A large-flux magnetic positioning sensor

Abstract

The application discloses a large-flux magnetic positioning sensor and relates to the technical field of magnetic positioning sensors.The large-flux magnetic positioning sensor comprises a magnetic core and electronic wires wound on the magnetic core; the magnetic core adopts a large-diameter metal magnetic core wire treated by a key heat treatment process; and the metal magnetic core wire is provided with a magnetic core wire plating layer on the surface. The application improves the amplitude of the output alternating voltage signal of the magnetic positioning sensor, increases the magnetic flux passing through the magnetic positioning sensor, namely, increases the inductance value, thereby improving the positioning precision of the magnetic positioning sensor, meeting the requirements of small size and low power consumption of the magnetic positioning sensor, and having the characteristics of wide frequency and strong magnetic field resistance.

Description

Technical Field

[0001] This invention relates to the field of magnetic positioning sensor technology, and in particular to a high-throughput magnetic positioning sensor. Background Technology

[0002] Currently, electromagnetic positioning and navigation technology is increasingly being applied to minimally invasive interventional surgeries such as cardiac ablation, bronchial ablation, and robotic puncture and biopsy. In traditional electrophysiological interventional surgeries, skilled physicians can only perform prolonged procedures using X-rays, causing significant radiation damage to both doctors and patients. Furthermore, the low positioning accuracy reduces the precision and safety of the surgery. Magnetic positioning sensors, placed at the end of a positioning guide, can accurately correlate medical three-dimensional images with human physiological structures by detecting the strength of the spatial magnetic field. The sensor's positioning provides a clear view of the medical device's location, enabling precise localization of lesions and facilitating biopsies, punctures, or ablation treatments.

[0003] Magnetic positioning sensors can detect the magnetic field strength at different locations relative to the emitting magnetic field source, outputting an AC voltage signal and transmitting it to an electromagnetic positioning and tracking control system for position coordinate calculation and analysis. For the same location, the magnetic positioning sensor can also detect attitude signals such as pitch, which can be used in ablation clinics to display catheter posture and control the catheter's movement within the body's natural pathways. Magnetic positioning sensors can achieve 5-DOF or 6-DOF control of interventional devices, enabling real-time positioning and guidance within the body. Clinically, this allows for procedures without obstructed vision and is increasingly being used in cardiopulmonary ablation, biopsy, and tumor ablation. Electromagnetic positioning and navigation technology has broad application prospects in the medical field.

[0004] Electromagnetic positioning trackers use the amplitude and sensitivity of AC voltage signals at different frequencies measured by the magnetic positioning sensor, along with the excitation parameters of the transmitting source, to solve for position and attitude information. Therefore, the sensitivity of the magnetic positioning sensor directly affects the accuracy of the electromagnetic positioning tracker's position and attitude calculations. The sensitivity of medical magnetic positioning sensors mainly depends on the core material and winding method. With the widespread clinical application of procedures such as ablation and biopsy, there is a requirement to obtain the highest possible voltage signal amplitude while keeping the resistance constant, increasing the magnetic flux through the sensor, i.e., increasing the inductance value, while simultaneously meeting the design requirements of small sensor size and low power consumption. Because the excitation source emits different frequency signals in the target space, there are requirements for magnetic induction intensity and frequency at different locations. The inductance of the sensor is required to have wide bandwidth characteristics and resistance to strong magnetic fields. The magnetic positioning sensor has a certain resistance to frequency attenuation within this frequency range. The magnetic field strength varies at different locations; at locations with stronger magnetic fields, the inductance must also meet the requirement of near-constant inductance. Summary of the Invention

[0005] The purpose of this invention is to provide a high-throughput magnetic positioning sensor to increase the amplitude of the AC voltage signal output by the magnetic positioning sensor, increase the magnetic flux passing through the magnetic positioning sensor, and at the same time meet the requirements of small size and low power consumption of the sensor.

[0006] To address the problems existing in the prior art, the present invention provides the following solution:

[0007] A high-throughput magnetic positioning sensor, the high-throughput magnetic positioning sensor comprising:

[0008] The magnetic core and the electronic wires wound on the magnetic core; the magnetic core is made of a large-diameter metal magnetic core wire that has undergone a key heat treatment process; the surface of the metal magnetic core wire has a magnetic core wire coating.

[0009] Optionally, the diameter of the metal magnetic core wire is ≥130μm.

[0010] Optionally, the metal core wire is an iron-cobalt based alloy wire; the core wire coating is an iron-nickel based alloy coating.

[0011] Optionally, the iron-cobalt based alloy wire uses an iron-cobalt based alloy material containing iron and cobalt elements, as well as molybdenum, manganese, silicon, boron, niobium, and copper elements, wherein the mass percentage of iron and cobalt elements is greater than 85%.

