31 results about "Electromagnetic tracking" patented technology

The invention involves a system and method for increasing positional accuracy of surgical systems that utilize magnetic or electromagnetic sensors to provide positional awareness to a surgeon or robot performing the surgery. The system takes advantage of electromagnetic tracking through sensors. These sensors are very accurate and repeatable, while being compact enough to not inhibit surgical procedures. The accuracy and repeatability of the sensors is <1 mm within a predetermined 6 inch×6 inch performance motion box. The system is constructed and arranged to map the distortion patterns of the sensor and, in real time, correct the distortion pattern to provide accurate location of anatomical structures for performance of a surgery.

Tracking a pose of a portion of an anatomical structure using an inverted-direction electromagnetic navigation system may comprise generating a signal comprising a plurality of frequencies. The signal comprising the plurality of frequencies may be received at a transmitter coil array. The transmitter coil array comprises a plurality of transmitting micro coils. Each of the plurality of transmitting micro coils is coupled to a portion of an anatomical structure of a patient. In response to receiving the signal comprising the plurality of frequencies, an electromagnetic field may be generated at each of the plurality of transmitting micro coils based on the received signal. Each of the generated electromagnetic fields may be detected at a receiver coil array comprising at least one receiving coil. A pose of at least one of the plurality of transmitting micro coils may then be determined.

The invention discloses a sequence image relative pose estimation method, device and equipment and a medium, and relates to the technical field of image processing, the method accurately estimates inter-frame poses through deep learning, so that ultrasonic three-dimensional reconstruction can be realized under the condition of not using external tracking equipment such as electromagnetic tracking and the like; therefore, various possible complex medical environments can be adapted more flexibly, and medical workers can be helped to perform examination and diagnosis better. And meanwhile, the method eliminates the dependence of ultrasonic three-dimensional reconstruction on external equipment such as optical / magnetic tracking equipment, so that the system architecture is simpler and more compact, the hardware cost and complexity are remarkably reduced, and the method is favorable for adapting to various different clinical application scenes. Besides, through rotation isovariant convolution and multi-scale cross attention, the method can better adapt to factors such as angle change and tissue deformation in the acquisition process, and the robustness of the method is improved.

The application discloses a coil layout optimization and pose estimation simulation model, relates to the technical fields of electromagnetic tracking, simulation modeling and electromagnetic layout optimization, and aims to realize optimal design of a transmitting coil spatial layout and high-precision pose calculation through high-fidelity numerical simulation data driving. Under the driving of specific excitation signals, a simulation engine utilizes ANSYS finite element analysis to pre-construct a global magnetic field fingerprint characteristic map of the transmitting coil, so as to replace a traditional magnetic dipole mathematical approximation model. In order to improve the scientificity of the coil layout, virtual magnetic field data generated by ANSYS is mapped into sensor sensing voltage prediction values, and residual errors are constructed with pose estimation values output by a calculation module; subsequently, the pose errors are used as feedback evaluation indexes to iteratively correct coil geometric arrangement parameters in the ANSYS model, and finally, a global optimal layout is obtained.

The invention provides a surgical navigation system and method based on electromagnetic positioning and augmented reality, and the system comprises an image data three-dimensional reconstruction module which is used for importing preoperative medical image data into the system, and generating a visual model through a three-dimensional reconstruction algorithm; the pre-operation registration module is used for realizing space mapping of an image coordinate system and an operation coordinate system through a registration method based on mark points; the electromagnetic positioning and coordinate mapping module is used for tracking the pose of the surgical instrument in real time and mapping the coordinates of the instrument to the surgical coordinate system; the augmented reality and high-precision navigation module is used for fusing and displaying the registered virtual navigation image and a real operation scene; the electromagnetic positioning and coordinate mapping module and the augmented reality and high-precision navigation module form a surgical navigation platform integrating electromagnetic tracking and augmented reality display; by fusing the high-precision anti-shielding capability of electromagnetic positioning and the visual visualization effect of augmented reality, stable, accurate and visual intraoperative navigation can be realized.

The invention relates to an aiming device for an intramedullary nail navigation system, the aiming device can be operated to enable a drilling tool to aim at a locking hole of an intramedullary nail when the intramedullary nail navigation system carries out locking nail drilling navigation, and the aiming device comprises an electromagnetic tracking device and a control device, the sensing device is configured to track the relative posture of a drilling tool and an intramedullary nail, and the tracking control unit can obtain the relative posture; the calculation device is configured to judge whether the drilling tool can enter the range of the locking hole to be aimed or not when advancing in the axial direction of the drilling tool according to the relative posture; the display device is configured to display locking nail drilling aiming operation, and the tracking control unit is configured to establish a drilling tool 3D model and an intramedullary nail 3D model comprising a locking hole 3D model. The invention also relates to a surgical navigation system comprising such a sighting device and a method for operating such a sighting device.

