Calibration system and calibration method for magnetic sensor mounting position

Abstract

The application relates to a calibration system and a calibration method for a magnetic sensor installation position. The system comprises a catheter positioning device, a magnetic field positioning device and a processor, wherein: the catheter positioning device is used for establishing a first conversion relationship between a magnetic field coordinate system and a catheter coordinate system through a reference coordinate system. The magnetic field positioning device is used for generating a magnetic field covering a catheter to be measured and determining the pose of a magnetic sensor in the magnetic field coordinate system; the processor is electrically connected with the catheter positioning device and the magnetic field positioning device respectively, and is used for determining the actual pose of the magnetic sensor in the catheter coordinate system according to the pose of the magnetic sensor in the magnetic field coordinate system and the first conversion relationship; the target pose of the magnetic sensor in the catheter coordinate system is acquired, and the pose calibration parameter is determined according to the actual pose and the target pose. Therefore, the accuracy of the relative pose between the magnetic sensor and the catheter can be ensured, so that the accuracy of positioning the catheter according to the magnetic sensor in a surgical process is improved.

Description

Technical Field

[0001] This application relates to the field of surgical navigation technology, and in particular to a calibration system and calibration method for the installation position of a magnetic sensor. Background Technology

[0002] With the advancement of medical technology, assisted navigation is commonly used to improve surgical precision in order to meet the current demands for high-precision surgery. Assisted navigation involves installing sensors within surgical instruments, and a positioning system tracks the pose of these sensors. Changes in the sensor pose are then used to indirectly represent changes in the surgical instrument's pose, allowing the surgeon to more accurately determine the instrument's position and facilitating its manipulation. Therefore, the positioning system is a crucial component of modern surgery. The accuracy of the positioning system in locating surgical instruments directly impacts the precision of the surgeon's operations.

[0003] In traditional techniques, magnetic navigation technology is used to locate the position of surgical instruments by measuring the pose of magnetic sensors installed in the instruments.

[0004] However, due to the extremely small size of surgical instruments, installing magnetic sensors within them requires highly sophisticated manufacturing processes. This can easily lead to installation errors, resulting in inaccurate positioning of the surgical instruments provided to the surgeon by the positioning system. Summary of the Invention

[0005] Therefore, it is necessary to provide a calibration system and method for the installation position of a magnetic sensor that can calibrate the installation posture of the magnetic sensor on a surgical tool, thereby improving the positioning accuracy of the surgical tool, in order to address the above-mentioned technical problems.

[0006] A calibration system for the installation position of a magnetic sensor includes: a catheter positioning device, a magnetic field positioning device, and a processor. The catheter positioning device establishes a first transformation relationship between a magnetic field coordinate system and a catheter coordinate system using a reference coordinate system. The reference coordinate system is the coordinate system of the catheter positioning device, the magnetic field coordinate system is the coordinate system of the magnetic field positioning device, and the catheter coordinate system is the coordinate system of the catheter under test. At least one magnetic sensor is disposed on the inner wall of the catheter under test. The magnetic field positioning device generates a magnetic field covering the catheter under test and determines the pose of the magnetic sensor in the magnetic field coordinate system. The processor is electrically connected to both the catheter positioning device and the magnetic field positioning device. It determines the actual pose of the magnetic sensor in the catheter coordinate system based on the pose of the magnetic sensor in the magnetic field coordinate system and the first transformation relationship. It acquires the target pose of the magnetic sensor in the catheter coordinate system and determines pose calibration parameters based on the actual pose and the target pose. These pose calibration parameters are used to calibrate the installation pose of the magnetic sensor on the catheter under test.

[0007] In one embodiment, the catheter positioning device includes: a catheter fixing module, including at least one catheter fixing area, the catheter fixing area being fixed in position in the reference coordinate system, and the catheter to be tested being set in one of the catheter fixing areas in a first preset posture; a magnetic field fixing module, mechanically connected to the catheter fixing module and the magnetic field positioning device respectively, for fixing the magnetic field positioning device in a second preset posture at a preset position in the reference coordinate system; the processor is further configured to determine the first transformation relationship based on the pose of the catheter to be tested in the reference coordinate system and the pose of the magnetic field positioning device in the reference coordinate system.

[0008] In one embodiment, the catheter fixing module includes: a base, mechanically connected to the magnetic field fixing module; at least one positioning groove arranged in an array on the base, wherein the catheter to be tested is positioned in one of the positioning grooves in a first preset posture.

[0009] In one embodiment, the catheter fixing module includes: a base, mechanically connected to the magnetic field fixing module; a rotating column, disposed on the base; a mounting groove, disposed on the side wall of the rotating column, the mounting groove being used to fix the catheter under test in the first preset posture; an angle sensor, electrically connected to the rotating column, for acquiring the current angle of the rotating column; and a calculation unit, electrically connected to the angle sensor and the processor, for determining and outputting the pose of the catheter under test in the reference coordinate system based on the setting position of the rotating column and the current angle of the rotating column.

[0010] In one embodiment, the catheter positioning device includes: an electric field generating module for generating an electric field covering the catheter under test and establishing the reference coordinate system based on the electric field; a first electrode target disposed on the catheter under test; a second electrode target disposed on the magnetic field positioning device; a potential acquisition module electrically connected to the first electrode target and the second electrode target respectively, for acquiring the potential values ​​of the first electrode target and the second electrode target respectively; and a first calculation module electrically connected to the potential acquisition module and the processor, for determining and outputting the pose of the catheter under test in the reference coordinate system based on the potential value of the first electrode target; and determining and outputting the pose of the magnetic field positioning device in the reference coordinate system based on the potential value of the second electrode target.

[0011] In one embodiment, the catheter positioning device includes: a first optical target disposed on the catheter to be tested; a second optical target disposed on the magnetic field positioning device; an optical positioning module for acquiring positioning signals from the first optical target and the second optical target respectively; a second calculation module electrically connected to the optical positioning module and the processor for determining and outputting the pose of the catheter to be tested in the reference coordinate system based on the positioning signal of the first optical target; and the pose of the magnetic field positioning device in the reference coordinate system based on the positioning signal of the second optical target.

[0012] In one embodiment, the catheter positioning device includes: a depth positioning module, used to emit structured light to the catheter under test and the magnetic field positioning device, and to acquire depth image data of the catheter under test and the magnetic field positioning device after being illuminated by the structured light; and a third calculation module, electrically connected to the depth positioning module, used to determine and output the pose of the catheter under test and the magnetic field positioning device in the reference coordinate system based on the depth image data.

[0013] In one embodiment, the processor is further configured to determine the actual poses of multiple magnetic sensors in the catheter coordinate system when the catheter under test is at different positions in the reference coordinate system based on multiple first transformation relationships when the catheter under test is at different positions in the reference coordinate system and the corresponding poses of the magnetic sensors in the magnetic field coordinate system; determine the final actual pose based on the multiple actual poses; and determine pose calibration parameters based on the final actual pose and the target pose.

