Electromagnetic navigation system, magnetic field anti-interference method and device thereof and electronic equipment

Abstract

The invention relates to an electromagnetic navigation system, a magnetic field anti-interference method and device thereof and electronic equipment, and the electromagnetic navigation system comprises a first field emission source, a second field emission source and a magnetic detection assembly. The first field emission source is used for emitting a first magnetic field. The magnetic detection assembly is used for detecting the first magnetic field. And the second field emission source is used for emitting a second magnetic field superposed on the first magnetic field according to the detection result of the magnetic detection assembly, so that the detection result of the magnetic detection assembly tends to the reference result. Through the application, the problem that the positioning precision of the magnetic sensor is finally reduced because the magnetic field signal actually measured by the magnetic sensor is inconsistent with the model signal corresponding to the same spatial position due to the fact that the current electromagnetic navigation system is easily influenced by a magnetic field interference source is solved.

Description

Technical Field

[0001] The present application relates to the field of electromagnetic navigation, and in particular to an electromagnetic navigation system and a magnetic field anti-interference method, device and electronic equipment thereof. Background Art

[0002] The electromagnetic navigation system (EMTS) is one of the mainstream surgical navigation system technology solutions. The most typical EMTS basic principle is to generate a time-varying magnetic field through a field transmitter, detect the time-varying magnetic field through a magnetic sensor, and then solve the position and posture of the magnetic sensor. However, the EMTS system is more susceptible to interference from ferromagnetic and metal materials. For example, an alternating magnetic field will cause eddy currents in the metal, which in turn will excite the magnetic field, thus becoming an unknown source of magnetic field interference. The magnetic field interference source will interfere with the time-varying magnetic field generated by the field transmitter, causing the magnetic field signal actually measured by the magnetic sensor to be inconsistent with the model signal corresponding to the same spatial position, ultimately reducing the positioning accuracy of the magnetic sensor. Among them, the model signal is the theoretical magnetic field signal in the time-varying magnetic field model of the field transmitter.

[0003] An effective solution is needed to address the problem that the current electromagnetic navigation system is easily affected by magnetic field interference sources, which causes the magnetic field signal actually measured by the magnetic sensor to be inconsistent with the model signal corresponding to the same spatial position, ultimately reducing the positioning accuracy of the magnetic sensor. Summary of the invention

[0004] The present invention provides an electromagnetic navigation system and a magnetic field anti-interference method, device and electronic equipment thereof to solve the problem that the current electromagnetic navigation system is easily affected by magnetic field interference sources, causing the magnetic field signal actually measured by the magnetic sensor to be inconsistent with the model signal corresponding to the same spatial position, ultimately reducing the positioning accuracy of the magnetic sensor.

[0005] In a first aspect, the present invention provides an electromagnetic navigation system, the electromagnetic navigation system comprising: a first field emission source, a second field emission source and a magnetic detection component;

[0006] The first field emission source is used to emit a first magnetic field, and the magnetic detection component is used to detect a resultant magnetic field, wherein the resultant magnetic field includes the first magnetic field;

[0007] The second field emission source is used to emit a second magnetic field superimposed on the first magnetic field according to the detection result of the magnetic detection component, so that the detection result of the magnetic detection component tends to a reference result.

[0008] In some of the embodiments, the magnetic detection component includes a magnetic sensor array, the magnetic sensor array includes a plurality of magnetic sensors, and the positions of the plurality of magnetic sensors are relatively fixed.

[0009] In some embodiments, there are multiple magnetic detection components, and the multiple magnetic detection components are evenly distributed in the first magnetic field.

[0010] In some of the embodiments, there are multiple magnetic detection components, and when a magnetic field interference source is known, at least two of the magnetic detection components are at different distances from the magnetic field interference source.

[0011] In some embodiments, there are multiple second field emission sources, and the multiple second field emission sources are evenly distributed outside the working area of ​​the electromagnetic navigation system, and the working area of ​​the electromagnetic navigation system is covered by the first magnetic field.

[0012] In some of these embodiments, the second field emission source includes an electromagnetic coil.

[0013] In some of the embodiments, there is at least one magnetic detection component, and at least one magnetic detection component is used to be set on the tracked object.

[0014] In a second aspect, the present invention provides a magnetic field anti-interference method for an electromagnetic navigation system, which is applied to the electromagnetic navigation system described in the first aspect;

[0015] The magnetic field anti-interference method comprises:

[0016] emitting a first magnetic field via a first field emission source;

[0017] Detecting the combined magnetic field by a magnetic detection component to obtain a detection result of the magnetic detection component, wherein the combined magnetic field includes the first magnetic field;

[0018] With the goal of minimizing the difference between the detection result of the magnetic detection component and the reference result, the second magnetic field superimposed on the first magnetic field is emitted by the second field emission source.

[0019] In some of the embodiments, the magnetic detection component includes a magnetic sensor array, the magnetic sensor array includes a plurality of magnetic sensors, and the positions of the plurality of magnetic sensors are relatively fixed;

[0020] The detection result of the magnetic detection component includes the actual posture relationship or actual position relationship between the multiple magnetic sensors in the magnetic sensor array.

[0021] In some of these embodiments, the second field emission source comprises an electromagnetic coil;

[0022] The adjusting the second magnetic field by the second field emission source comprises:

[0023] The operating current of the electromagnetic coil is adjusted to adjust the second magnetic field.

[0024] In some embodiments, there are multiple magnetic detection components, and minimizing the difference between the detection results of the magnetic detection components and the reference results as the adjustment target includes:

[0025] Determine the result difference between the detection result of each magnetic detection component and the reference result, and perform weighted summation on the result difference of each magnetic detection component to obtain a cumulative result difference;

[0026] The adjustment goal is to minimize the cumulative result difference.

[0027] In some of the embodiments, performing weighted summation on the result differences of the respective magnetic detection components comprises:

[0028] Determining a sum weight of the result differences of each magnetic detection component according to the distance between each magnetic field detection component and the tracked object;

[0029] The result differences of the magnetic detection components are weightedly summed according to the sum weights of the result differences of the magnetic detection components.

[0030] In some of the embodiments, the magnetic field anti-interference method further includes:

[0031] The magnetic detection component provided on the tracked object is determined as a target magnetic detection component, and the resultant magnetic field is detected by the target magnetic detection component to obtain a target detection result of the target magnetic detection component;

[0032] The second magnetic field is verified by the target detection result of the target magnetic detection component.

