Multi-sensor-based endoscope tracking positioning and digital human dynamic synchronous display method
A multi-sensor, synchronous display technology, applied in sensors, instruments, image data processing and other directions, can solve the problems of large size, high cost and complex algorithm of magnetic field positioning system
Inactive Publication Date: 2013-04-10
TIANJIN UNIV
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[0007] The purpose of the present invention is to solve the problems of large volume, high cost, complex algorithm and poor real-time performance of the magnetic field positioning system, introduce multi-sensing technology into endoscope positioning, and provide a multi-sensor based endoscope tracking and positioning and digital human The dynamic synchronous display method is used to improve the positioning continuity and robustness of the endoscope lens posture, increase the scientificity and positioning range of the endoscope position positioning, and realize the dynamic display of positioning information by combining with the digital human technology. The positioning and tracking results of the endoscope are more intuitive
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[0036] The present invention is based on multi-sensor endoscope tracking and positioning and digital human synchronous display method, the implementation mode is as follows figure 1 , with the following steps:
[0037] Step 1. Initial sensing information recording of the system
[0038] In the initial stage of the positioning cycle, the carrier where the multi-sensor system is located is first placed horizontally, and the coordinate system at this time is defined as the initial reference coordinate system N, the actual measurement of the three-axis acceleration sensor and the three-axis magnetic field sensor in the coordinate system N The values are S0=[0.03-0.02-0.99], H0=[0.160.45-0.87], which are all normalized vector distributions. The level adjustment of the carrier can be realized by observing the changes in the measured values of the acceleration sensor.
[0039] Step 2. Use the gyroscope to update the attitude quaternion
[0040] Use the three-axis gyroscope in ...
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The invention discloses a multi-sensor-based endoscope tracking positioning and digital human dynamic synchronous display method. A multi-sensor system which consists of a triaxial gyroscope, a triaxial accelerometer and a triaxial magnetic field sensor serves as a core; and an initial attitude is obtained by quaternion tracking of the gyroscope, and total space divergence errors of the gyroscope are periodically corrected by step-by-step convergence of the accelerometer and the magnetic field sensor, so a rotary attitude is accurately tracked. The system is combined with a plurality of magnet exciting coils near a human body, and a sensing carrier can be located in real time by using the center symmetry of the magnet exciting coils. In order to facilitate observation and comparison for a doctor medically, the method is combined with a digital human technology to import attitude and position information, and the model tracking and perspective observation of the attitude and azimuth of an endoscope in the human body are realized.
Description
technical field [0001] The invention belongs to the field of multi-sensor tracking and positioning, and is especially suitable for azimuth detection of small areas such as endoscope probes. Background technique [0002] In medical treatment, doctors generally use the images collected by endoscopes to judge the location of lesions based on experience, which has a large error. In some special occasions, doctors need to combine the lesion location information obtained by the endoscope with surgery and other measures for comprehensive treatment, so the accuracy of the location of the lesion is required to be high. In Japan and some developed countries in the United States, the application of capsule endoscopes is becoming more and more common, and its positioning and control are also current research hotspots. [0003] At present, the endoscope positioning technology adopted at home and abroad mostly adopts the calculation method with the magnetic field distribution as the core...
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Login to View More IPC IPC(8): A61B1/00A61B5/06A61B5/05G06T17/00
Inventor 陈晓冬王森欧阳孜孜汪毅郁道银
Owner TIANJIN UNIV