Electromagnetic Tracking System and Method Based on Rapid Measurement of Maximum Magnetic Induction Intensity Vector Rotation Angle
A technology of magnetic induction intensity and vector rotation, applied in the field of electromagnetic tracking, which can solve the problems of poor search flexibility and poor system real-time performance, and achieve the effect of avoiding positioning errors, improving positioning speed, and improving real-time performance and flexibility.
Inactive Publication Date: 2017-07-07
FUDAN UNIV
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However, its positioning speed is limited by the rotation speed of the solenoid driven by the stepping motor, and the real-time performance of the system is poor; and the search process can only be carried out in the limited rotation plane of the stepping motor, and the search flexibility is poor
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[0075] The composition and working process of the system will be described below in conjunction with specific embodiments and with reference to the accompanying drawings. The coordinate system definition involved in this specific embodiment is the same as Table 1, as Figure 7 Shown; The definition of the horizontal rotation angle and vertical rotation angle involved is the same as the content of the invention.
[0076] This specific embodiment designs figure 1 The electromagnetic tracking system 1 shown includes four parts: a three-axis magnetic field sensor device 2 , a magnetic field source device 3 , a control processing display device 4 , and a controllable constant current source device 5 . The three-axis magnetic field sensor device 2 is attached to the tracking target. The magnetic field source device 3 includes two magnetic field sources 10 and 11 (corresponding to the magnetic field source 1 and the magnetic field source 2 described in the summary of the invention...
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The invention belongs to the technical field of electromagnetic tracking, in particular to an electromagnetic tracking system and method based on the rapid determination of the maximum magnetic induction intensity vector rotation angle. The system of the present invention is composed of a three-axis magnetic field sensor device, a magnetic field source device, a controllable constant current source device and a control processing display device; The coils on the core, whose center points coincide and are orthogonal to each other form a magnetic field source device. The three-axis magnetic field sensor device detects the magnetic induction intensity generated by the magnetic field source device. The control processing display device can control the excitation of the coil by the constant current source device, and according to The magnetic induction intensity detected by the three-axis magnetic field sensor device is used for positioning calculation. The invention only needs to excite the three-axis coils once to realize the positioning, avoids the search process, significantly improves the real-time performance of the system, and has high stability and low computational complexity. It can be applied to the navigation of minimally invasive surgery, and can also be used In virtual (augmented) reality, three-dimensional ultrasound imaging and other fields.
Description
technical field [0001] The invention belongs to the technical field of electromagnetic tracking, and specifically relates to an electromagnetic tracking system and method for quickly measuring the rotation angle of a maximum magnetic induction intensity vector by a single excitation of a magnetic field source coil, and then positioning a magnetic field sensor as a tracking target. Background technique [0002] Electromagnetic tracking is a method to obtain the spatial position of the tracking target by using the magnetic field coupling relationship between the magnetic field source and the magnetic field sensor. It has broad application prospects in minimally invasive surgical navigation and has become a research hotspot in the field of target tracking. Compared with other tracking methods, electromagnetic tracking has the advantages of no damage, no radiation, no occlusion, easy operation, and accurate positioning. Aiming at the problems existing in the traditional magnetic...
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IPC IPC(8): G01D5/12G01B7/004G01B7/30
Inventor 邬小玫沙敏王一枫丁宁
Owner FUDAN UNIV