Position detecting system and position detecting method

• US 8,868,372 B2
• Filed: 09/10/2010
• Issued: 10/21/2014
• Est. Priority Date: 03/10/2009
• Status: Expired due to Fees

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Medical Systems Corporation (Olympus Corporation)
• Inventors: Iida, Takahiro, Chiba, Atsushi, Kimura, Atsushi
• Primary Examiner(s): NGHIEM, MICHAEL P
• Application Number:
  US12/879,441
• Publication Number:
  US 20110184690A1
• Time in Patent Office: 1,502 Days
• Field of Search: 702/150
• US Class Current: 702/150
• CPC Class Codes: A61B 1/00016 using wireless means
• CPC Class Codes: A61B 1/00032 internally powered
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 1/0684 using light emitting diodes [LED]
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/7257 using Fourier transforms
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00

Abstract

A position detecting system having a predicting unit for calculating a moving amount by which a detected object is predicted to move between a first time and a second time after a predetermined time from the first time, and for predicting at least one of a position and a direction of the detected object at the second time, and a control unit for controlling a position detecting unit based on the at least one of the position and the direction of the detected object at the second time predicted by the predicting unit.

Claims

1. A position detecting system comprising:

a detected object including a magnetic-field generating unit that generates a magnetic field;

at least one magnetic sensor configured to detect the magnetic field generated by the magnetic-field generating unit;

a position detecting unit configured to calculate, based on a detection value of the at least one magnetic sensor, at least one of a position and a direction of the detected object;

a memory unit configured to store a calculation result of the position detecting unit;

a predicting unit configured to calculate, based on the calculation results at a plurality of times different from one another stored in the memory unit, a moving amount by which the detected object is predicted to move between a first time when the position detecting unit calculates the at least one of the position and the direction of the detected object and a second time after a predetermined time from the first time, and to predict, based on a calculation result of the position detecting unit at the first time stored in the memory unit and the moving-amount calculation result, at least one of a position and a direction of the detected object at the second time; and

a control unit configured to control the position detecting unit based on the at least one of the position and the direction of the detected object at the second time predicted by the predicting unit,

wherein;

the position detecting unit is configured to change, when a detection value of the at least one magnetic sensor is set as a true value and a predicted value of the magnetic sensor predicted under an assumption that the detected object is present in an estimation position is set as an estimation value, the estimation position such that a difference between the true value and the estimation value is equal to or smaller than a predetermined value, and

the control unit is configured to change an initial value of the estimation position.

2. The position detecting system according to claim 1, wherein

the position detecting unit includes a magnetic-sensor selecting unit that selects at least one of the magnetic sensors that is a target from which the detection value is read out, and

the control unit is configured to control the magnetic-sensor selecting unit to select the at least one of the magnetic sensors.

3. The position detecting system according to claim 1, wherein

the magnetic-field generating unit includes a resonance circuit that is induced by a driving magnetic field having a specific frequency to generate the magnetic field as a resonant magnetic field,

the position detecting system further comprises a driving-magnetic-field generating unit that generates the driving magnetic field having the specific frequency, and

the control unit is further configured to control the driving-magnetic-field generating unit.

4. The position detecting system according to claim 3, wherein

the driving-magnetic-field generating unit includes

a driving coil that generates the driving magnetic field;

and

a driving-signal generating unit that generates a driving signal having a frequency same as the specific frequency and inputs the driving signal to the driving coil, and

the control unit is further configured to control generation of the driving signal by the driving-signal generating unit.

5. The position detecting system according to claim 3, wherein the driving-magnetic-field generating unit includes

a plurality of driving coils that generate the driving magnetic field;

a driving-signal generating unit that generates a driving signal having the specific frequency; and

a switching unit that switches, among the driving coils, a driving coil to which the driving signal generated by the driving-signal generating unit should be input, and

the control unit is further configured to control switching of the driving coil by the switching unit.