[0033] In a third aspect, the present invention provides a magnetic field anti-interference device for an electromagnetic navigation system, which is applied to the electromagnetic navigation system described in the first aspect;

[0034] The magnetic field anti-interference device comprises:

[0035] A magnetic field emission module, used for emitting a first magnetic field through a first field emission source;

[0036] A magnetic field detection module, configured to detect a resultant magnetic field through a magnetic detection component to obtain a detection result of the magnetic detection component, wherein the resultant magnetic field includes the first magnetic field;

[0037] The magnetic field emission module is also used to emit a second magnetic field superimposed on the first magnetic field through a second field emission source with the goal of minimizing the result difference between the detection result of the magnetic detection component and the reference result.

[0038] In a fourth aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the magnetic field anti-interference method of the electromagnetic navigation system described in the second aspect when executing the computer program.

[0039] In a fifth aspect, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the magnetic field anti-interference method of the electromagnetic navigation system described in the second aspect above.

[0040] Compared with the related art, the electromagnetic navigation system and its magnetic field anti-interference method, device and electronic device provided in the present invention can adjust the second magnetic field in real time through the second field emission source according to the detection result of the magnetic detection component, so that the detection result of the magnetic detection component tends to the reference result. Thereby, the interference effect of the interfering magnetic field on the first magnetic field can be greatly reduced or even eliminated, and finally the measured magnetic field data of the magnetic sensor is accurate and consistent with the model signal corresponding to the same spatial position, thereby ensuring the positioning accuracy of the tracked object. It solves the problem that the current electromagnetic navigation system is easily affected by the magnetic field interference source, so that the magnetic field signal actually measured by the magnetic sensor is inconsistent with the model signal corresponding to the same spatial position, and finally reduces the positioning accuracy of the magnetic sensor.

[0041] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0043] Figure 1 It is a hardware structure block diagram of a terminal that executes the magnetic field anti-interference method of the electromagnetic navigation system provided by the present invention;

[0044] Figure 2 is a system configuration diagram of an electromagnetic navigation system in one embodiment of the present invention;

[0045] Figure 3 is a system configuration diagram of an electromagnetic navigation system in another embodiment of the present invention;

[0046] Figure 4 is a flow chart of a magnetic field anti-interference method for an electromagnetic navigation system provided by the present invention;

[0047] Figure 5is a flow chart of a magnetic field anti-interference method of an electromagnetic navigation system in one embodiment of the present invention;

[0048] Figure 6 It is a structural block diagram of the magnetic field anti-interference device of the electromagnetic navigation system provided by the present invention. DETAILED DESCRIPTION

[0049] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0050] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0051] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 1 is a hardware structure block diagram of a terminal for executing the magnetic field anti-interference method of the electromagnetic navigation system provided by the present invention. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 and memory 104 for storing data, wherein processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0052] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the magnetic field anti-interference method of the electromagnetic navigation system provided in the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0053] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0054] The present invention provides an electromagnetic navigation system. Figure 2 is a system configuration diagram of an electromagnetic navigation system in one embodiment of the present invention, Figure 3 FIG. 1 is a system configuration diagram of an electromagnetic navigation system in another embodiment of the present invention. Figure 2 and Figure 3 As shown, the electromagnetic navigation system includes: a first field emission source 100, a second field emission source 200 and a magnetic detection component 300; the first field emission source 100 is used to emit a first magnetic field, and the magnetic detection component 300 is used to detect a combined magnetic field, which includes the first magnetic field; the second field emission source 200 is used to emit a second magnetic field superimposed on the first magnetic field according to the detection result of the magnetic detection component 300, so that the detection result of the magnetic detection component 300 tends to the reference result.

[0055] Specifically, the electromagnetic navigation system includes two field emission sources. In actual use, the first field emission source 100 can be used as the main magnetic field emission source, and the first magnetic field is the main magnetic field of the electromagnetic navigation system.

[0056] The first field emission source 100 can be composed of a plurality of electromagnetic coils or a rotatable permanent magnet. When the tracked object 400 including the magnetic sensor is in the first magnetic field, the tracked object 400 can be located by using the measured magnetic field data obtained by detecting the first magnetic field with the magnetic sensor and the model magnetic field data of the first magnetic field. The model magnetic field data of the first magnetic field is the theoretical magnetic field data in the first magnetic field model, that is, the magnetic field data of the first magnetic field when it is not interfered with. The model magnetic field data of the first magnetic field can be obtained by simulating a single first magnetic field or by detecting the first magnetic field in an interference-free environment.

[0057] Considering that the magnetic field interference source 500 will generate an interference magnetic field superimposed on the first magnetic field, the magnetic sensor actually detects the combined magnetic field of the first magnetic field and the interference magnetic field, and then the magnetic field interference source 500 will affect the detection result of the magnetic sensor. In the electromagnetic navigation system provided by the present invention, at least one second field emission source 200 is also provided, and the second field emission source 200 can be used as a compensation magnetic field emission source, and the second magnetic field is the compensation magnetic field of the electromagnetic navigation system. The internal structure of the first field emission source 100 can be the same as or different from the first field emission source 100. When the magnetic field interference source 500 affects the first magnetic field, the second field emission source 200 can emit a second magnetic field superimposed on the first magnetic field. The second magnetic field is mainly used to offset the interference magnetic field, or to compensate for the first magnetic field, so that the combined magnetic field of the first magnetic field, the interference magnetic field and the second magnetic field is as close as possible to the single first magnetic field. Finally, the measured magnetic field data of the magnetic sensor is accurate and consistent with the model signal corresponding to the same spatial position, thereby ensuring the positioning accuracy of the tracked object 400.

[0058] Further, in order to make the combined magnetic field of the first magnetic field, the interfering magnetic field and the second magnetic field as close as possible to the single first magnetic field, the electromagnetic navigation system also includes at least one magnetic detection component 300, which is used to detect the first magnetic field. In actual use, if there is a magnetic field interference source 500, the magnetic detection component 300 detects the combined magnetic field of the first magnetic field, the interfering magnetic field and the second magnetic field. At this time, the detection result of the magnetic detection component 300 can be used as the working feedback of the second field emission source 200. In theory, if the second magnetic field can just offset the interfering magnetic field, the detection result of the magnetic detection component 300 and the reference result are the same. Among them, the reference result is the detection result that the magnetic field detection component should obtain by detecting a single first magnetic field, which can be obtained by simulation calculation, or by detecting the first magnetic field by the magnetic detection component 300 in an interference-free environment. Therefore, according to the detection result of the magnetic detection component 300, the second magnetic field can be adjusted in real time by the second field emission source 200, so that the detection result of the magnetic detection component 300 tends to the reference result, that is, the second magnetic field tends to just offset the interfering magnetic field. Thus, the interference effect of the interfering magnetic field on the first magnetic field can be greatly reduced or even eliminated, and finally the measured magnetic field data of the magnetic sensor is accurate and consistent with the model signal corresponding to the same spatial position, thereby ensuring the positioning accuracy of the tracked object 400. The problem that the current electromagnetic navigation system is easily affected by the magnetic field interference source, so that the magnetic field signal actually measured by the magnetic sensor is inconsistent with the model signal corresponding to the same spatial position, and finally the positioning accuracy of the magnetic sensor is reduced is solved.