[0014] In one embodiment, the processor is further configured to determine the pose of the target position on the catheter under test based on the actual pose of the magnetic sensor in the catheter coordinate system.

[0015] A method for calibrating the mounting position of a magnetic sensor, comprising:

[0016] A first transformation relationship between the magnetic field coordinate system and the duct coordinate system is established through a reference coordinate system, wherein the duct coordinate system is the coordinate system of the duct to be tested, and at least one magnetic sensor to be tested is provided on the inner wall of the duct to be tested.

[0017] Determine the pose of the magnetic sensor in the magnetic field coordinate system;

[0018] Based on the pose of the magnetic sensor in the magnetic field coordinate system and the first transformation relationship, the actual pose of the magnetic sensor in the conduit coordinate system is determined;

[0019] The target pose of the magnetic sensor in the duct coordinate system is obtained, and pose calibration parameters are determined based on the actual pose and the target pose. The pose calibration parameters are used to calibrate the installation pose of the magnetic sensor under test on the duct under test.

[0020] In one embodiment, the calibration method for the magnetic sensor mounting position further includes:

[0021] Acquire multiple first transformation relationships and the corresponding poses of the magnetic sensor in the magnetic field coordinate system when the catheter under test is in different positions in the reference coordinate system;

[0022] Based on the first transformation relationship and the corresponding pose of the magnetic sensor in the magnetic field coordinate system, the actual pose of multiple magnetic sensors in the catheter coordinate system when the catheter under test is in different positions is determined.

[0023] The final actual pose is determined based on multiple actual poses.

[0024] Based on the final actual pose and the target pose, determine the pose calibration parameters.

[0025] In one embodiment, the calibration method for the installation position of the magnetic sensor further includes: determining the pose of the target position on the duct to be tested based on the actual pose of the magnetic sensor in the duct coordinate system.

[0026] The above-mentioned calibration system and method for the installation position of a magnetic sensor. The calibration system includes a conduit positioning device, a magnetic field positioning device, and a processor. By setting up the conduit positioning device, a first transformation relationship can be established between the magnetic field coordinate system and the conduit coordinate system through a reference coordinate system. The reference coordinate system is the coordinate system of the conduit positioning device, the magnetic field coordinate system is the coordinate system of the magnetic field positioning device, and the conduit coordinate system is the coordinate system of the conduit under test. At least one magnetic sensor to be tested is installed on the inner wall of the conduit under test. By setting up the magnetic field positioning device, a magnetic field covering the conduit under test can be generated, and the pose of the magnetic sensor in the magnetic field coordinate system can be determined, thereby realizing the positioning of the magnetic sensor. By setting up the processor, the actual pose of the magnetic sensor in the conduit coordinate system can be determined based on the pose of the magnetic sensor in the magnetic field coordinate system and the first transformation relationship; the target pose of the magnetic sensor in the conduit coordinate system can be obtained; and pose calibration parameters can be determined based on the actual pose and the target pose. The pose calibration parameters are used to calibrate the installation pose of the magnetic sensor under test on the conduit under test. This allows for the comparison of the actual pose of the magnetic sensor in the catheter coordinate system with its target pose, determining the error between the actual and target installation poses of the magnetic sensor on the catheter. Consequently, the installation pose of the magnetic sensor on the catheter can be calibrated to ensure the accuracy of the relative pose between the magnetic sensor and the catheter, thereby improving the accuracy of catheter positioning based on the magnetic sensor during surgery. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of a calibration system for the installation location of a magnetic sensor in one embodiment;

[0029] Figure 2 This is a schematic diagram of three coordinate systems in one embodiment;

[0030] Figure 3 This is a structural diagram of the catheter positioning device in one embodiment;

[0031] Figure 4 This is a structural diagram of the catheter fixation module in one embodiment;

[0032] Figure 5 This is a structural diagram of the catheter fixation module in another embodiment;

[0033] Figure 6This is a schematic diagram of the duct coordinate system and the reference coordinate system in one embodiment;

[0034] Figure 7 This is a schematic diagram of the guide tube coordinate system and the reference coordinate system when the rotating column rotates in one embodiment;

[0035] Figure 8 This is a structural diagram of the catheter positioning device in another embodiment;

[0036] Figure 9 This is a schematic diagram illustrating the calculation of electrode patch positions in one embodiment;

[0037] Figure 10 This is a structural diagram of the catheter positioning device in yet another embodiment;

[0038] Figure 11 This is a structural diagram of the catheter positioning device in yet another embodiment;

[0039] Figure 12 This is a flowchart of a calibration method for the installation position of a magnetic sensor in one embodiment;

[0040] Figure 13 A flowchart of a calibration method for the magnetic sensor mounting location in another embodiment;

[0041] Figure 14 This is a flowchart of a method for calculating pose calibration parameters in one embodiment;

[0042] Figure 15 A flowchart of a method for calculating pose calibration parameters in another embodiment;

[0043] Figure 16 This is a flowchart of a method for calculating pose calibration parameters in yet another embodiment;

[0044] Figure 17 This is a flowchart of a method for calculating pose calibration parameters in yet another embodiment. Detailed Implementation

[0045] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0047] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0048] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as “below,” “under,” or “below” will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0049] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0050] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0051] In one embodiment, such as Figure 1 As shown, a calibration system for the installation position of a magnetic sensor is provided. The system includes: a conduit positioning device 10, a magnetic field positioning device 20, and a processor 30. Wherein:

[0052] The catheter positioning device 10 is used to establish a first transformation relationship between the magnetic field coordinate system and the catheter coordinate system through a reference coordinate system.

[0053] In this system, the reference coordinate system is the coordinate system of the catheter positioning device 10, the magnetic field coordinate system is the coordinate system of the magnetic field positioning device 20, and the catheter coordinate system is the coordinate system of the catheter under test 40. At least one magnetic sensor 50 is installed on the inner wall of the catheter under test 40. The magnetic field coordinate system is the coordinate system inherent to the magnetic field positioning device 20. A point on the magnetic field positioning device 20 can be used as the origin to create the magnetic field coordinate system; therefore, the pose of the magnetic field coordinate system is only related to the pose of the magnetic field positioning device 20. Similarly, the reference coordinate system is also created with a point on the catheter positioning device 10 as the origin, and it is only related to the pose of the catheter positioning device 10. The catheter coordinate system can be created with a point on the catheter under test 40 as the origin, and it is only related to the pose of the catheter under test 40. Therefore, by using the catheter positioning device 10, establishing the transformation relationship between the reference coordinate system, the magnetic field coordinate system, and the catheter coordinate system, and then using the reference coordinate system as the intermediate coordinate system for the transformation, the transformation relationship between the magnetic field coordinate system and the catheter coordinate system can be established.

[0054] For example, the magnetic field coordinate system, the duct coordinate system, and the reference coordinate system can be as follows: Figure 2 As shown. When the magnetic field coordinate system is fixed in position of the magnetic field positioning device 20, it can be considered as a preset fixed coordinate system. When the position of the catheter positioning device 10 is fixed, the reference coordinate system can be considered as a preset fixed coordinate system. The catheter coordinate system is only related to the position of the catheter.