[0012] Optionally, the iron-nickel-based alloy coating uses an iron-nickel-based alloy material that contains iron and nickel, as well as molybdenum, manganese, silicon, boron, niobium and copper, wherein the mass percentage of iron and nickel is greater than 95%.

[0013] Optionally, the iron-nickel-based alloy coating is formed by sputtering on the outer surface of the iron-cobalt-based alloy wire; the thickness of the iron-nickel-based alloy coating is 10nm-2000nm.

[0014] Optionally, the key heat treatment process is a vacuum heat treatment process, an inert gas protected heat treatment process, or an electric current Joule heat treatment process.

[0015] Optionally, the electronic wire is enameled copper wire; the enameled copper wire is tightly wound in layers on the magnetic core.

[0016] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0017] This invention provides a high-throughput magnetic positioning sensor, comprising a magnetic core and electronic wires wound around it. The magnetic core is a large-diameter metal magnetic wire treated with a key heat treatment process, and the surface of the metal magnetic wire has a magnetic wire coating. This invention increases the amplitude of the output AC voltage signal of the magnetic positioning sensor, increases the magnetic flux passing through the sensor (i.e., increases the inductance), thereby improving the positioning accuracy of the magnetic positioning sensor. It also meets the requirements of small size and low power consumption, and possesses wide bandwidth and resistance to strong magnetic fields. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a high-throughput magnetic positioning sensor provided by the present invention;

[0020] Figure 2 This invention provides a schematic diagram of the structure of a high-throughput magnetic positioning sensor core.

[0021] Figure 3 The present invention provides a graph showing the change in inductance value of a high-throughput magnetic positioning sensor as a function of magnetic field.

[0022] Figure 4 A graph showing the inductance value of a high-throughput magnetic positioning sensor as a function of frequency, provided by the present invention.

[0023] Figure 5 This is a schematic diagram of the core wire characteristic curve of a high-throughput magnetic positioning sensor provided by the present invention.

[0024] Symbol explanation:

[0025] Magnetic core-1, metal magnetic core wire 11, magnetic core wire coating 12, electronic wire-2. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] The purpose of this invention is to provide a high-flux magnetic positioning sensor to solve the problems of small amplitude of AC voltage signal output by the magnetic positioning sensor and low magnetic flux passing through the magnetic positioning sensor.

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Figure 1 This is a schematic diagram of the structure of a high-throughput magnetic positioning sensor provided by the present invention, as shown below. Figure 1 As shown, the high-throughput magnetic positioning sensor includes a magnetic core 1 and electronic wires 2 wound on the magnetic core. The magnetic core 1 is made of a large-diameter metal magnetic core wire 11 that has undergone a key heat treatment process; the surface of the metal magnetic core wire 11 has a magnetic core wire plating layer 12.

[0030] Specifically, when the inductive structure composed of magnetic core 1 and electronic wire 2 moves within the natural passage of the human body, the medical instruments around the human body will generate a magnetic field. When the coil wound by electronic wire 2 in the inductive structure moves in the magnetic field and cuts the magnetic field lines, it will generate an induced current. Since different parts of the human body will have different effects on the magnetic field strength, different parts of the human body will have different magnetic induction intensities. Therefore, the magnitude of the induced current changes with the change of the position of the magnetic positioning sensor in the human body.

[0031] The magnetic core 1 concentrates more magnetic flux inside the magnetic core, so that the magnetic core 1 has a larger magnetic flux per unit cross-sectional area; therefore, as the magnetic flux passing through the magnetic core 1 increases, the electron wires 2 wound on the surface of the magnetic core 1 will cut more magnetic field lines, thus generating a larger induced current.

[0032] Figure 2 This is a schematic diagram of the structure of a high-throughput magnetic positioning sensor core provided by the present invention, as shown below. Figure 2 As shown, the magnetic core 1 is composed of a metal magnetic core wire 11 and a magnetic core wire plating layer 12 on the surface of the metal magnetic core wire 11.

[0033] The diameter of the metal magnetic core wire 11 in the high-throughput magnetic positioning sensor of the present invention is ≥130μm.

[0034] As a specific embodiment, the diameter of the metal magnetic core wire 11 is 130 μm. When the magnetic core wire coating 12 is smooth and uniformly distributed on the outer surface of the metal magnetic core wire 11, the metal magnetic core wire 11 and the magnetic core wire coating 12 are tightly bonded together without any gaps. At this time, the diameter of the magnetic core 1 is 131 μm.

[0035] In the high-throughput magnetic positioning sensor of the present invention, the metal magnetic core wire 11 is preferably an iron-cobalt based alloy wire; the magnetic core wire coating 12 is preferably an iron-nickel based alloy coating.