[0059] In some of the embodiments, the magnetic detection component 300 includes a magnetic sensor array, and the magnetic sensor array includes multiple magnetic sensors, and the positions of the multiple magnetic sensors are relatively fixed. There are at least two magnetic sensors in the magnetic sensor array. Preferably, there are three to four magnetic sensors in the magnetic sensor array. Moreover, the multiple magnetic sensors in the magnetic sensor array should be distributed in three dimensions, that is, the centroids of the multiple magnetic sensors cannot all be in the same plane. Since the magnetic field is distributed three-dimensionally in space, when multiple magnetic sensors are distributed three-dimensionally, the magnetic fields in different spatial directions and positions can be better detected. Thereby, the detection results of each magnetic detection component 300 can reflect the magnetic field characteristics of the combined magnetic field in a certain three-dimensional space, rather than just reflecting the magnetic field characteristics of the combined magnetic field in a certain plane space, which can ultimately improve the adjustment accuracy of the second magnetic field.

[0060] Specifically, the magnetic detection component 300 can adopt a magnetic sensor array, in which the posture relationship between multiple magnetic sensors is relatively fixed. The posture relationship between these magnetic sensors can be obtained through calibration. In actual use, the posture relationship between the magnetic sensor and the first field emission source 100 can be calculated through the detection data of the magnetic sensor. Furthermore, in the same magnetic sensor array, the posture relationship between each magnetic sensor and the first field emission source 100 can be determined by taking the first field emission source 100 as a reference.

[0061] Since the position relationship between each magnetic sensor is independent of the spatial position of the magnetic sensor array, in the electromagnetic navigation system provided by the present invention, it is not necessary to design and fix the installation position of the magnetic sensor array in advance. It can be installed in the corresponding position according to the actual use. Alternatively, the position of the magnetic sensor array can be dynamically adjusted during the electromagnetic navigation process.

[0062] In this embodiment, the detection result of the magnetic detection component 300 can be the measured posture relationship between each magnetic sensor in the magnetic sensor array. In theory, if the second magnetic field can just offset the interfering magnetic field, then the measured posture relationship between each magnetic sensor in the magnetic sensor array should be the same as the respective calibration posture relationship (reference result). Exemplarily, when the magnetic sensor array includes five magnetic sensors, the first magnetic sensor can be used as a reference sensor, and the posture relationship of the other four sensors relative to the reference sensor can be used as the detection result. Correspondingly, the detection result of the magnetic detection component 300 can also be the positional relationship between each magnetic sensor in the magnetic sensor array, that is, the distance between each magnetic sensor. Compared with taking the posture relationship between each magnetic sensor in the magnetic sensor array as the detection result, it is simpler and faster to calculate the positional relationship between each magnetic sensor.

[0063] In some other embodiments, the magnetic detection component 300 can also be a single magnetic sensor, and the detection result of the magnetic detection component 300 is the magnetic field value obtained by the magnetic sensor detecting the first magnetic field. In this embodiment, the magnetic sensor needs to be fixed, that is, the installation position of the magnetic sensor is pre-designed, and it cannot be moved during use. Since the position of the magnetic sensor is fixed, when the first magnetic field is not affected by the interfering magnetic field, the magnetic field value obtained by the magnetic sensor detecting the first magnetic field should be the same as the reference value (reference result). The second field emission source 200 can be adjusted according to the magnetic field value obtained by the magnetic sensor detecting the first magnetic field, so that the magnetic field value obtained by the magnetic sensor detecting the first magnetic field tends to the reference value.

[0064] Preferably, there can be multiple magnetic detection components 300, and the multiple magnetic detection components 300 are evenly distributed in the first magnetic field. Multiple magnetic detection components 300 detect different positions respectively to avoid that the combined magnetic field of the first magnetic field, the second magnetic field and the interference magnetic field is similar to or the same as the first magnetic field only in some areas. In other words, avoid overfitting of the second magnetic field to some areas. Multiple magnetic detection components 300 should be distributed three-dimensionally as much as possible, that is, the center of mass of multiple magnetic detection components 300 cannot be in the same plane.

[0065] The uniform distribution of multiple magnetic detection components 300 is suitable for the case where the magnetic field interference source 500 is unknown. The uniform distribution of magnetic detection components 300 can be the same spacing between any two adjacent magnetic detection components 300. It can also be the same number of magnetic detection components 300 distributed in the unit space, for example, the space to be detected can be divided into several unit spaces with the same volume and shape, and a magnetic detection component 300 is distributed at the center of each unit space. If it is an electromagnetic navigation system, the magnetic field interference source 500 is known, and at least two magnetic detection components 300 are at different distances from the magnetic field interference source 500. Specifically, according to the position of the magnetic field interference source 500, the area relatively close to the magnetic field interference source 500 can be determined as a strong interference area, and the area relatively far away from the magnetic field interference source 500 can be determined as a weak interference area, then at least one magnetic detection component 300 should be set in each of the strong interference area and the weak interference area. Among them, the strong interference area and the weak interference area are relative, and the strong interference area is closer to the interference source 500 than the weak interference area. Furthermore, the magnetic detection component 300 that is closer to the magnetic field interference source 500 may be directly disposed on the magnetic field interference source 500 .

[0066] It should be noted that, during the use of electromagnetic navigation, an unknown object that may be a magnetic field interference source 500 can be identified as a magnetic field interference source 500, and the position of the magnetic detection component 300 can be set in the same manner as above.

[0067] In some of the embodiments, there are multiple second field emission sources 200, and the multiple second field emission sources 200 are evenly distributed outside the working area 600 of the electromagnetic navigation system, and the working area 600 of the electromagnetic navigation system is covered by the first magnetic field.