[0055] The magnetic field positioning device 20 is used to generate a magnetic field covering the tube 40 to be tested and to determine the pose of the magnetic sensor 50 in the magnetic field coordinate system.

[0056] The magnetic field positioning device 20 may include multiple magnetic field coils, which can generate magnetic fields with three mutually perpendicular axes, thereby establishing a magnetic field coordinate system. The magnetic sensor 50 can sense the strength of the magnetic field at its current location, and the position and pose of the magnetic sensor 50 in the magnetic field coordinate system can be determined by the sensing data of the magnetic sensor 50.

[0057] The processor 30 is electrically connected to the catheter positioning device 10 and the magnetic field positioning device 20, respectively. It is used to determine the actual pose of the magnetic sensor 50 in the catheter coordinate system based on the pose of the magnetic sensor 50 in the magnetic field coordinate system and the first transformation relationship; to obtain the target pose of the magnetic sensor 50 in the catheter coordinate system; and to determine the pose calibration parameters based on the actual pose and the target pose. The pose calibration parameters are used to calibrate the installation pose of the magnetic sensor 50 under test on the catheter 40 under test.

[0058] After acquiring the pose of the magnetic sensor 50 in the magnetic field coordinate system, the processor 30 can convert the pose of the magnetic sensor 50 in the magnetic field coordinate system into its actual pose in the conduit coordinate system according to the first transformation relationship. Since the conduit coordinate system corresponds to the pose of the conduit 40 under test, obtaining the actual pose of the magnetic sensor 50 in the conduit coordinate system is equivalent to obtaining the relative pose of the magnetic sensor 50 and the conduit 40 under test. The target pose of the magnetic sensor 50 in the conduit coordinate system can be directly obtained; it is a pre-designed ideal installation pose of the magnetic sensor 50 inside the conduit 40 under test. By comparing the measured actual pose with the target pose, the installation error of the magnetic sensor 50 in the conduit can be determined. Based on the installation error, the installation pose of the magnetic sensor 50 is calibrated using pose calibration parameters, thus transforming the installation pose of the magnetic sensor 50 from the actual pose to the target pose, achieving accurate installation of the magnetic sensor 50.

[0059] It should be noted that because both the magnetic sensor 50 and the catheter 40 are extremely small, the installation of the magnetic sensor 50 on the inner wall of the catheter 40 requires extremely high precision in manufacturing processes. Installation errors are very likely to occur during the installation process. Therefore, the magnetic sensor 50 is often installed according to the designed installation posture. However, the actual posture of the magnetic sensor 50 within the catheter is not the designed target posture, which can significantly affect the accuracy of the surgery. Therefore, calibration is necessary.

[0060] In this embodiment, the calibration system includes a catheter positioning device 10, a magnetic field positioning device 20, and a processor 30. By setting the catheter positioning device 10, a first transformation relationship between the magnetic field coordinate system and the catheter coordinate system can be established through a reference coordinate system. The reference coordinate system is the coordinate system of the catheter positioning device 10, the magnetic field coordinate system is the coordinate system of the magnetic field positioning device 20, and the catheter coordinate system is the coordinate system of the catheter 40 under test. At least one magnetic sensor 50 is disposed on the inner wall of the catheter 40 under test. By setting the magnetic field positioning device 20, a magnetic field covering the catheter 40 under test can be generated, and the pose of the magnetic sensor 50 in the magnetic field coordinate system can be determined, thereby achieving the positioning of the magnetic sensor 50. By setting the processor 30, the actual pose of the magnetic sensor 50 in the catheter coordinate system can be determined based on the pose of the magnetic sensor 50 in the magnetic field coordinate system and the first transformation relationship; the target pose of the magnetic sensor 50 in the catheter coordinate system can be obtained; and pose calibration parameters can be determined based on the actual pose and the target pose. The pose calibration parameters are used to calibrate the installation pose of the magnetic sensor 50 on the catheter 40 under test. This allows for the comparison of the actual pose of the magnetic sensor 50 in the catheter coordinate system with its target pose in the catheter coordinate system, determining the error between the actual and target installation poses of the magnetic sensor 50 on the catheter. Consequently, the installation pose of the magnetic sensor 50 on the catheter can be calibrated to ensure the accuracy of the relative pose between the magnetic sensor 50 and the catheter, thereby improving the accuracy of catheter positioning based on the magnetic sensor 50 during surgery.

[0061] In one embodiment, such as Figure 3 As shown, the catheter positioning device 10 includes: a catheter fixing module 11 and a magnetic field fixing module 12. Wherein:

[0062] The catheter fixation module 11 includes at least one catheter fixation area, which is fixed in position in the reference coordinate system. The catheter to be tested 40 is set in one of the catheter fixation areas in a first preset posture.

[0063] The duct fixing module 11 uses its own coordinate system as the reference coordinate system. The position of the duct fixing area within this reference coordinate system is known, and the duct under test 40 maintains a first preset posture. Therefore, when the duct under test 40 is positioned within one of the duct fixing areas in the first preset posture, the position and posture of the duct under test 40 in the reference coordinate system can be directly obtained by the processor 30. The position and first preset posture of each duct fixing area can be pre-calibrated and stored in the processor 30. This establishes a transformation relationship between the reference coordinate system and the duct coordinate system.

[0064] The magnetic field fixing module 12 is mechanically connected to the conduit fixing module 11 and the magnetic field positioning device 20 respectively, and is used to fix the magnetic field positioning device 20 in a second preset posture at a preset position in the reference coordinate system.

[0065] The magnetic field fixing module 12 is mechanically connected to both the catheter fixing module 11 and the magnetic field positioning device 20, thereby fixing and locking the relative pose between them. This effectively fixes the transformation relationship between the reference coordinate system and the magnetic field coordinate system, thus establishing the transformation relationship between them.

[0066] The processor 30 is also used to determine a first transformation relationship based on the pose of the guide tube 40 under test in the reference coordinate system and the pose of the magnetic field positioning device 20 in the reference coordinate system.

[0067] The processor 30 can be electrically connected to the catheter fixation module 11 to obtain the catheter fixation area where the catheter 40 under test is located (for example, a pressure sensor is built into each catheter fixation area, and the processor 30 can accurately detect the catheter fixation area where the catheter is located based on the changes in the pressure sensor). After the transformation relationship between the reference coordinate system and the catheter coordinate system, as well as the transformation relationship between the reference coordinate system and the magnetic field coordinate system, has been established, the processor 30 can use the reference coordinate system as the intermediate transformation coordinate system to obtain the first transformation relationship between the catheter coordinate system and the magnetic field coordinate system.

[0068] In this embodiment, the transformation relationship between the reference coordinate system and the duct coordinate system is established through the duct fixing module 11. The transformation relationship between the reference coordinate system and the magnetic field coordinate system is established through the magnetic field fixing module 12. The processor 30 performs calculations to establish the first transformation relationship between the duct coordinate system and the magnetic field coordinate system. This facilitates subsequent calculation of the actual pose of the magnetic sensor 50 in the duct coordinate system.