[0036] As a specific embodiment, the metal magnetic core wire 11 is made of iron-cobalt based alloy wire, and the magnetic core wire plating layer 12 is made of iron-nickel based alloy plating layer. The magnetic core 1 made of the metal magnetic core wire 11 and the magnetic core wire plating layer 12 has wide frequency characteristics, so that the inductance value of the magnetic positioning sensor remains unchanged in the frequency range of 50Hz-10kHz.

[0037] The iron-cobalt based alloy wire used in the high-throughput magnetic positioning sensor of this invention contains iron and cobalt elements, and may also contain elements such as molybdenum, manganese, silicon, boron, niobium and copper, wherein the mass ratio of iron and cobalt elements is greater than 85%.

[0038] As a specific embodiment, the iron-cobalt-based alloy wire is made of the iron-cobalt-based alloy material, which contains not only iron and cobalt, but also molybdenum, manganese, silicon, boron, niobium, and copper. The iron-cobalt-based alloy material is composed of multiple metallic elements, with iron and cobalt accounting for more than 85% of the total mass of the iron-cobalt-based alloy material. As a soft magnetic alloy material, the iron-cobalt-based alloy material can be in crystalline form, high-entropy form, or a composite form of crystalline and high-entropy forms.

[0039] The iron-nickel-based alloy coating used in the high-throughput magnetic positioning sensor of the present invention contains iron and nickel elements, and may also contain elements such as molybdenum, manganese, silicon, boron, niobium and copper, wherein the mass ratio of iron and nickel elements is greater than 95%.

[0040] As a specific embodiment, the iron-nickel-based alloy coating is made of the iron-nickel-based alloy material, which contains not only iron and nickel, but also molybdenum, manganese, silicon, boron, niobium, and copper. The iron-nickel-based alloy material is composed of multiple metallic elements, with iron and nickel accounting for more than 95% of the total mass of the iron-nickel-based alloy material. As a soft magnetic alloy material, the iron-nickel-based alloy material can be in a crystalline form, a high-entropy form, or a composite form of crystalline and high-entropy forms.

[0041] In the high-throughput magnetic positioning sensor of the present invention, the iron-nickel-based alloy coating is formed by sputtering on the outer surface of the iron-cobalt-based alloy wire; the thickness of the iron-nickel-based alloy coating is 10nm-2000nm.

[0042] In one specific embodiment, the iron-nickel-based alloy coating has a thickness of 500 nm and is deposited on the outer surface of the iron-cobalt-based alloy wire by sputtering. The iron-nickel-based alloy coating has a higher saturation magnetic flux density, improving the overall inductance of the magnetic positioning sensor. The iron-nickel-based alloy coating increases the cross-sectional area of ​​the iron-cobalt-based alloy wire, thus increasing its diameter. Under a strong magnetic field, the iron-cobalt-based alloy wire is less likely to saturate, and the magnetic flux passing through it is increased. The iron-nickel-based alloy coating also increases the smoothness of the iron-cobalt-based alloy wire surface, making the electron wire 2 more densely wound.

[0043] The key heat treatment process of the high-throughput magnetic positioning sensor of this invention is vacuum heat treatment, inert gas protected heat treatment, or current Joule heat treatment. When using vacuum and inert gas protected heat treatment, the metal core material is placed in a vacuum and inert gas protected furnace, and the heat treatment temperature is 420-560℃, held for 4-8 hours.

[0044] The electronic wire 2 of the high-throughput magnetic positioning sensor of the present invention is an enameled copper wire; the enameled copper wire is tightly wound in layers on the magnetic core 1.

[0045] Specifically, the electronic wire 2 is made of the enameled copper wire. The electronic wire 2 is tightly wound in layers on the surface of the magnetic core 1, and the electronic wire 2 is arranged according to the optimal design wiring that meets the design requirements for the length parameters of the electronic wire 2.

[0046] The following is a specific embodiment of the performance testing of a high-throughput magnetic positioning sensor of the invention.

[0047] Electronic wires 2 are wound around the surface of magnetic core 1. The electronic wires 2 are arranged according to the optimal design wiring until the length and other parameters of the electronic wires 2 meet the design requirements. The resulting high-throughput magnetic positioning sensor is then packaged and tested.