[0068] Specifically, there is a certain working area 600 in the electromagnetic navigation system, and the first magnetic field needs to cover the working area 600. Since the influence of the magnetic field interference source 500 on different positions of the first magnetic field is different, and the position of the magnetic field interference source 500 may be different each time the electromagnetic navigation system is used, the magnetic field compensation required at different positions of the first magnetic field is different. If a single second magnetic field is used, it is difficult to meet the compensation requirements of the first magnetic field. Therefore, in this embodiment, multiple second field emission sources 200 are used, and multiple second field emission sources 200 are evenly distributed outside the working area 600 of the electromagnetic navigation system. Different second field emission sources 200 can generate different second magnetic fields, thereby meeting the use requirements of different magnetic field compensation at different positions of the first magnetic field. Among them, the uniform distribution of the second emission sources 200 can be the same spacing between any two adjacent second emission sources 200. It can also be the same number of second emission sources 200 distributed in the unit space, for example, the outer space of the working area 600 can be divided into a number of unit spaces with the same volume and shape, and a second emission source 200 facing the working area 600 is distributed at the center of each unit space.

[0069] It should be noted that, in some other embodiments, the second transmitting source 200 may be disposed inside the working area 600 without affecting the movement of the tracked object 400 in the working area 600 .

[0070] Furthermore, the second field emission source 200 includes an electromagnetic coil. Specifically, the electromagnetic coil is used to generate the second magnetic field, which is more convenient for adjusting and controlling the second magnetic field and can be compatible with different types of first field emission sources 100.

[0071] Reference Figure 3 In some of the embodiments, there is at least one magnetic detection component 300, and at least one magnetic detection component 300 is used to be set on the tracked object 400. Specifically, the second magnetic field is set to compensate for the first magnetic field, mainly to ensure the accuracy of the detection result of the magnetic sensor in the tracked object 400. Therefore, it is most critical that the first magnetic field is not affected by the magnetic field interference source 500 at the position of the tracked object 400. Preferably, the magnetic detection component 300 can be set on the tracked object 400. Among them, the detection result of the magnetic detection component 300 can be used as the working feedback of the second field emission source 200, and can also be used to verify the adjustment result of the second magnetic field. For example, after the second magnetic field is adjusted, the detection result of the magnetic detection component 300 on the tracked object 400 deviates greatly from the reference result, indicating that the adjustment of the second magnetic field is inaccurate and the second magnetic field needs to be readjusted.

[0072] As described above, this is the electromagnetic navigation system provided by the present invention. For further operation principles and processes of the above electromagnetic navigation system, reference may be made to the magnetic field anti-interference method of the electromagnetic navigation system described below.

[0073] In the present invention, a magnetic field anti-interference method for an electromagnetic navigation system is also provided, and the magnetic field anti-interference method is applied to the electromagnetic navigation system provided by the present invention.

[0074] Figure 4 Flow chart of the magnetic field anti-interference method of the electromagnetic navigation system provided by the present invention. Figure 4 The magnetic field anti-interference method includes: steps S410 to S430.

[0075] Step S410: emitting a first magnetic field through a first field emission source.

[0076] Step S420, detecting the combined magnetic field by the magnetic detection component to obtain a detection result of the magnetic detection component, where the combined magnetic field includes the first magnetic field.

[0077] Step S430 , with the goal of minimizing the difference between the detection result of the magnetic detection component and the reference result, a second magnetic field superimposed on the first magnetic field is emitted by a second field emission source.

[0078] Specifically, when an interfering magnetic field exists in the electromagnetic navigation system, the magnetic field anti-interference method can be used to eliminate the interfering magnetic field. When the electromagnetic navigation system is working, the first field emission source can be used as the main magnetic field emission source, and the first magnetic field is the main magnetic field of the electromagnetic navigation system. And the second field emission source can be used as the compensation magnetic field emission source, and the second magnetic field is the compensation magnetic field of the electromagnetic navigation system. The second magnetic field is mainly used to offset the interfering magnetic field, or to compensate for the first magnetic field, so that the combined magnetic field of the first magnetic field, the interfering magnetic field and the second magnetic field is as close as possible to the single first magnetic field.

[0079] At the same time, the magnetic detection component detects the first magnetic field. Since the magnetic field interference source generates an interference magnetic field superimposed on the first magnetic field, and the second field transmitter generates a second magnetic field superimposed on the first magnetic field, the magnetic detection component actually detects the combined magnetic field of the first magnetic field, the second magnetic field and the interference magnetic field, that is, the detection result of the magnetic detection component is the detection result of the combined magnetic field. In theory, if the second magnetic field can just offset the interference magnetic field, the detection result of the magnetic detection component and the reference result are the same. Among them, the reference result is the detection result that the magnetic field detection component should obtain when detecting a single first magnetic field. Therefore, with minimizing the result difference between the detection result of the magnetic detection component and the reference result as the adjustment target, the second magnetic field superimposed on the first magnetic field by the second field emission source can make the second magnetic field offset or basically offset the interference magnetic field. Finally, the measured magnetic field data of the magnetic sensor in the tracked object is accurate and consistent with the model signal corresponding to the same spatial position, thereby ensuring the positioning accuracy of the tracked object. The current electromagnetic navigation system is easily affected by the magnetic field interference source, so that the magnetic field signal actually measured by the magnetic sensor is inconsistent with the model signal corresponding to the same spatial position, and finally reduces the positioning accuracy of the magnetic sensor.

[0080] It should also be noted that when the interfering magnetic field disappears, since the magnetic field anti-interference method is aimed at minimizing the difference between the detection result of the magnetic detection component and the reference result, the second magnetic field will be adjusted to a strength close to zero, and even the second field emission source will not emit the second magnetic field. Therefore, the magnetic field anti-interference method does not affect the normal use of the first magnetic field when there is no interfering magnetic field. In other words, the magnetic field anti-interference method has the effect of self-pause and self-start. It should also be noted that in actual situations, there may be some areas in the first magnetic field that are not affected by the interfering magnetic field, and then the magnetic field detection component in the above area only detects a single first magnetic field, while the magnetic detection components in other areas detect the combined magnetic field of the first magnetic field, the second magnetic field and the interfering magnetic field.

[0081] In some of the embodiments, the magnetic detection component includes a magnetic sensor array, the magnetic sensor array includes multiple magnetic sensors, and the postures between the multiple magnetic sensors are relatively fixed; the detection results of the magnetic detection component include the actual posture relationship or actual position relationship between the multiple magnetic sensors in the magnetic sensor array.