[0069] In one embodiment, such as Figure 4 As shown, the catheter fixing module 11 includes: a base 110 and at least one positioning groove 111. Wherein:

[0070] The base 110 is mechanically connected to the magnetic field fixing module 12.

[0071] The base 110 is mechanically connected to the magnetic field fixing module 12, thereby fixing the relative position between the base 110 and the magnetic field fixing module 12. The magnetic field fixing module 12 is mechanically connected to the magnetic field positioning device 20, thereby fixing the relative position between the magnetic field fixing module 12 and the magnetic field positioning device 20. Thus, the relative position between the base 110 and the magnetic field positioning device 20 is fixed.

[0072] The magnetic field fixing module 12 can be a fixing arm or other mechanical structure that can fix the position of the base 110 and the magnetic field positioning device 20.

[0073] For example, the reference coordinate system and the magnetic field coordinate system are as follows: Figure 4 As shown in the figure, when the relative pose between the base 110 and the magnetic field positioning device 20 is fixed, the transformation relationship between the reference coordinate system and the magnetic field coordinate system is also fixed.

[0074] At least one positioning groove 111 is arranged in an array on the base 110, and the tube to be tested 40 is positioned in one of the positioning grooves 111 in a first preset posture.

[0075] The conduit can be inserted into the positioning slot 111, and the conduit will be fixed in a first preset posture. The designed position of each positioning slot 111 is the conduit fixing area. Therefore, when the conduit is inserted into a positioning slot 111, the position and posture of the conduit can be directly obtained. When the conduit is in the positioning slot 111, the position and posture of the conduit are fixed, that is, the conduit coordinate system is fixed. The position of each positioning slot 111 and the posture of the conduit inserted into it are known in advance. That is, the relative posture between the conduit and the base 110 is fixed, and the transformation relationship between the conduit coordinate system and the reference coordinate system is fixed. The transformation relationship between the conduit coordinate system and the reference coordinate system can be directly obtained through the positioning slot 111 into which the conduit is currently inserted.

[0076] Optionally, a pressure sensor or photoelectric sensor is provided in each positioning slot 111. The sensor can detect whether a conduit has been inserted into the positioning slot 111, thereby sending a prompt signal to the processor 30. The processor 30 can determine the current position and orientation of the conduit based on the prompt signal.

[0077] In this embodiment, by setting multiple arrayed positioning slots 111 on the base 110, different positioning slots 111 can represent different catheter fixing areas, and the positioning slots 111 can fix the inserted catheter in a preset posture, thereby establishing a transformation relationship between the catheter coordinate system and the reference coordinate system. Furthermore, the magnetic field fixing module 12 can establish a transformation relationship between the magnetic field coordinate system and the reference coordinate system, thus establishing a first transformation relationship between the magnetic field coordinate system and the catheter coordinate system through the reference coordinate system.

[0078] In one embodiment, such as Figure 5 As shown, the catheter fixing module includes: a base 110, a rotating column 112, a mounting slot 113, an angle sensor 114, and a calculation unit 115. Wherein:

[0079] The base 110 is mechanically connected to the magnetic field fixing module 12.

[0080] The base 110 is mechanically connected to the magnetic field fixing module 12, thereby fixing the relative pose between the base 110 and the magnetic field fixing module 12. The magnetic field fixing module 12 is mechanically connected to the magnetic field positioning device 20, thereby fixing the relative pose between the magnetic field fixing module 12 and the magnetic field positioning device 20. Thus, the relative pose between the base 110 and the magnetic field positioning device 20 is fixed, establishing the transformation relationship between the reference coordinate system and the magnetic field coordinate system.

[0081] The rotating column 112 is mounted on the base 110.

[0082] The mounting groove 113 is provided on the side wall of the rotating column 112. The mounting groove 113 is used to fix the test tube 40 in a first preset posture.

[0083] The rotating column 112 is mounted on the base 110 and can rotate clockwise or counterclockwise. The mounting groove 113 is mounted on the side wall of the rotating column 112. When the rotating column 112 rotates, it can cause the position of the mounting groove 113 to change. However, the position and orientation of the mounting groove 113 are predictable. The conduit inserted into the mounting groove 113 is fixed in a first preset orientation. Therefore, after the conduit is inserted into the mounting groove 113, its orientation is predictable.

[0084] Angle sensor 114 is electrically connected to rotating column 112 and is used to obtain the current angle of rotating column 112.

[0085] The calculation unit 115 is electrically connected to the angle sensor 114 and the processor 30, and is used to determine and output the pose of the duct 40 under test in the reference coordinate system based on the setting position of the rotating column 112 and the current angle of the rotating column 112.

[0086] The calculation unit 115 collects the current angle of the rotating column 112 through the angle sensor 114, and then calculates the current position and attitude of the conduit based on the current angle, the setting position of the rotating column 112, and the first preset attitude.

[0087] For example, such as Figure 6As shown, a reference coordinate system is established with a point in the rotating column 112 as the origin. The design ensures that when the rotation angle of the rotating column 112 is 0°, the X-axis of the duct coordinate system coincides with the X-axis of the reference coordinate system, the Y-axis of the duct coordinate system is parallel to the Y-axis of the reference coordinate system, the Z-axis of the duct coordinate system is parallel to the Z-axis of the reference coordinate system, and the origin of the duct coordinate system is spaced a preset distance from the origin of the reference coordinate system along the X-axis. At this point, the relative pose between the duct coordinate system and the reference coordinate system can be determined, thus establishing the transformation relationship between them. When the duct is fixed by the mounting slot 113, the transformation relationship between the duct coordinate system and the reference coordinate system is also established. Figure 7 As shown, when the rotating column 112 starts to rotate, and rotates to a certain angle, the duct 40 changes from pose P to P'. Since the transformation relationship between the duct coordinate system and the reference coordinate system has been established when the rotation angle of the rotating column 112 is 0°, the transformation relationship between the current duct coordinate system and the reference coordinate system can be calculated based on the current rotation angle of the rotating column 112 (for example, when the rotation angle is θ°, the Y-axis of the duct coordinate system and the reference coordinate system still coincide, the X-axis differs by θ°, and the Z-axis differs by θ°).

[0088] The angle sensor 114, the computing unit 115, and the processor 30 can be integrated into one device or divided into three separate components, without limitation.

[0089] In this embodiment, by providing a rotating column 112 and a mounting groove 113 on the base 110, the position of the conduit inserted into the mounting groove 113 can be adjusted by rotating the rotating column 112 at different angles. The mounting groove 113 can then fix the inserted conduit in a preset posture, thereby establishing a transformation relationship between the conduit coordinate system and the reference coordinate system. Furthermore, the magnetic field fixing module 12 can establish a transformation relationship between the magnetic field coordinate system and the reference coordinate system, thus establishing a first transformation relationship between the magnetic field coordinate system and the conduit coordinate system through the reference coordinate system.

