Positioning and tracking method for industrial flexible catheter endoscope

Abstract

The invention discloses a positioning and tracking method for an industrial flexible catheter endoscope. The method includes: loading an excitation signal to each three-axis coil in a currently-working transmitting coil to allow an alternating electromagnetic field to be generated on the periphery of the three-axis coil and each receiving coil to generate an alternating electric signal after the receiving coil induces the alternating electromagnetic field; processing according to the alternating electric signal generated by each receiving coil to obtain corresponding noise-free data; determining the position and direction of each receiving coil in a to-be-detected object according to the amplitude of the noise-free data so as to position the flexible catheter endoscope; acquiring the motion change of the catheter of the flexible catheter endoscope and the advancing trajectory of the lens of the flexible catheter endoscope according to the position and direction of each receiving coil in the to-be-detected object so as to track the flexible catheter endoscope. The positioning and tracking method has the advantages that the advancing trajectory of the lens of the flexible catheter endoscope and the motion change of the catheter can be tracked and inspected, the target position of the flexible catheter endoscope can be determined fast and accurately, and radiation to an operator is avoided.

Description

technical field [0001] The invention relates to an industrial endoscope technology, in particular to a positioning and tracking method for an industrial flexible catheter endoscope. Background technique [0002] From the development and imaging structure of endoscopes, they can be divided into rigid tube endoscopes and hose endoscopes. The flexible catheter endoscope is a tube equipped with a light, which can be used to detect places that the rigid tube endoscope cannot detect, so it has been widely used in industry and medicine. In the industry, according to the special requirements of non-destructive testing and hole detection technology, on the one hand, the flexible catheter endoscope can be used for inspection and observation of places where high temperature, poisonous, nuclear radiation and human eyes cannot be directly observed, mainly used for security, In terms of security inspection, as well as the maintenance of automobiles, aero-engines, pipelines, and mechanica...

AI Technical Summary

Problems solved by technology

Obviously, this method requires continuous intervals of X-ray irradiation. On the one hand, there is a serious problem of X-ray damage, and in order to reduce the harm of X-rays to the staff, the staff is usually required to carry a heavy X-ray shield on their backs. (lead plate) device, but the device is large in size, which will cause serious inconvenience to the movement of the staff; on the other hand, if the number of X-ray exposures is limited, the continuity and real-time performance of observation will be limited; secondly, the X-ray Optical perspective imaging equipment can only produce two-dimensional projection images and lacks depth information, so it is difficult for staff to quickly determine the target position under two-dimensional projection images

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