[0082] Specifically, when the magnetic detection component adopts a magnetic sensor array, the posture relationship between multiple magnetic sensors in the same magnetic sensor array is relatively fixed. The posture relationship between these magnetic sensors can be obtained through calibration. Therefore, the actual posture relationship or actual position relationship between multiple magnetic sensors can be used as the detection result of the magnetic detection component. In actual use, the posture relationship between the magnetic sensor and the first field emission source can be calculated through the detection data of the magnetic sensor. Furthermore, in the same magnetic sensor array, the posture relationship between each magnetic sensor and the first field emission source can be determined by taking the first field emission source as a reference.

[0083] Correspondingly, in this embodiment, the second magnetic field is adjusted by the second field emission source with the goal of minimizing the difference between the actual position relationship and the calibrated position relationship between the multiple magnetic sensors in the magnetic sensor array. Alternatively, the second magnetic field is adjusted by the second field emission source with the goal of minimizing the difference between the actual position relationship and the calibrated position relationship between the multiple magnetic sensors in the magnetic sensor array. The calibrated position relationship or calibrated position relationship between the multiple magnetic sensors in the magnetic sensor array constitutes the reference result of the magnetic detection component.

[0084] In some other embodiments, the magnetic detection component includes a magnetic sensor, and the detection result of the magnetic detection component includes a magnetic field value obtained by the magnetic sensor detecting the first magnetic field. In this embodiment, the magnetic sensor needs to be fixedly set, that is, the installation position of the magnetic sensor is pre-designed and cannot be moved during use. Since the position of the magnetic sensor is fixed, when the first magnetic field is not affected by the interfering magnetic field, the magnetic field value obtained by the magnetic sensor detecting the first magnetic field should be the same as the reference value (reference result). The second field emission source can be adjusted according to the magnetic field value obtained by the magnetic sensor detecting the first magnetic field, so that the magnetic field value obtained by the magnetic sensor detecting the first magnetic field tends to the reference value.

[0085] In some embodiments, the second field emission source includes an electromagnetic coil; in step S410, adjusting the second magnetic field by the second field emission source includes: adjusting the operating current of the electromagnetic coil to adjust the second magnetic field.

[0086] Specifically, when the second field emission source adopts an electromagnetic coil, the second magnetic field can be adjusted by adjusting the working current of the electromagnetic coil. Among them, the intensity and phase of the working current are mainly adjusted. Furthermore, if the magnetic field interference source is a passive interference source, such as metal, since the metal is affected by the first magnetic field to generate eddy currents to excite the interference magnetic field, the frequency of the interference magnetic field is the same as the first magnetic field. In this case, the working frequency of the working current of the electromagnetic coil is the same as the frequency of the first magnetic field, and the intensity and signal phase of the working current of each electromagnetic coil are mainly adjusted. If there are other active interference sources, the frequency component of the interference magnetic field can be obtained by performing frequency analysis on the magnetic field signal collected by the magnetic sensor, so as to set the current signal of the same frequency in the working current of each electromagnetic coil, and then adjust the intensity and signal phase of the working current.

[0087] In some of the embodiments, there are multiple magnetic detection components. In step S410, minimizing the result difference between the detection results of the magnetic detection components and the reference results is an adjustment target, including: determining the result difference between the detection results of each magnetic detection component and the reference result, performing weighted summation on the result differences of each magnetic detection component to obtain a cumulative result difference; minimizing the cumulative result difference is an adjustment target.

[0088] Specifically, when there are multiple magnetic detection components, it is necessary to comprehensively consider the difference between the detection results of the multiple magnetic detection components and the reference results. A simpler method is to weight the difference between the results of the various magnetic detection components to obtain the cumulative result difference, and then minimize the cumulative result difference as the adjustment goal. Through the above means, when adjusting the second magnetic field, the difference between the detection results of the various magnetic detection components at different positions and the reference results can be comprehensively considered, thereby avoiding overfitting of the second magnetic field to compensate for the local area of ​​the first magnetic field.

[0089] In various embodiments in which the detection results of the magnetic detection component are different physical quantities, the specific calculation forms of the accumulated result differences are different, but the overall calculation ideas are essentially the same.

[0090] For example, in an embodiment where the detection result of the magnetic detection component includes the actual posture relationship between multiple magnetic sensors in the magnetic sensor array, for each magnetic sensor array, one of the magnetic sensors can be determined as a reference magnetic sensor, and the posture relationship of the other magnetic sensors relative to the reference magnetic sensor can be determined. The reference posture relationship of the other magnetic sensors in each magnetic sensor array relative to the reference magnetic sensor is: The measured pose relationship of other magnetic sensors in each magnetic sensor array relative to the reference magnetic sensor is: The optimization function model of the cumulative result difference is:

[0091]

[0092] Wherein, I is a 4th-order unit matrix, T is a posture relationship matrix, the subscript i indicates the number of the magnetic sensor, the superscript 0 indicates the reference magnetic sensor, i-list is the input of the second field emission unit, and when the second field emission unit is an electromagnetic coil, i-list indicates the information set of the working current of all electromagnetic coils. The calculation principle of the above optimization function model is that when the calibration posture relationship matrix and the measured posture relationship matrix of a magnetic sensor are the same, the product of the calibration posture relationship matrix and the inverse matrix of the measured posture relationship matrix is ​​the unit matrix, and the above optimization function model minimizes the difference between the product of the above two matrices and the unit matrix of the same order to minimize the difference between the calibration posture relationship matrix and the measured posture relationship matrix. Since it is necessary to calculate the cumulative result difference of all magnetic detection components, the measured posture relationship and calibration posture relationship of each magnetic sensor relative to its own reference magnetic sensor in each magnetic sensor array are brought into the above optimization function model for cumulative calculation.

[0093] Alternatively, in an embodiment where the detection result of the magnetic detection assembly includes the actual positional relationship between multiple magnetic sensors in the magnetic sensor array, for each magnetic sensor array, the distance between two magnetic sensors can be determined. The calibrated distance between two magnetic sensors in each magnetic sensor array is: [d 12 ,…,d 1n ,d 23 ,…,d (n-1)n ]. The measured distance between each pair of magnetic sensors in each magnetic sensor array is: [d′ 12 ,…,d′ 1n ,d′ 23 ,…,d′ (n-1)n ]. The optimization function model of the cumulative result difference is:

[0094]

[0095] Where d is the distance, and the subscripts i and j both represent the magnetic sensor numbers. i-list is the input of the second field emission unit. When the second field emission unit is an electromagnetic coil, i-list represents the information set of the working current of all electromagnetic coils. Since the cumulative result difference of all magnetic detection components needs to be calculated, the measured distance and the calibrated distance between each pair of magnetic sensors in each magnetic sensor array are brought into the above optimization function model for cumulative calculation.