[0090] In one embodiment, such as Figure 8 As shown, the catheter positioning device includes: an electric field generating module 13, a first electrode target 14, a second electrode target 15, a potential acquisition module 16, and a first calculation module 17. Wherein:

[0091] The electric field generation module 13 is used to generate an electric field covering the conduit 40 under test and to establish a reference coordinate system based on the electric field.

[0092] The electric field generating module 13 can include three pairs of parallel electrodes that are orthogonally placed to form a uniform electric field. The distance between each pair of parallel electrodes is equal. Three adjacent electrodes in the three pairs of parallel electrodes are grounded, and the other three are at equal positive potentials, thereby generating an electric field along three orthogonal directions and establishing an electric field coordinate system, i.e., a reference coordinate system.

[0093] The first electrode target 14 is set on the test catheter 40.

[0094] The first electrode target 14 may include a patch holder and several electrode patches fixed on the patch holder. The electrode patches are arranged on the patch holder in three mutually perpendicular directions to determine a coordinate system, which is convenient for characterizing the posture of the catheter.

[0095] The second electrode target 15 is set on the magnetic field positioning device 20.

[0096] The second electrode target 15 has the same structure as the first electrode target 14 and is used to characterize the attitude of the magnetic field positioning device 20.

[0097] The potential acquisition module 16 is electrically connected to the first electrode target 14 and the second electrode target 15 respectively, and is used to acquire the potential values ​​of the first electrode target 14 and the second electrode target 15 respectively.

[0098] The potential acquisition module 16 can acquire the potential values ​​of the first electrode target 14 and the second electrode target 15 respectively, and then determine the position of each electrode patch on the first electrode target 14 and the second electrode target 15 in the electric field coordinate system relative to the X-axis, Y-axis and Z-axis.

[0099] The first calculation module 17 is electrically connected to the potential acquisition module 16 and the processor 30. It is used to determine and output the pose of the catheter 40 under test in the reference coordinate system based on the potential value of the first electrode target 14. It also determines and outputs the pose of the magnetic field positioning device 20 in the reference coordinate system based on the potential value of the second electrode target 15.

[0100] The first calculation module 17 calculates the pose of the first electrode target 14 in the electric field coordinate system based on the positions of the electrode patches on the first electrode target 14 and the second electrode target 15 relative to the X, Y, and Z axes. This allows the processor 30 to synthesize the pose of the first electrode target 14 in the electric field coordinate system, thus obtaining the pose of the conduit in the electric field coordinate system. This facilitates the subsequent processor 30 in establishing the transformation relationship between the conduit coordinate system and the reference coordinate system. Similarly, the processor 30 can synthesize the pose of the second electrode target 15 in the electric field coordinate system based on the positions of the electrode patches on the second electrode target 15, thus obtaining the pose of the magnetic field positioning device 20 in the electric field coordinate system. This also facilitates the subsequent processor 30 in establishing the transformation relationship between the magnetic field coordinate system and the reference coordinate system.

[0101] For example, such as Figure 9 As shown, a uniform electric field is generated between the two relatively parallel electrodes in the electric field generating module 13. From the formula for the electric field strength of a uniform electric field: E = U / d, where E is the field strength, U is the potential difference between two points along the direction of the electric field line, and d is the distance along the direction of the electric field line, it can be seen that U is proportional to d when E remains constant. The distance between each pair of parallel electrodes in the electric field generating module 13 is D, and one electrode is grounded, while the other electrode is given a positive potential U. The potential u of the electrode patch 18 relative to the grounded electrode is measured using the potential acquisition module 16. Therefore, the distance of the electrode patch 18 relative to the grounded parallel electrode in the direction of the uniform electric field can be calculated. Similarly, the positions of each electrode patch on the first electrode target 14 and the second electrode target 15 relative to the X-axis, Y-axis and Z-axis in the electric field coordinate system can be calculated.

[0102] In this embodiment, an electric field coordinate system can be established as a reference coordinate system by setting an electric field generation module 13. Then, the poses of the catheter and the magnetic field positioning device 20 can be characterized based on the first electrode target 14 set on the catheter and the second electrode target 15 set on the magnetic field positioning device 20. Then, the potential values ​​of each electrode patch on the first electrode target 14 and the second electrode target 15 in the electric field coordinate system relative to the X-axis, Y-axis, and Z-axis are collected by the potential acquisition module 16. Then, the first calculation module 17 calculates the poses of the catheter and the magnetic field positioning device 20 in the reference coordinate system, which facilitates the subsequent calculation of the transformation relationship between the magnetic field coordinate system and the catheter coordinate system.

[0103] In one embodiment, such as Figure 10 As shown, the catheter positioning device includes: a first optical target 61, a second optical target 62, an optical positioning module 63, and a second calculation module 64. Wherein:

[0104] The first optical target 61 is set on the catheter 40 to be tested.

[0105] The second optical target 62 is mounted on the magnetic field positioning device 20.

[0106] The first optical target 61 and the second optical target 62 can be spherical reflective marks or sticker-type reflective marks that can reflect infrared or other light.

[0107] The optical positioning module 63 is used to collect the positioning signals of the first optical target 61 and the second optical target 62 respectively.

[0108] The optical positioning module 63 can be an optical positioning instrument that can emit light beams to the first optical target 61 and the second optical target 62, and then collect the light beams reflected by the first optical target 61 and the second optical target 62 to obtain the positioning signals of the first optical target 61 and the second optical target 62.

[0109] The optical coordinate system built into the optical positioning module 63 is the reference coordinate system.

[0110] The second calculation module 64 is electrically connected to the optical positioning module 63 and the processor 30. It is used to determine and output the pose of the catheter 40 under test in the reference coordinate system based on the positioning signal of the first optical target 61; and to output the pose of the magnetic field positioning device 20 in the reference coordinate system based on the positioning signal of the second optical target 62.

[0111] The second calculation module 64 can calculate the coordinates of the first optical target 61 and the second optical target 62 in the optical coordinate system based on the positioning signals of the first optical target 61 and the second optical target 62 obtained by the optical positioning module 63. This allows the determination of the pose of the catheter 40 under test and the magnetic field positioning device 20 in the reference coordinate system.

[0112] For example, the optical positioning module 63, the second computing module 64, and the processor 30 can be integrated into the same device.

[0113] In this embodiment, by setting up the optical positioning module 63, an optical coordinate system can be established as a reference coordinate system. Then, the optical positioning module 63 can obtain the positioning signals of the catheter and the magnetic field positioning device 20 based on the first optical target 61 set on the catheter and the second optical target 62 set on the magnetic field positioning device 20. Then, the first calculation module 17 calculates based on the positioning signals to determine the poses of the catheter and the magnetic field positioning device 20 in the reference coordinate system, which facilitates the subsequent calculation of the transformation relationship between the magnetic field coordinate system and the catheter coordinate system.

[0114] In one embodiment, such as Figure 11 As shown, the catheter positioning device includes: a depth positioning module 65 and a third calculation module 66. Wherein:

[0115] The depth positioning module 65 is used to emit structured light to the duct 40 under test and the magnetic field positioning device 20, and to acquire depth image data of the duct 40 under test and the magnetic field positioning device 20 after being illuminated by the structured light.