[0048] Figure 3 The diagram showing the inductance value of a high-throughput magnetic positioning sensor as a function of magnetic field, provided by this invention, is as follows: Figure 3 As shown, the high-throughput magnetic positioning sensor of this invention selects an excitation source frequency of 1kHz to test the changes in the inductance value L and the output amplitude signal of the magnetic positioning sensor with the external magnetic field B. Within the range of 0.6mT, the inductance value of the high-throughput magnetic positioning sensor of this invention remains basically unchanged with the change of the external magnetic field, and the inductance value is significantly improved compared with the original standard sample. The output signal amplitude is larger, which improves the sensitivity of the sensor to the calibration position. It can be seen that the high-throughput design of this invention has a significant effect on improving sensitivity.

[0049] Figure 4The inductance value of a high-throughput magnetic positioning sensor provided by this invention varies with frequency, as shown in the figure. Figure 4 As shown, the high-throughput magnetic positioning sensor of this invention was tested for its wideband characteristics within a frequency range of 50Hz-10kHz. 10kHz was selected as the test cutoff frequency to obtain the changes in the inductance value L and the output amplitude signal of the magnetic positioning sensor with frequency f. Within the 50Hz-10kHz range, the inductance value of the high-throughput magnetic positioning sensor of this invention remains essentially constant with frequency, and the inductance value is increased by ≥3% compared to the design inductance with a core wire ≤120μm.

[0050] In one specific embodiment, the inert gas protected heat treatment method is used, in which the magnetic core 1 is placed in an argon inert gas protected furnace, the heat treatment temperature is set to 550°C, and the temperature is maintained for 6 hours. After the inert gas protected heat treatment, the magnetic core 1 has low loss and remanence, and has an approximately linear curve in the range of -BM to +BM.

[0051] Figure 5 This is a schematic diagram of the core wire characteristic curve of a high-throughput magnetic positioning sensor provided by the present invention. See also... Figure 5 In the excitation source magnetic field (μ is the permeability, N is the number of turns of the excitation source, i is the excitation current, l is the distance from the measured position to the excitation source, and ω is the angular frequency) Within the phase difference range, the magnetic core 1 is not saturated and has good linearity, and the sensor outputs a relatively stable inductance value under an alternating magnetic field.

[0052] from Figure 3 , Figure 4 , Figure 5 We can conclude from this that:

[0053] The high-throughput magnetic positioning sensor has strong magnetic attenuation resistance characteristics. Under AC excitation, the inductance value changes by less than 1.5% in the range of 0-0.4mT of magnetic induction intensity.

[0054] The high-throughput magnetic positioning sensor has wideband characteristics. The inductance value of the high-throughput magnetic positioning sensor remains unchanged within a certain frequency range. Preferably, the high-throughput magnetic positioning sensor of the present invention has a frequency range of 50Hz-10kHz, and the inductance value of the high-throughput magnetic positioning sensor remains unchanged.

[0055] The inductance value of the high-throughput magnetic positioning sensor is improved by more than 3% compared to the design inductance of a core wire ≤120μm.

[0056] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0057] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A high-throughput magnetic positioning sensor, characterized in that, The high-throughput magnetic positioning sensor includes: a magnetic core and electronic wires wound on the magnetic core; the magnetic core is a large-diameter metal magnetic core wire that has undergone a key heat treatment process; the surface of the metal magnetic core wire has a magnetic core wire coating; the metal magnetic core wire is an iron-cobalt based alloy wire; the magnetic core wire coating is an iron-nickel based alloy coating; the iron-cobalt based alloy material used in the iron-cobalt based alloy wire contains iron and cobalt elements, and also contains molybdenum, manganese, silicon, boron, niobium, and copper elements, wherein the mass percentage of iron and cobalt elements is greater than 85%; the iron-nickel based alloy material used in the iron-nickel based alloy coating contains iron and nickel elements, and also contains molybdenum, manganese, silicon, boron, niobium, and copper elements, wherein the mass percentage of iron and nickel elements is greater than 95%; the high-throughput magnetic positioning sensor has a frequency in the range of 50Hz-10kHz and a magnetic induction intensity in the range of 0.6mT; The diameter of the metal magnetic core wire is 130 μm. When the magnetic core wire coating is smooth and uniformly distributed on the outer surface of the metal magnetic core wire, the metal magnetic core wire and the magnetic core wire coating are tightly bonded together without any gaps. At this time, the diameter of the magnetic core is 131 μm.

2. The high-throughput magnetic positioning sensor according to claim 1, characterized in that, The iron-nickel-based alloy coating is formed on the outer surface of the iron-cobalt-based alloy wire by sputtering.

3. The high-throughput magnetic positioning sensor according to claim 1, characterized in that, The key heat treatment process is vacuum heat treatment, inert gas protected heat treatment, or current Joule heat treatment.

4. The high-throughput magnetic positioning sensor according to claim 1, characterized in that, The electronic wire is enameled copper wire; the enameled copper wire is tightly wound in layers on the magnetic core.

Images