[0096] The second magnetic field is set to compensate for the first magnetic field, mainly to ensure the accuracy of the detection results of the magnetic sensor in the tracked object. Therefore, the closer the magnetic field area is to the tracked object, the more high-precision magnetic field compensation is needed. Furthermore, based on the previous embodiment, the step: weighted summing the result differences of each magnetic detection component includes: determining the sum weight of the result differences of each magnetic detection component according to the distance between each magnetic field detection component and the tracked object; and weighted summing the result differences of each magnetic detection component according to the sum weight of the result differences of each magnetic detection component.

[0097] Specifically, the magnetic field area closer to the tracked object requires a smaller compensation error. Therefore, when weighted summing the result differences of each magnetic detection component, the result differences of the magnetic detection component closer to the tracked object require a larger summing weight, so that the adjustment result of the second magnetic field tends to prioritize reducing the compensation error of the magnetic field area close to the tracked object. Accordingly, the optimization function model of the cumulative result difference needs to be adjusted on the basis of the above, mainly by multiplying the weight before the calculation item of the result difference of each magnetic sensor array. For example, the adjusted optimization function model for posture relationship is as follows:

[0098]

[0099] Among them, ω k As weights, it assigns different importance to different magnetic sensor arrays. And 0<ω k <1. M represents the number of magnetic detection components, and the subscript k represents the serial number of the magnetic detection component. In the process of calculating the cumulative result difference, for each magnetic sensor array, the error between the measured pose relationship and the marked pose relationship of each magnetic sensor needs to be multiplied by the weight corresponding to the magnetic sensor array. N represents the number of magnetic sensors in the magnetic sensor array, and the subscript i represents the serial number of the magnetic sensor in the magnetic sensor array.

[0100] Figure 5 FIG. 1 is a flow chart of a magnetic field anti-interference method of an electromagnetic navigation system in an embodiment of the present invention. Figure 5 In some of the embodiments, the magnetic field anti-interference method further includes: step S440 and step S450.

[0101] Step S440: determine the magnetic detection component provided on the tracked object as the target magnetic detection component, detect the combined magnetic field through the target magnetic detection component, and obtain a target detection result of the target magnetic detection component.

[0102] Step S450, verifying the second magnetic field through the target detection result of the target magnetic detection component.

[0103] Specifically, in some embodiments, a magnetic detection component is also provided on the tracked object, and the magnetic detection component can be set as a target detection component. The second magnetic field is set to compensate for the first magnetic field, mainly to ensure the accuracy of the detection results of the magnetic sensor in the tracked object. Therefore, it is most critical that the first magnetic field is not affected by the magnetic field interference source at the position of the tracked object. Preferably, the adjustment result of the second magnetic field can be verified by the target detection result of the target detection component. For example, after the second magnetic field is adjusted, the target detection result of the target detection component deviates greatly from the reference result, indicating that the adjustment of the second magnetic field is inaccurate and the second magnetic field needs to be readjusted.

[0104] Accordingly, in other embodiments, the magnetic detection component provided on the tracked object may also be used together with other magnetic detection components instead of verifying the adjustment result of the second magnetic field. In this case, when calculating the cumulative result difference, the result difference of the magnetic detection component provided on the tracked object should obtain the maximum summation weight.

[0105] The technical solution in this application is described in detail through some specific embodiments as follows.

[0106] Reference Figure 2 In some specific embodiments, the electromagnetic navigation system includes: a main magnetic field transmitting source mTx, a plurality of compensating magnetic field transmitting sources cTx-a, cTx-b, cTx-c, etc., a plurality of magnetic sensor arrays rRx-a, rRx-b, etc., a tracked object 400 and the magnetic sensors contained therein. In the lower left corner of the working area 600 of the electromagnetic navigation system, a magnetic field interference source 500 is illustrated in an irregular shape, and the surrounding area is a strong interference area, that is, the inner area of ​​the elliptical dotted line 700. The area far from the magnetic field interference source 500 is a weak interference area or a non-interference area, that is, the outer area of ​​the elliptical dotted line 700.

[0107] During use, after determining the working area 600 of the electromagnetic navigation system, install the main magnetic field emission source mTx so that its working area overlaps with the working area 600 of the electromagnetic navigation system as much as possible. Then, install several compensation magnetic field emission sources cTx-a, cTx-b, and cTx-c around the working area 600. According to the size of the space and the type of work, distribute several compensation magnetic field emission sources cTx-a, cTx-b, and cTx-c as evenly as possible around the working area 600. It should be noted that the compensation magnetic field emission source cTx can be a field emission source composed of multiple electromagnetic coils, or a field emission source composed of multiple magnets that can rotate and move, or a combination of the two. The compensation magnetic field emission source cTx and the main magnetic field emission source mTx can be the same type of field emission source, but the internal structure can be different. Usually, in order to facilitate adjustment and be compatible with multiple types of main magnetic field emission sources mTx, the compensation magnetic field emission source cTx is preferably composed of multiple electromagnetic coils.

[0108] The magnetic sensor array rRx contains at least two magnetic sensors with known and fixed relative positions, which can be tracked by the main magnetic field emission source mTx and positioned by an algorithm. More preferably, the magnetic sensor array rRx contains three or four magnetic sensors. Multiple magnetic sensor arrays rRx are set around or inside the working area 600 (without affecting the work). More preferably, the magnetic sensor array rRx can be set on a known / possible magnetic field interference source. Figure 2 and Figure 3 As shown, the magnetic sensor array rRx-a is set on the known / possible magnetic field interference source 500, so the magnetic sensor array rRx-a can move with the magnetic field interference source 500, so as to better capture the interference signal. In addition, it is necessary to set at least one magnetic sensor array rRx in a weak interference area or a non-interference area away from the known / possible magnetic field interference source. Figure 2 and Figure 3 As shown, the magnetic sensor array rRx-b is arranged in an area far away from the magnetic field interference source 500. The purpose is to avoid overfitting of the compensation magnetic field to the strong interference area, which would distort the magnetic field signal in the weak interference area or the non-interference area.

[0109] The following is an explanation of the magnetic field anti-interference method based on the above-mentioned electromagnetic navigation system.