[0116] The depth positioning module 65 may include a binocular camera and a lidar. The lidar emits structured light towards the duct 40 and the magnetic field positioning device 20, and the binocular camera then acquires depth image data of the duct 40 and the magnetic field positioning device 20 after they are illuminated by the structured light. This allows for subsequent calculation of the pose of the duct 40 and the magnetic field positioning device 20 based on the depth image data. The coordinate system of the depth positioning module 65 itself serves as the reference coordinate system. Structured light is a structured beam of light, and there are various ways to structure the beam and integrate it into a projection pattern, such as the phase-shifting method with sinusoidal fringes, the Gray code method with binary encoding, and the phase-shifting method combined with Gray code.

[0117] The third calculation module 66 is electrically connected to the depth positioning module 65 and is used to determine and output the pose of the duct 40 under test in the reference coordinate system and the pose of the magnetic field positioning device 20 in the reference coordinate system based on the depth image data.

[0118] The third calculation module 66 includes a pre-trained deep learning model corresponding to the binocular camera and a corresponding algorithm. It can identify depth image data and then process it using the corresponding algorithm to determine the pose of the test guide tube 40 projected with structured light in the reference coordinate system and the pose of the magnetic field positioning device 20 in the reference coordinate system.

[0119] For example, the depth positioning module 65, the third computing module 66, and the processor 30 can be integrated into the same device.

[0120] In this embodiment, depth positioning is used to determine the poses of the catheter and the magnetic field positioning device 20 in the reference coordinate system, which facilitates the subsequent calculation of the transformation relationship between the magnetic field coordinate system and the catheter coordinate system.

[0121] In one embodiment, the processor is further configured to determine the actual poses of multiple magnetic sensors in the catheter coordinate system when the catheter under test is at different positions, based on multiple first transformation relationships when the catheter under test is at different positions in the reference coordinate system and the poses of the corresponding magnetic sensors in the magnetic field coordinate system; determine the final actual pose based on the multiple actual poses; and determine the pose calibration parameters based on the final actual pose and the target pose.

[0122] In this process, the catheter under test is placed at different positions in the reference coordinate system. Then, following the method described in the above embodiment, the first transformation relationship between the magnetic field coordinate system and the catheter coordinate system at the current position of the catheter under test, as well as the pose of the magnetic sensor in the magnetic field coordinate system, are calculated. Then, the actual pose of the magnetic sensor in the catheter coordinate system is calculated. For each of the multiple positions of the catheter under test in the reference coordinate system, the actual pose of the magnetic sensor in the catheter coordinate system is calculated.

[0123] For example, a normal distribution curve formed by multiple actual poses can be plotted, and the value in the distribution set can be selected as the final actual pose. Alternatively, the average value of multiple actual poses can be calculated as the final actual pose.

[0124] In this embodiment, the actual pose of the magnetic sensor in the duct coordinate system is obtained by testing when the duct under test is located at different positions in the reference coordinate system. Then, the final actual pose is obtained based on multiple actual poses. The pose calibration parameters are determined by the error between the final actual pose and the target pose, thereby improving the calibration accuracy and eliminating the influence of measurement errors that may occur when the duct under test is in individual positions. This makes the calibration of the installation pose of the magnetic sensor on the duct under test more accurate.

[0125] In one embodiment, the processor is further configured to determine the pose of the target position on the duct under test based on the actual pose in the magnetic sensor duct coordinate system.

[0126] In this embodiment, the pose of the magnetic sensor in the duct coordinate system can be converted into the pose of any point on the duct to be tested, so that the magnetic sensor can be used to locate the duct to be tested.

[0127] In one embodiment, such as Figure 12 As shown, a calibration method for the installation position of a magnetic sensor is provided, including:

[0128] Step S100: Establish the first transformation relationship between the magnetic field coordinate system and the duct coordinate system through the reference coordinate system.

[0129] The duct coordinate system is the coordinate system of the duct under test, and at least one magnetic sensor is installed on the inner wall of the duct under test.

[0130] Step S110: Determine the pose of the magnetic sensor in the magnetic field coordinate system.

[0131] Step S120: Determine the actual pose of the magnetic sensor in the guide tube coordinate system based on the pose of the magnetic sensor in the magnetic field coordinate system and the first transformation relationship.

[0132] Step S130: Obtain the target pose of the magnetic sensor in the conduit coordinate system, and determine the pose calibration parameters based on the actual pose and the target pose. The pose calibration parameters are used to calibrate the installation pose of the magnetic sensor under test on the conduit under test.

[0133] In this embodiment, a first transformation relationship is established between the magnetic field coordinate system and the catheter coordinate system using a reference coordinate system. Then, the pose of the magnetic sensor in the magnetic field coordinate system is determined, thereby achieving the positioning of the magnetic sensor. Based on the pose of the magnetic sensor in the magnetic field coordinate system and the first transformation relationship, the actual pose of the magnetic sensor in the catheter coordinate system is determined. The target pose of the magnetic sensor in the catheter coordinate system is obtained, and pose calibration parameters are determined based on the actual pose and the target pose. These pose calibration parameters are used to calibrate the installation pose of the magnetic sensor on the catheter. This allows for a comparison between the actual pose and the target pose of the magnetic sensor in the catheter coordinate system, determining the error between the actual and target installation poses. This enables calibration of the installation pose of the magnetic sensor on the catheter, ensuring the accuracy of the relative pose between the magnetic sensor and the catheter, thereby improving the accuracy of catheter positioning during surgery using the magnetic sensor.

[0134] In one embodiment, such as Figure 13 As shown, the calibration method for the magnetic sensor mounting position also includes:

[0135] Step S200: Obtain multiple first transformation relationships when the test tube is in different positions in the reference coordinate system and the pose of the corresponding magnetic sensor in the magnetic field coordinate system.

[0136] Step S210: Based on the first transformation relationship and the pose of the corresponding magnetic sensor in the magnetic field coordinate system, determine the actual pose of multiple magnetic sensors in the tube coordinate system when the tube to be tested is in different positions.

[0137] Step S220: Determine the final actual pose based on multiple actual poses.

[0138] Step S230: Determine the pose calibration parameters based on the final actual pose and the target pose.

[0139] In this embodiment, the actual pose of the magnetic sensor in the duct coordinate system is obtained when the duct under test is located at different positions in the reference coordinate system. Then, the final actual pose is obtained based on multiple actual poses. The pose calibration parameters are determined by the error between the final actual pose and the target pose. This improves the calibration accuracy, eliminates the influence of measurement errors that may occur when the duct under test is in individual positions, and makes the calibration of the installation pose of the magnetic sensor on the duct under test more accurate.

[0140] In one embodiment, the calibration method for the installation position of the magnetic sensor further includes: determining the pose of the target position on the duct to be tested based on the actual pose in the magnetic sensor duct coordinate system.

[0141] In this embodiment, the pose of the magnetic sensor in the duct coordinate system can be converted into the pose of any point on the duct to be tested, so that the magnetic sensor can be used to locate the duct to be tested.