6. A position detecting system comprising:

a detected object that includes a magnetic-field generating unit that generates a magnetic field;

at least one magnetic sensor that detects the magnetic field generated by the magnetic-field generating unit;

a position detecting unit that calculates, based on a detection value of the at least one magnetic sensor, at least one of a position and a direction of the detected object;

a memory unit that stores a calculation result of the position detecting unit;

a moving-amount calculating unit that calculates, based on the calculation results at a plurality of times different from one another stored in the memory unit, a moving amount by which the detected object is predicted to move between first time when the position detecting unit calculates the at least one of the position and the direction of the detected object and second time after a predetermined time from the first time;

a predicting unit that predicts, based on a calculation result of the position detecting unit at the first time stored in the memory unit and a calculation result of the moving-amount calculating unit, at least one of a position and a direction of the detected object at the second time; and

a control unit that controls the position detecting unit based on the at least one of the position and the direction of the detected object at the second time predicted by the predicting unit, wherein

the position detecting unit includes an interference correcting unit that corrects the detection value by removing, from the detection value, a component of an interference magnetic field, which is caused when a coil arranged near the magnetic-field generating unit is induced by the magnetic field, in the detection value, and

the control unit is further configured to change the component of the interference magnetic field that should be removed by the interference correcting unit.

7. The position detecting system according to claim 6, wherein

the magnetic-field generating unit includes a resonance circuit that generates a resonant magnetic field induced by a driving magnetic field having a specific frequency,

the position detecting system further comprises a driving-magnetic-field generating unit that generates the driving magnetic field, and

the control unit is configured to control the driving-magnetic-field generating unit.

8. The position detecting system according to claim 7, wherein

the driving-magnetic-field generating unit includes

a driving coil that generates the driving magnetic field;

and

a driving-signal generating unit that generates a driving signal having a frequency same as the specific frequency and inputs the driving signal to the driving coil, and

the control unit is configured to control generation of the driving signal by the driving-signal generating unit.

9. The position detecting system according to claim 7, wherein the driving-magnetic-field generating unit includes

a plurality of driving coils that generate the driving magnetic field;

a driving-signal generating unit that generates a driving signal having the specific frequency; and

a switching unit that switches, among the driving coils, a driving coil to which the driving signal generated by the driving-signal generating unit should be input, and

the control unit is configured to control switching of the driving coil by the switching unit.

10. A method for operating a position detecting system, the position detecting system including a detected object that includes a magnetic-field generating unit that generates a magnetic field;

at least one magnetic sensor that detects the magnetic field generated by the magnetic-field generating unit;

a position detecting unit that calculates, based on a detection value of the at least one magnetic sensor, at least one of a position and a direction of the detected object;

a moving-amount calculating unit that calculates a moving amount of the detected object;

a predicting unit that predicts, based on a calculation result of the position detecting unit and a calculation result of the moving-amount calculating unit, at least one of a position and a direction of the detected object; and

a control unit that controls the position detecting unit based on the at least one of the position and the direction of the detected object predicted by the predicting unit, the method comprising;

detecting, with the at least one magnetic sensor, a magnetic field generated by the magnetic-field generating unit;

performing, by the position detecting unit, when a detection value of the magnetic sensor that detects the magnetic field is set as a true value and a predicted value of the magnetic sensor predicted under an assumption that the detected object is present in an estimation position is set as an estimation value, convergence calculation for changing the estimation position such that a difference between the true value and the estimation value is equal to or smaller than a predetermined value to calculate at least one of a position and a direction of the detected object;

calculating, by the moving-amount calculating unit, a moving amount by which the detected object is predicted to move between first time when the at least one of the position and the direction of the detected object is calculated and second time after a predetermined time from the first time;

predicting, by the predicting unit, based on a result of the calculation performed at the first time and a result of the calculation of the moving amount, at least one of a position and a direction of the detected object at the second time; and

chancing, by the control unit, an initial value of the estimation position based on the predicted at least one of the position and the direction of the detected object at the second time.

11. A method for operating a position detecting system, the position detecting system including a detected object that includes a magnetic-field generating unit that generates a magnetic field;

at least one magnetic sensor that detects the magnetic field generated by the magnetic-field generating unit;

a position detecting unit that calculates, based on a detection value of the at least one magnetic sensor, at least one of a position and a direction of the detected object;

a moving-amount calculating unit that calculates a moving amount of the detected object;

a predicting unit that predicts, based on a calculation result of the position detecting unit and a calculation result of the moving-amount calculating unit, at least one of a position and a direction of the detected object; and

a control unit that controls the position detecting unit based on the at least one of the position and the direction of the detected object predicted by the predicting unit, the method comprising;

detecting, with the at least one magnetic sensor, a magnetic field generated by the magnetic-field generating unit;

correcting, by the position detecting unit, the detection value by removing, from a detection value of the magnetic sensor that detects the magnetic field, a component of an interference magnetic field, which is caused when a coil arranged near the magnetic-field generating unit is induced by the magnetic field, in the detection value and calculating, based on the detection value after the correction, at least one of a position and a direction of the detected object;