[0110] The magnetic field model in the working area 600 is as follows:

[0111]

[0112] Among them, B m is the main magnetic field generated by the main magnetic field emission source mTx; B c-n is the compensation magnetic field generated by the compensation magnetic field transmitter cTx, where n is a, b, c, etc.; B iIf the magnetic field interference source is a passive interference source, such as metal, then usually B i It is B m , B c-n If the magnetic field interference source is an active interference source, such as other instruments and equipment that generate magnetic fields, then B i The frequency, phase and B m They may all be different.

[0113] According to the above analysis, Therefore, the positioning result of the tracked object will inevitably be affected, and the relative position relationship between the magnetic sensors in the magnetic sensor array rRx will also change. Each magnetic sensor in the EMTS system can obtain its 6DoF information, and each magnetic sensor can be directly identified (the magnetic field data output by the magnetic sensor can contain the magnetic sensor number). Therefore, a magnetic sensor in the magnetic sensor array rRx can be used as a reference magnetic sensor (numbered 0), and the positions of other magnetic sensors in their coordinate system can be listed: These posture relationships are fixed after the magnetic sensor array rRx is completed and can be calibrated in advance, regardless of the placement of the magnetic sensor array rRx. In the navigation system, the posture relationship of each magnetic sensor relative to the main magnetic field emission source mTx is can be obtained in real time, so that the mutual posture relationship can be solved in real time:

[0114]

[0115] Thus we get According to the difference in relative posture relationship between the magnetic sensors in the multiple magnetic sensor arrays rRx, the current information list of the electromagnetic coil in the compensation magnetic field emission source cTx is reversely solved. The solution function of the current information list is as follows:

[0116]

[0117] Wherein, I is a 4th-order unit matrix; the sum is the sum of the errors in the relative posture relationship between the magnetic sensors of all magnetic sensor arrays rRx; i-list is a list of current information of the electromagnetic coils in all compensation magnetic field emission sources cTx.

[0118] In another embodiment, the list of currents in the compensation magnetic field emission source cTx may be reversely solved according to the differences in relative positional relationships between the magnetic sensors within the plurality of magnetic sensor arrays rRx.

[0119] The actual distance between two magnetic sensors in the magnetic sensor array rRx is [d 12 ,…,d 1n ,d 23,…,d (n-1)n ], these distances are also fixed and can be measured in advance. In the navigation system, the position of each magnetic sensor is first obtained, and then the distance between each pair is calculated [d′ 12 ,…,d′ 1n ,d′ 23 ,…,d′ (n-1)n ], the solution function of the current information list is as follows:

[0120]

[0121] In this method, only the position information of the magnetic sensor is used, and the posture information is ignored. The amount of information is appropriately lost, but the calculation complexity is reduced and the expected effect can still be achieved.

[0122] If it is mainly a passive interference source, then the current frequency of each electromagnetic coil is the same as the main magnetic field frequency of the main magnetic field transmitter mTx, and what needs to be adjusted is mainly the current size and signal phase of each electromagnetic coil. If there are other active interference sources, the frequency component of the interfering magnetic field can be obtained by frequency analysis of the magnetic field signal collected by the magnetic sensor, so as to add the signal of the frequency component to the compensation current signal of the electromagnetic coil. For example, a sinusoidal signal can be used to compensate for the magnetic field interference of the main magnetic field through current combination areas of various intensities and phases.

[0123] The final effect of the above solution is:

[0124]

[0125] Right now:

[0126]

[0127] Therefore, the compensation magnetic field emission source cTx plays a role in offsetting the interfering magnetic field.

[0128] Since the magnetic sensor array rRx is arranged inside and outside the working area 600, as well as in the strong interference area and the weak interference area, the entire working area 600 is compensated by the magnetic field, so the intensity of the interfering magnetic field is weakened, and the navigation accuracy of the tracked object is improved.

[0129] It should be noted that if the magnetic sensor array rRx is only arranged in the strong interference area, the magnetic field compensation in the strong interference area will be overfitted, that is, the weak / no interference area does not obtain effective magnetic field compensation. If the navigation accuracy in the entire working area 600 is to be improved, it is better to arrange the magnetic sensor array rRx as widely as possible, especially in both the strong interference area and the weak / no interference area.

[0130] In another real-time solution, magnetic field compensation can be selectively performed based on the real-time tracking results of the tracked object. For example, when the tracked object is close to the magnetic sensor array rRx-a, the error term of the magnetic sensor array rRx-a is given a greater weight in the solution function of the current information list; when the tracked object is close to the magnetic sensor array rRx-b, the error term of the magnetic sensor array rRx-b is given a greater weight in the solution function of the current information list. This solution is more suitable for situations where the tracked object is relatively single.

[0131] Reference Figure 3 In some other specific embodiments, a magnetic sensor array vRx may be added to the tracked object. Its shape may be the same as or different from that of the magnetic sensor array rRx, and it should also include at least two magnetic sensors with relatively fixed posture relationships.

[0132] In this specific embodiment, the magnetic sensor array vRx is bound to the tracked object, which can further improve the navigation accuracy. After the compensation magnetic field is adjusted in real time, the relative posture relationship between the magnetic sensors in the magnetic sensor array vRx is used to verify the adjustment result. If, after magnetic field compensation, the relative posture relationship of the magnetic sensor array vRx in the magnetic field model of the main magnetic field transmitting source mTx is close to the calibration value, or the error is lower than the threshold, then the magnetic field compensation result is deemed acceptable, otherwise it is necessary to re-acquire the data to solve the current information of the electromagnetic coil.

[0133] Another approach is to introduce the relative position relationship error of the magnetic sensor array vRx into the solution function of the current information list and adjust the error term weight of the magnetic sensor array vRx. For example, the error term of the magnetic sensor array vRx can be given a slightly larger weight than other error terms, so that the magnetic field compensation result is more inclined to restore the magnetic field near the tracked object.

[0134] The present invention also provides a magnetic field anti-interference device for an electromagnetic navigation system, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. The terms "module", "unit", "subunit", etc. used below may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0135] Figure 6 is a structural block diagram of the magnetic field anti-interference device of the electromagnetic navigation system provided by the present invention, such as Figure 6 As shown, the device comprises:

[0136] A magnetic field emission module 610 is used to emit a first magnetic field through a first field emission source;

[0137] The magnetic field detection module 620 is used to detect the combined magnetic field through the magnetic detection component to obtain the detection result of the magnetic detection component, and the combined magnetic field includes the first magnetic field;

[0138] The magnetic field emission module 610 is also used to emit a second magnetic field superimposed on the first magnetic field through a second field emission source with the goal of minimizing the difference between the detection result of the magnetic detection component and the reference result.