An electromagnetic tracking (EMT) system is configured for determining a frequency for generating at least a portion of a magnetic field signal using a transmitter coil of a plurality of transmitter coils. The EMT system configures a time-division multiplexed (TDM) control signal configured to cause the transmitter coil to transmit bursts of the magnetic field signal at the frequency. The EMT system configures a filter for filtering the TDM control signal, the filter configured to shape each burst to reduce or eliminate a harmonic artifact of the bursts. The EMT system causes the transmitter coil to generate the shaped bursts of the magnetic field signal. The EMT system receives, from a sensor, a sensor signal that corresponds to the magnetic field signal, the sensor including the output response indicative of the location of the sensor relative to the transmitter.

A method for automatic position determination review during position tracking of an object inserted in a hollow organ of a patient by an electromagnetic tracking (EMT) system in the presence of an X-ray device with a movable acquisition system includes providing a registration of the EMT system to the acquisition system. A reference image of the hollow organ of the patient is provided, a registration of the reference image is provided to the acquisition system, a position of the object is determined by the EMT system, and an associated position on the reference image is determined. A plausibility criterion and / or a boundary condition is applied for reviewing a plausibility of the position determined by the EMT system based on the reference image. If the plausibility criterion and / or the boundary condition is violated, a position correction of the position determined by the EMT system and / or an alternative position determination is performed.

The invention relates to the technical field of automatic control and sensing, and discloses an electromagnetic tracking trolley system and a signal processing method, and the electromagnetic tracking trolley system comprises an inductance sensing module, a signal processing module, a control module, a motor driving module and a power management module. By adopting a composite signal processing strategy including band-pass filtering, amplitude limiting filtering and median filtering and cooperating with a multi-stage filtering circuit provided with a common mode inductor in a power supply path, specific frequency interference and power supply noise in a racing track environment can be filtered in a targeted manner, the stability of an inductance signal and the anti-interference capability of the system are improved, and the reliability of the system is improved. Control misjudgment caused by signal abrupt change is effectively avoided; and a plurality of I-shaped inductor arrays which are transversely arranged in a straight line are adopted to collect signals, a weighting algorithm is utilized to calculate transverse position deviation, incremental PID control and speed self-adaptive adjustment are combined, and the offset between the trolley and the center of a racing track can be accurately quantified.

Tracking a pose of a portion of an anatomical structure using a bi-directional electromagnetic navigation system may include generating a signal comprising a plurality of frequencies. The signal may be received at a bi-directional coil array that comprises a plurality of bi-directional micro coils configured to both generate electromagnetic fields and detect electromagnetic fields generated by neighboring bi-directional micro coils. Each of the plurality of bi-directional micro coils may be coupled to a portion of a structure. In response to receiving the signal, an electromagnetic field may be generated at each of the plurality of bi-directional micro coils. At least one of the generated electromagnetic fields may be detected at a neighboring bi-directional micro coil of a bi-directional micro coil that is generating the at least one detected electromagnetic field. A pose of the bi-directional micro coil that is generating the at least one detected electromagnetic field may be determined.

This utility model discloses an unmanned agricultural monitoring vehicle, including a vehicle body and an electromagnetic tracking module. The electromagnetic tracking module is disposed at the front end of the vehicle body and is used to receive electromagnetic signals output by preset electromagnetic lines. The electromagnetic tracking module is communicatively connected to a main control board, wherein the main control board is disposed on the vehicle body. This utility model can improve the intelligent path planning efficiency of the unmanned vehicle, thereby achieving efficient and precise operation.

To provide a directed emitter / sensor for electromagnetic tracking in suitable augmented reality systems.SOLUTION: An electromagnetic tracking system includes a hand held controller including an electromagnetic emitter configured to generate an electromagnetic field characterized by an electromagnetic field pattern and a first electromagnetic reflector positioned adjacent the electromagnetic emitter and configured to form a modified electromagnetic field pattern. The electromagnetic tracking system also includes a head mounted augmented reality display including an electromagnetic sensor configured to sense the electromagnetic field and a second electromagnetic reflector adjacent to sensor configured to optimally sense electromagnetic field pattern in a region of interest.SELECTED DRAWING: Figure 6

Head-mounted augmented reality (AR) devices can track pose of a wearer's head to provide a three-dimensional virtual representation of objects in the wearer's environment. An electromagnetic (EM) tracking system can track head or body pose. A handheld user input device can include an EM emitter that generates an EM field, and the head-mounted AR device can include an EM sensor that senses the EM field. EM information from the sensor can be analyzed to determine location and / or orientation of the sensor and thereby the wearer's pose. The EM emitter and sensor may utilize time division multiplexing (TDM) or dynamic frequency tuning to operate at multiple frequencies. Voltage gain control may be implemented in the transmitter, rather than the sensor, allowing smaller and lighter weight sensor designs. The EM sensor can implement noise cancellation to reduce the level of EM interference generated by nearby audio speakers.