calculating, by the moving-amount calculating unit, a moving amount by which the detected object is predicted to move between first time when the at least one of the position and the direction of the detected object is calculated and second time after a predetermined time from the first time;

predicting, by the predicting unit, based on a result of the calculation performed at the first time and a result of the calculation of the moving amount, at least one of a position and a direction of the detected object at the second time; and

changing, by the control unit, based on the predicted at least one of the position and the direction of the detected object at the second time, the component of the interference magnetic field that should be removed from the detection value of the magnetic sensor.

12. A method for operating a position detecting system, the position detecting system including a detected object that includes a magnet and a magnetic-field generating unit that generates a magnetic field;

at least one magnetic sensor that detects the magnetic field generated by the magnetic-field generating unit;

a position detecting unit that calculates, based on a detection value of the at least one magnetic sensor, at least one of a position and a direction of the detected object;

a guidance-magnetic-field generating unit that generates a guidance magnetic field acting on the magnet;

a guiding unit that guides the at least one of the position and the direction of the detected object to at least one of a position and a direction set as targets;

a moving-amount calculating unit that calculates a moving amount of the detected object;

a predicting unit that predicts, based on a calculation result of the position detecting unit and a calculation result of the moving-amount calculating unit, at least one of a position and a direction of the detected object; and

a position detection control unit that controls the position detecting unit based on the at least one of the position and the direction of the detected object predicted by the predicting unit, the method comprising;

detecting, with the at least one magnetic sensor, a magnetic field generated by the magnetic-field generating unit;

performing, by the position detecting unit, when a detection value of the magnetic sensor that detects the magnetic field is set as a true value and a predicted value of the magnetic sensor predicted under an assumption that the detected object is present in an estimation position is set as an estimation value, convergence calculation for changing the estimation position such that a difference between the true value and the estimation value is equal to or smaller than a predetermined value to calculate at least one of a position and a direction of the detected object;

generating, by the guidance-magnetic-field generating unit, based on guide information as information concerning any one of a position and a direction set as targets or both concerning the detected object, information concerning any one of target speed of the detected object and target angular velocity of the detected object or both, or information concerning any one of target acceleration of the detected object and target angular acceleration of the detected object or both, a guidance magnetic field acting on the magnet;

controlling, by the guiding unit, the guidance-magnetic-field generating unit to guide the detected object from the at least one of a position and a direction of the detected object calculated by the position detecting unit to at least one of a position and a direction set as targets;

calculating, by the moving-amount calculating unit, a moving amount by which the detected object is predicted to move between first time when the at least one of the position and the direction of the detected object is calculated and second time after a predetermined time from the first time;

predicting, by the predicting unit, based on a result of the calculation performed at the first time and a result of the calculation of the moving amount, at least one of a position and a direction of the detected object at the second time; and

changing, by the position detection control unit, an initial value of the estimation position based on the predicted at least one of the position and the direction of the detected object at the second time.

13. A method for operating a position detecting system, the position detecting system including a detected object that includes a magnet and a magnetic-field generating unit that generates a magnetic field;

at least one magnetic sensor that detects the magnetic field generated by the magnetic-field generating unit;

a position detecting unit that calculates, based on a detection value of the at least one magnetic sensor, at least one of a position and a direction of the detected object;

a guidance-magnetic-field generating unit that generates a guidance magnetic field acting on the magnet;

a guiding unit that guides the at least one of the position and the direction of the detected object to at least one of a position and a direction set as targets;

a moving-amount calculating unit that calculates a moving amount of the detected object;

a predicting unit that predicts, based on a calculation result of the position detecting unit and a calculation result of the moving-amount calculating unit, at least one of a position and a direction of the detected object; and

a control unit that controls the position detecting unit based on the at least one of the position and the direction of the detected object predicted by the predicting unit, the method comprising;

detecting, with the at least one magnetic sensor, a magnetic field generated by the magnetic-field generating unit;

correcting, by the position detecting unit, the detection value by removing, from a detection value of the magnetic sensor that detects the magnetic field, a component of an interference magnetic field, which is caused when a coil arranged near the magnetic-field generating unit is induced by the magnetic field, in the detection value to calculate, based on the detection value after the correction, at least one of a position and a direction of the detected object;