[0139] Through the above device, the second magnetic field can be adjusted in real time through the second field emission source according to the detection result of the magnetic detection component, so that the detection result of the magnetic detection component tends to the reference result, that is, the second magnetic field tends to just offset the interference magnetic field. Thereby, the interference effect of the interference magnetic field on the first magnetic field can be greatly reduced or even eliminated, and finally the measured magnetic field data of the magnetic sensor is accurate and consistent with the model signal corresponding to the same spatial position, thereby ensuring the positioning accuracy of the tracked object. It solves the problem that the current electromagnetic navigation system is easily affected by the magnetic field interference source, so that the magnetic field signal actually measured by the magnetic sensor is inconsistent with the model signal corresponding to the same spatial position, and finally reduces the positioning accuracy of the magnetic sensor.

[0140] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0141] The present invention also provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0142] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0143] Optionally, in one embodiment, the processor may be configured to perform the following steps through a computer program:

[0144] S1, emitting a first magnetic field through a first field emission source.

[0145] S2, detecting the combined magnetic field through the magnetic detection component to obtain a detection result of the magnetic detection component, where the combined magnetic field includes the first magnetic field.

[0146] S3, emitting a second magnetic field superimposed on the first magnetic field through a second field emission source with the goal of minimizing the difference between the detection result of the magnetic detection component and the reference result.

[0147] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0148] In addition, in combination with the magnetic field anti-interference method of the electromagnetic navigation system provided by the present invention, a storage medium can also be provided in the present invention to implement the method. The storage medium stores a computer program; when the computer program is executed by the processor, the magnetic field anti-interference method of the electromagnetic navigation system in any of the above embodiments is implemented.

[0149] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0150] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0151] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0152] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0153] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. An electromagnetic navigation system, characterized in that: The electromagnetic navigation system comprises: a first field emission source (100), a second field emission source (200) and a magnetic detection component (300); The first field emission source (100) is used to emit a first magnetic field, and the magnetic detection component (300) is used to detect a resultant magnetic field, wherein the resultant magnetic field includes the first magnetic field; The second field emission source (200) is used to emit a second magnetic field superimposed on the first magnetic field according to the detection result of the magnetic detection component (300), so as to make the detection result of the magnetic detection component (300) tend towards a reference result.

2. The electromagnetic navigation system according to claim 1, characterized in that: The magnetic detection component (300) comprises a magnetic sensor array, the magnetic sensor array comprises a plurality of magnetic sensors, and the positions of the plurality of magnetic sensors are relatively fixed.

3. The electromagnetic navigation system according to claim 2, characterized in that: There are a plurality of magnetic detection components (300), and the plurality of magnetic detection components (300) are evenly distributed in the first magnetic field.

4. The electromagnetic navigation system according to claim 2, characterized in that: There are multiple magnetic detection components (300), and when a magnetic field interference source (500) is known, at least two of the magnetic detection components (300) are at different distances from the magnetic field interference source (500).

5. The electromagnetic navigation system according to claim 1, characterized in that: There are a plurality of second field emission sources (200), and the plurality of second field emission sources (200) are evenly distributed outside a working area (600) of the electromagnetic navigation system, and the working area (600) of the electromagnetic navigation system is covered by the first magnetic field.

6. The electromagnetic navigation system according to claim 2, characterized in that: There is at least one magnetic detection component (300), and at least one magnetic detection component (300) is used to be arranged on the tracked object (400).

7. A magnetic field anti-interference method for an electromagnetic navigation system, characterized in that: An electromagnetic navigation system as claimed in any one of claims 1 to 6; The magnetic field anti-interference method comprises: emitting a first magnetic field via a first field emission source; Detecting the combined magnetic field by a magnetic detection component to obtain a detection result of the magnetic detection component, wherein the combined magnetic field includes the first magnetic field; With the goal of minimizing the difference between the detection result of the magnetic detection component and the reference result, a second magnetic field superimposed on the first magnetic field is emitted by a second field emission source.

8. The magnetic field anti-interference method of the electromagnetic navigation system according to claim 7, characterized in that: The magnetic detection component includes a magnetic sensor array, the magnetic sensor array includes a plurality of magnetic sensors, and the positions of the plurality of magnetic sensors are relatively fixed; The detection result of the magnetic detection component includes the actual posture relationship or actual position relationship between the multiple magnetic sensors in the magnetic sensor array.

9. The magnetic field anti-interference method of the electromagnetic navigation system according to claim 7, characterized in that: There are multiple magnetic detection components, and minimizing the difference between the detection results of the magnetic detection components and the reference results is the adjustment target, including: Determine the result difference between the detection result of each magnetic detection component and the reference result, and perform weighted summation on the result difference of each magnetic detection component to obtain a cumulative result difference; The adjustment goal is to minimize the cumulative result difference.

10. The magnetic field anti-interference method of the electromagnetic navigation system according to claim 9, characterized in that: The step of performing weighted summation on the result differences of each magnetic detection component comprises: Determining a sum weight of the result differences of each magnetic detection component according to the distance between each magnetic field detection component and the tracked object; The result differences of the magnetic detection components are weightedly summed according to the sum weights of the result differences of the magnetic detection components.

11. The magnetic field anti-interference method of the electromagnetic navigation system according to claim 7, characterized in that: Magnetic field interference resistance methods also include: The magnetic detection component provided on the tracked object is determined as a target magnetic detection component, and the resultant magnetic field is detected by the target magnetic detection component to obtain a target detection result of the target magnetic detection component; The second magnetic field is verified by the target detection result of the target magnetic detection component.

12. A magnetic field anti-interference device for an electromagnetic navigation system, characterized in that: An electromagnetic navigation system as claimed in any one of claims 1 to 6; The magnetic field anti-interference device comprises: A magnetic field emission module, used for emitting a first magnetic field through a first field emission source; A magnetic field detection module, configured to detect a resultant magnetic field through a magnetic detection component to obtain a detection result of the magnetic detection component, wherein the resultant magnetic field includes the first magnetic field; The magnetic field emission module is also used to emit a second magnetic field superimposed on the first magnetic field through a second field emission source with the goal of minimizing the result difference between the detection result of the magnetic detection component and the reference result.

13. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the magnetic field anti-interference method of the electromagnetic navigation system according to any one of claims 7 to 11.

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