The ablation device comprises an ablation host, an electromagnetic tracking system host and a flexible self-adaptive electrode catheter, a temperature sensor and an impedance measuring ring are integrated on the electrode surface of the flexible self-adaptive electrode catheter, and tissue conductivity changes are monitored in real time; the electromagnetic tracking system host dynamically matches the position of the head end of the flexible self-adaptive electrode catheter with a target tissue three-dimensional model, determines an ablation target spot and a safety boundary based on the target tissue three-dimensional model, verifies the contact state of the electrode and the target tissue through an impedance measurement function, and corrects the contact state in real time. After magnetic navigation accurate positioning of the electromagnetic tracking system host and flexible catheter electrode wall attachment confirmation, the ablation host starts the pre-stimulation module to temporarily stimulate a target area with a low-intensity pulsed electric field, and then the intensity and frequency of the pulsed electric field are gradually increased according to a grading strategy.

The present invention relates to an intramedullary nail navigation system comprising: an intramedullary nail having a distal locking hole and a proximal locking hole, each locking hole having a locking hole central axis extending in a longitudinal direction thereof; a guide for a drilling tool comprising a guide central axis extending in a longitudinal direction thereof; the electromagnetic tracking device comprises a sensing device and a tracking control unit; the sensing device is configured to track the relative posture of the drilling tool and the intramedullary nail; the tracking control unit can obtain the relative posture from the sensing device; the display device at least can display the relative posture information and instrument information related to the operation instrument; and a computing device configured to automatically determine an operation intention of a user according to the relative posture to determine whether the operation to be performed is a drill hole for implanting a locking nail or a drill hole for implanting a blocking nail. The invention also relates to a method for executing navigation by using the navigation system.

An instrument includes a housing, a motor, a tool, and one or more electromagnetic coils. The motor is disposed in the housing. The tool is attached to the motor and is configured to be moved by the motor to resect tissue of a patient. The tool includes an at least partially magnetized distal end. The one or more first electromagnetic coils are disposed in the housing and configured to generate an electromagnetic signal to detect a position of the distal end of the tool as the tool moves in response to detecting a magnetic field generated by a magnetized portion of the distal end of the tool as the tool moves.

An electromagnetic tracking system includes an adjustable source of electricity, a magneto-resistive (MR) sensor coupled to the adjustable source of electricity and configured to couple to a device for tracking a position of the device, and a controller coupled to the adjustable source of electricity and the MR sensor to adjust an amount of electricity provided to the MR sensor by the adjustable source of electricity. The electromagnetic tracking system is configured to track MR sensors and coil-based sensors simultaneously using one or more input channels on the controller.

This application provides a method, apparatus, device, and computer-readable storage medium for intraoperative positioning and navigation of a surgical robot based on interference-resistant electromagnetic tracking. The method includes: deploying an electromagnetic generator within the surgical area to generate a time-division multiplexed multi-band electromagnetic field; acquiring the original electromagnetic signal from the end effector of the surgical instrument using a magnetic field detection device; performing interference-resistant filtering on the original electromagnetic signal to separate the target instrument signal from environmental noise; calculating the spatial coordinates and attitude angle of the surgical instrument based on the filtered signal; compensating for errors in the spatial coordinates using a multi-level calibration module; and matching the compensated coordinate data with preoperative medical images to generate a real-time positioning and navigation path. According to the embodiments of this application, intraoperative electromagnetic positioning and navigation can be performed interference-resistantly.

An apparatus includes an intraluminal catheter, such as an intracardiac echocardiography (ICE) catheter. The intraluminal catheter includes a catheter shaft that can be advanced through a patient body. The intraluminal catheter includes a pullwire that causes deflection of a distal portion of the catheter shaft. The intraluminal catheter includes a pullwire crown and a crown sleeve, both positioned at the distal portion. The pullwire crown is mechanically coupled to the pullwire, and the crown sleeve is mechanically coupled to the pullwire crown. The intraluminal catheter includes one or multiple electromagnetic tracking sensors that identify a position and orientation of the distal portion. The one or multiple electromagnetic tracking sensors are positioned in a pre-defined spatial arrangement with the crown sleeve.