generating, by the guidance-magnetic-field generating unit, based on guide information as information concerning any one of a position and a direction set as targets or both concerning the detected object, information concerning any one of target speed of the detected object and target angular velocity of the detected object or both, or information concerning any one of target acceleration of the detected object and target angular acceleration of the detected object or both, a guidance magnetic field acting on the magnet;

controlling, by the guiding unit, the guidance-magnetic-field generating unit to guide the detected object from the at least one of a position and a direction of the detected object to at least one of a position and a direction set as targets;

calculating, by the moving-amount calculating unit, a moving amount by which the detected object is predicted to move between first time when the at least one of the position and the direction of the detected object is calculated and second time after a predetermined time from the first time;

predicting, by the predicting unit, based on a result of the calculation performed at the first time and a result of the calculation of the moving amount, at least one of a position and a direction of the detected object at the second time; and

changing, by the control unit, based on the predicted at least one of the position and the direction of the detected object at the second time, the component of the interference magnetic field that should be removed from the detection value of the magnetic sensor.

14. A position detecting system comprising:

a body-insertable apparatus that generates a resonant magnetic field induced by a driving magnetic field having a specific frequency;

a driving-magnetic-field generating unit that generates the driving magnetic field having the specific frequency in a detection space surrounding a subject into which the body-insertable apparatus is inserted;

a magnetic sensor that detects a magnetic field generated in the detection space;

a position detecting unit that detects, based on the magnetic field detected by the magnetic sensor, at least one of a position and a direction of the body-insertable apparatus;

a predicting unit that predicts, based on the at least one of the position and the direction at different times detected by the position detecting unit, at least one of a position and a direction at a certain time of the body-insertable apparatus; and

a control unit that controls the driving-magnetic-field generating unit and the position detecting unit based on the at least one of the position and the direction at the certain time predicted by the predicting unit,

wherein the position detecting unit is configured to;

set, as a true value, a magnetic field distribution of the resonant magnetic field included in the magnetic field detected by the magnetic sensor,

set, as an initial value of an estimation value, a magnetic field distribution of a resonant magnetic field generated by the body-insertable apparatus under an assumption that the body-insertable apparatus is in the at least one of the position and the direction at the certain time predicted by the predicting unit, and

detect the at least one of the position and the direction by a convergence calculation employing a method of least squares.

15. The position detecting system according to claim 14, further comprising:

a plurality of the magnetic sensor; and

a selecting unit that selects at least one magnetic sensor that is to read out the magnetic field from the plurality of the magnetic sensor,

wherein the control unit is configured to control the selecting unit based on the at least one of the position and the direction at the certain time predicted by the predicting unit.

16. A position detecting system, comprising:

a body-insertable apparatus that generates a resonant magnetic field induced by a driving magnetic field having a specific frequency;

a driving-magnetic-field generating unit that generates the driving magnetic field having the specific frequency in a detection space in which a subject into which the body-insertable apparatus is inserted is placed;

a magnetic sensor that detects a magnetic field generated in the detection space;

a position detecting unit that detects at least one of a position and a direction of the body-insertable apparatus based on the magnetic field detected by the magnetic sensor;

a predicting unit that predicts at least one of a position and a direction of the body-insertable apparatus at a certain time based on at least one of the positions and the directions at different times detected by the position detecting unit; and

a control unit that controls the driving-magnetic-field generating unit and the position detecting unit based on the at least one of the position and the direction at the certain time predicted by the predicting unit, wherein

the position detecting unit includes an interference correcting unit that corrects the magnetic field by removing from the magnetic field a component of interference magnetic field caused when a coil arranged near the detection space is induced by the resonant magnetic field, and

the interference correcting unit removes from the magnetic field a magnetic field component other than the resonant magnetic field included in the magnetic field based on the at least one of the position and the direction at the certain time predicted by the predicting unit.

17. The position detecting system according to claim 16, wherein

the body-insertable apparatus includes a magnet that is fixed to a housing of the body-insertable apparatus,

a guiding unit includes a guidance coil for generating a guidance magnetic field acting on the magnet, and

the coil arranged near the detection space is the guidance coil.

18. The position detecting system according to claim 16, further comprising:

a plurality of the magnetic sensor; and

a selecting unit that selects at least one magnetic sensor that is to read out the magnetic field from the plurality of the magnetic sensor,

wherein the control unit is configured to control the selecting unit based on the at least one of the position and the direction at the certain time predicted by the predicting unit.