and is used for driving the capsule to move in the digestive tract by the magnetic field generated by the magnetic driving module; the system control and processing module obtains the data of the motion and estimates the digestive tract dynamics based on the data and the driving magnetic force. The system also includes a magnetic positioning module. The system control and processing module acquires pose data of the capsule through magnetic positioning and extracts motion data of the capsule, including position, displacement (including rotation angle), and velocity (including angular velocity), acceleration (including angular acceleration) and frequency characteristics. The capsule may also have at least one positioning magnet and at least one magnetic sensor therein. The positioning magnet may be the same or different magnet as the drive magnet. In the first positioning mode of the magnetic positioning module, a second magnetic sensor arranged outside the body receives a magnetic field signal of the at least one positioning magnet to obtain first position and posture data; the second positioning mode of the magnetic positioning module comprises that the at least one magnetic sensor receives a magnetic field signal of a positioning magnet arranged outside the body to obtain second position and posture data. The system control and processing module can switch the two positioning modes according to the requirement; the method comprises the steps of acquiring pose and motion data of the capsule under the action of digestive tract power by adopting a first positioning mode, and acquiring second pose and motion data of the capsule under the combined action of the digestive tract power and driving magnetic force by adopting a second positioning mode. The shell of the capsule may preferably be smooth in shape and free of corners, including spheres or ellipsoids.

The second digestive tract motility detection method comprises the following steps: acquiring motion data of the capsule with the magnet in the digestive tract under the action of a magnetic field; the motion data includes the capsule's characteristics including position, displacement (including angle of rotation), and velocity (including angular velocity), acceleration (including angular acceleration), and frequency. Estimating the power of the digestive tract from the motion data and the magnetic field force. The method further comprises the steps of sampling magnetic positioning to acquire pose data of the capsule; and obtaining the motion data of the capsule according to the pose data. The method also comprises the following implementation steps: acquiring data of the position of any one concerned part in the alimentary canal; driving the capsule to the site of interest; acquiring a first emptying time of the capsule under the action of digestive tract power at a concerned part; acquiring a second emptying time of the capsule at the one region of interest under the action of the driving magnetic force; estimating a gut motility of the one site of interest based on the first and second emptying times and the driving magnetic force. The method also comprises the following implementation steps: acquiring motion data of the capsule under the action of digestive tract power at a concerned part; generating an interference magnetic field to the capsule motion, said interference magnetic field causing said capsule to be arrested at said site of interest; and estimating the power of the digestive tract according to the magnitude and the direction of the acting force of the magnetic field.