[0142] In one embodiment, such as Figure 14 As shown, a flowchart illustrates a method for positioning a guide tube under test using a calibration device for the installation position of a magnetic sensor including a positioning groove, as described in one of the above embodiments. The method includes:

[0143] Step S300: Determine the second transformation relationship between the magnetic field coordinate system and the reference coordinate system.

[0144] Step S310: Determine the third transformation relationship between the catheter coordinate system and the reference coordinate system of the catheter under test fixed in the current catheter fixing area.

[0145] Step S320: Determine the pose of the magnetic sensor in the magnetic field coordinate system.

[0146] Step S330: Determine the actual pose of the magnetic sensor in the guide tube coordinate system based on the second transformation relationship, the third transformation relationship, and the pose of the magnetic sensor in the magnetic field coordinate system.

[0147] Specifically, the magnetic field coordinate system can be transformed to the reference coordinate system according to the second transformation relationship, and then the magnetic field coordinate system under the reference coordinate system can be transformed to the duct coordinate system through the third transformation relationship, thus establishing the first transformation relationship between the magnetic field coordinate system and the duct coordinate system.

[0148] Step S340: Determine whether the actual poses corresponding to all catheter fixation regions have been obtained. If the actual poses corresponding to all catheter fixation regions have been obtained, proceed to step S350. If the actual poses corresponding to at least one catheter fixation region have not been obtained, fix the catheter under test in one of the catheter fixation regions for which the actual pose has not yet been obtained, and return to proceed to step S310.

[0149] Step S350: Determine the final actual pose based on the multiple actual poses of the catheter under test when it is in different catheter fixation areas.

[0150] Step S360: Determine the pose calibration parameters based on the final actual pose and the target pose.

[0151] Step S370: The installation posture of the magnetic sensor on the guide tube under test is calibrated using posture calibration parameters.

[0152] Step S380: Determine the pose of the target position on the duct to be tested based on the pose of the calibrated magnetic sensor in the duct coordinate system.

[0153] In this embodiment, the magnetic sensor mounting position calibration device described in one of the above embodiments is used to calibrate the pose of the magnetic sensor mounted on the guide tube under test and to position the guide tube under test. This improves the positioning accuracy of the guide tube under test.

[0154] In one embodiment, such as Figure 15 As shown, a flowchart illustrates a method for locating a test tube using a calibration device comprising a rotating column and a magnetic sensor mounting position as described in one of the above embodiments, comprising:

[0155] Step S400: Determine the second transformation relationship between the magnetic field coordinate system and the reference coordinate system.

[0156] Step S410: Determine the third transformation relationship between the duct coordinate system and the reference coordinate system based on the setting position of the rotating column and the current angle of the rotating column.

[0157] The rotating column rotates continuously at a preset angular velocity.

[0158] Step S420: Determine the pose of the magnetic sensor in the magnetic field coordinate system.

[0159] Step S430: Determine the actual pose of the magnetic sensor in the guide tube coordinate system based on the second transformation relationship, the third transformation relationship, and the pose of the magnetic sensor in the magnetic field coordinate system.

[0160] Step S440: Determine whether the amount of actual pose data acquired meets the standard. If the amount of actual pose data acquired meets the standard, proceed to step S450. If the amount of actual pose data acquired does not meet the standard, return to step S410.

[0161] Step S450: Determine the final actual pose based on the multiple actual poses collected.

[0162] Step S460: Determine the pose calibration parameters based on the final actual pose and the target pose.

[0163] Step S470: The installation posture of the magnetic sensor on the guide tube under test is calibrated using posture calibration parameters.

[0164] Step S480: Determine the pose of the target position on the duct to be tested based on the pose of the calibrated magnetic sensor in the duct coordinate system.

[0165] In this embodiment, the magnetic sensor mounting position calibration device described in one of the above embodiments is used to calibrate the pose of the magnetic sensor mounted on the guide tube under test and to position the guide tube under test. This improves the positioning accuracy of the guide tube under test.

[0166] In one embodiment, such as Figure 16 As shown, a flowchart illustrates a method for locating a test tube using a calibration device for the installation position of a magnetic sensor including an electric field generating module, as described in one of the above embodiments. The method includes:

[0167] Step S500: Obtain the potential values ​​of the first electrode target and the second electrode target respectively.

[0168] Step S510: Determine the third transformation relationship between the catheter coordinate system and the reference coordinate system based on the potential value of the first electrode target.

[0169] Step S520: Determine the second transformation relationship between the magnetic field coordinate system and the reference coordinate system based on the potential value of the second electrode target.

[0170] Step S530: Determine the pose of the magnetic sensor in the magnetic field coordinate system.

[0171] Step S540: Determine the actual pose of the magnetic sensor in the guide tube coordinate system based on the second transformation relationship, the third transformation relationship, and the pose of the magnetic sensor in the magnetic field coordinate system.

[0172] Step S550: Determine whether the amount of actual pose data acquired meets the standard. If the amount of actual pose data acquired meets the standard, proceed to step S560. If the amount of actual pose data acquired does not meet the standard, adjust the position of the catheter under test and return to step S500.

[0173] Step S560: Determine the final actual pose based on the multiple actual poses collected.

[0174] Step S570: Determine the pose calibration parameters based on the final actual pose and the target pose.

[0175] Step S580: The installation posture of the magnetic sensor on the guide tube under test is calibrated using posture calibration parameters.

[0176] Step S590: Determine the pose of the target position on the duct to be tested based on the pose of the calibrated magnetic sensor in the duct coordinate system.

[0177] In this embodiment, the magnetic sensor mounting position calibration device described in one of the above embodiments is used to calibrate the pose of the magnetic sensor mounted on the guide tube under test and to position the guide tube under test. This improves the positioning accuracy of the guide tube under test.

[0178] In one embodiment, such as Figure 17 As shown, a flowchart illustrates a method for locating a test tube using a calibration device for the installation position of a magnetic sensor including a depth positioning module, as described in one of the above embodiments. The method includes:

[0179] In step S600, structured light is emitted to the duct under test and the magnetic field positioning device, and depth image data of the duct under test and the magnetic field positioning device after being illuminated by the structured light is acquired.

[0180] Step S610: Based on the depth image data, determine the second transformation relationship between the magnetic field coordinate system and the reference coordinate system, and the third transformation relationship between the duct coordinate system and the reference coordinate system.

[0181] Step S620: Determine the pose of the magnetic sensor in the magnetic field coordinate system.

[0182] Step S630: Determine the actual pose of the magnetic sensor in the guide tube coordinate system based on the second transformation relationship, the third transformation relationship, and the pose of the magnetic sensor in the magnetic field coordinate system.

[0183] Step S640: Determine whether the amount of actual pose data acquired meets the standard. If the amount of actual pose data acquired meets the standard, proceed to step S650. If the amount of actual pose data acquired does not meet the standard, adjust the position of the catheter under test and return to step S600.

[0184] Step S650: Determine the final actual pose based on the multiple actual poses collected.

[0185] Step S660: Determine the pose calibration parameters based on the final actual pose and the target pose.

[0186] Step S670: The installation posture of the magnetic sensor on the guide tube under test is calibrated using posture calibration parameters.

[0187] Step S680: Determine the pose of the target position on the duct to be tested based on the pose of the calibrated magnetic sensor in the duct coordinate system.

[0188] In this embodiment, the magnetic sensor mounting position calibration device described in one of the above embodiments is used to calibrate the pose of the magnetic sensor mounted on the guide tube under test and to position the guide tube under test. This improves the positioning accuracy of the guide tube under test.

[0189] It should be understood that, although Figures 12-17The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 12-17 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0190] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0191] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0192] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0193] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A calibration system for the installation position of a magnetic sensor, characterized in that, include: The device includes a catheter positioning device, a magnetic field positioning device, and a processor, among which: The catheter positioning device is used to establish a first transformation relationship between the magnetic field coordinate system and the catheter coordinate system through a reference coordinate system. The reference coordinate system is the coordinate system of the catheter positioning device, the magnetic field coordinate system is the coordinate system of the magnetic field positioning device, and the catheter coordinate system is the coordinate system of the catheter to be tested. At least one magnetic sensor is provided on the inner wall of the catheter to be tested. The magnetic field positioning device is used to generate a magnetic field covering the catheter under test and to determine the position of the magnetic sensor in the magnetic field coordinate system. The processor is electrically connected to the catheter positioning device and the magnetic field positioning device, respectively, and is used to determine the actual pose of the magnetic sensor in the catheter coordinate system according to the pose of the magnetic sensor in the magnetic field coordinate system and the first transformation relationship; to obtain the target pose of the magnetic sensor in the catheter coordinate system, and to determine pose calibration parameters according to the actual pose and the target pose, wherein the pose calibration parameters are used to calibrate the installation pose of the magnetic sensor on the catheter to be tested; The catheter positioning device includes: A catheter fixation module includes at least one catheter fixation area, the catheter fixation area being fixed in position in the reference coordinate system, and the catheter to be tested being set in one of the catheter fixation areas in a first preset posture; A magnetic field fixing module is mechanically connected to the conduit fixing module and the magnetic field positioning device, respectively, and is used to fix the magnetic field positioning device in a second preset posture at a preset position in the reference coordinate system. The processor is further configured to determine the first transformation relationship based on the pose of the catheter under test in the reference coordinate system and the pose of the magnetic field positioning device in the reference coordinate system.

2. The system according to claim 1, characterized in that, The catheter fixation module includes: The base is mechanically connected to the magnetic field fixing module; At least one positioning slot is arranged in an array on the base, and the tube to be tested is positioned in one of the positioning slots in the first preset posture.

3. The system according to claim 1, characterized in that, The catheter fixation module includes: The base is mechanically connected to the magnetic field fixing module; A rotating column is mounted on the base. A mounting groove is provided on the side wall of the rotating column, and the mounting groove is used to fix the test tube in the first preset posture. An angle sensor, electrically connected to the rotating column, is used to obtain the current angle of the rotating column; The calculation unit, electrically connected to the angle sensor and the processor, is used to determine and output the pose of the duct under test in the reference coordinate system based on the setting position of the rotating column and the current angle of the rotating column.

4. The system according to claim 1, characterized in that, The catheter fixation module is used to establish the transformation relationship between the reference coordinate system and the catheter coordinate system; the magnetic field fixation module is used to establish the transformation relationship between the reference coordinate system and the magnetic field coordinate system; the processor is also used to, based on the transformation relationship between the reference coordinate system and the catheter coordinate system and the transformation relationship between the reference coordinate system and the magnetic field coordinate system, and using the reference coordinate system as the intermediate transformation coordinate system, obtain the first transformation relationship between the catheter coordinate system and the magnetic field coordinate system.

5. The system according to claim 2, characterized in that, A pressure sensor or photoelectric sensor is installed in each positioning slot to detect whether a catheter has been inserted into the positioning slot and to send a prompt signal to the processor; the processor is also used to determine the position and orientation of the catheter under test in the reference coordinate system based on the prompt signal.

6. The system according to claim 1, characterized in that, The processor is further configured to: compare the actual pose with the target pose to obtain the installation error of the magnetic sensor in the test tube, and calibrate the installation pose using the pose calibration parameters based on the installation error.

7. The system according to claim 1, characterized in that, The magnetic field positioning device includes multiple magnetic field coils for generating magnetic fields with mutually perpendicular axes; the position of the magnetic sensor in the magnetic field coordinate system is determined by the sensing data of the magnetic sensor.

8. The system according to any one of claims 1-7, characterized in that, The processor is further configured to determine the actual pose of the multiple magnetic sensors in the catheter coordinate system when the catheter under test is in different positions in the reference coordinate system, based on the multiple first transformation relationships when the catheter under test is in different positions in the reference coordinate system and the corresponding pose of the magnetic sensor in the magnetic field coordinate system, and to determine the final actual pose based on the multiple actual poses. Based on the final actual pose and the target pose, determine the pose calibration parameters.

9. The system according to any one of claims 1-7, characterized in that, The processor is also used to determine the pose of the target position on the catheter under test based on the actual pose of the magnetic sensor in the catheter coordinate system.

10. A method for calibrating the installation position of a magnetic sensor, characterized in that, include: A first transformation relationship between the magnetic field coordinate system and the duct coordinate system is established through a reference coordinate system, wherein the duct coordinate system is the coordinate system of the duct under test, and at least one magnetic sensor is provided on the inner wall of the duct under test. Determine the pose of the magnetic sensor in the magnetic field coordinate system; Based on the pose of the magnetic sensor in the magnetic field coordinate system and the first transformation relationship, the actual pose of the magnetic sensor in the conduit coordinate system is determined; The target pose of the magnetic sensor in the catheter coordinate system is obtained, and pose calibration parameters are determined based on the actual pose and the target pose. The pose calibration parameters are used to calibrate the installation pose of the magnetic sensor on the catheter under test. The establishment of the first transformation relationship between the magnetic field coordinate system and the duct coordinate system through the reference coordinate system includes: The first transformation relationship is determined based on the position of the catheter under test in the reference coordinate system and the position of the magnetic field positioning device in the reference coordinate system.

11. The method according to claim 10, characterized in that, Also includes: Acquire multiple first transformation relationships and the corresponding poses of the magnetic sensor in the magnetic field coordinate system when the catheter under test is in different positions in the reference coordinate system; Based on the first transformation relationship and the corresponding pose of the magnetic sensor in the magnetic field coordinate system, the actual pose of multiple magnetic sensors in the catheter coordinate system when the catheter under test is in different positions is determined. The final actual pose is determined based on multiple actual poses. Based on the final actual pose and the target pose, determine the pose calibration parameters.

12. The method according to claim 10 or 11, characterized in that, Also includes: The pose of the target position on the catheter under test is determined based on the actual pose of the magnetic sensor in the catheter coordinate system.

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