A magnetic tracking system is configured to determine an object pose of a tracked object in an environment of the magnetic tracking system. The tracking system includes a transmitter assembly that includes a transmitting coil configured to generate a magnetic signal indicative of an object pose of a tracked object with respect to the transmitter assembly and a marker that visually identifies a pose of the transmitter assembly with respect to a camera device. The camera device captures at least one image of the transmitter assembly. A computing device determines, based on the image, a pose for the transmitter assemblies in the image. Based on the magnetic signal and the pose associated with the transmitter assembly, the computing device determines the object pose of the tracked object in the environment.

The embodiment of the invention discloses a method, a device and a system for aligning a bulb tube and a detector flat plate in an X-ray imaging system. The method comprises the following steps: acquiring coordinates of a detector flat plate center in a magnetic field coordinate system through an electromagnetic tracking device; wherein the magnetic field emitter is fixed on a shell of the bulb tube, and the magnetic sensor is fixed on a non-imaging area of the detector flat plate; converting the coordinates of the center of the detector flat plate to a two-dimensional image coordinate system of a three-dimensional camera; the X-ray imaging system is controlled to start exposure, the bulb tube is moved in the exposure process, the light field center of the X-rays collected by the three-dimensional camera is obtained in real time, and the light field center of the X-rays is converted into a two-dimensional image coordinate system of the three-dimensional camera; and when the light field center of the X-ray coincides with the center of the detector flat plate in the two-dimensional image coordinate system, determining that the bulb tube and the detector flat plate are in center alignment. According to the embodiment of the invention, the probability of accurate alignment of the bulb tube and the detector flat plate is improved.

The present disclosure relates to a surgical robot for orthopedic surgery, comprising a robotic arm device, a positioning and navigation device, and a control device, wherein the robotic arm device comprises at least two robotic arms, and an end effector is arranged at the end of each robotic arm close to an operating zone. The positioning and navigation device comprises an electromagnetic navigation device. The electromagnetic navigation device comprises: a tracking apparatus for electromagnetic tracking, comprising a magnetic field generator used for covering the at least two end effectors and at least two first electromagnetic tracking elements used for respectively tracking the orientations of the at least two end effectors during the surgery; and a reference frame, wherein a second electromagnetic tracking element and a developing body capable of displaying a coordinate position are arranged on the reference frame. The positioning and navigation device further comprises an imaging device used for positioning and navigating the at least two end effectors. The imaging device comprises an infrared coherent imaging navigation device used for positioning the operating zone and the at least two end effectors.

The application discloses a kind of based on Hough circle detection's ultrasonic probe calibration method and device, belong to ultrasonic image technical field.Its method includes, using ultrasonic probe scanning positioning ball, obtains two-dimensional ultrasonic image and detects two-dimensional ultrasonic image based on Hough circle, obtains the coordinate of positioning ball heart under two-dimensional ultrasonic image coordinate system;Based on electromagnetic tracker, the position coordinates of positioning ball under world coordinate system are acquired;Using the coordinate of positioning ball heart under two-dimensional ultrasonic image coordinate system, and the position coordinates under world coordinate system, constructs two-dimensional ultrasonic image coordinate system and world coordinate system conversion relationship model;According to two-dimensional ultrasonic image coordinate system and world coordinate system conversion relationship model, the conversion relationship between two-dimensional ultrasonic image coordinate system and ultrasonic probe coordinate system is solved, and the calibration of ultrasonic probe is completed.The application can realize high-precision ultrasonic probe calibration by the above method and related detection device.

An example navigation system for a procedure at a target location within a region of interest includes a device configured to be removably implanted at a location within the region. The implant location has a known position relative to the target location. The implantable device includes an anchor configured to secure the implantable device to a structure at the implant location and one of an electromagnetic (EM) tracker configured to detect a position-dependent property of an EM field or an EM emitter configured to generate the EM field. The system also includes an instrument including an additional EM tracker configured to detect the position-dependent property. The system additionally includes a processing unit configured to determine a relative position between the instrument and the implantable device based on the detected position-dependent property and output an indication of the relative position between the instrument and the implantable device.

An electromagnetic tracking sensor for use in a medical device includes a flexible hollow cylinder core having an interior surface and an exterior surface. The flexible hollow cylinder core has a magnetic material layer attached to the interior surface of the flexible hollow cylinder core. A wire coil is adjacent to, and circumferentially surrounds, the exterior surface of the flexible hollow cylinder core.

This invention discloses a precise brain tumor resection path planning system integrating ultrasound and electromagnetic tracking, relating to the field of medical image processing. The invention includes: preoperative multimodal image segmentation and initial path planning; intraoperative real-time ultrasound image acquisition and feature point extraction; construction of a deformation interpolation model based on tissue type-weighted anisotropic kernel functions, introducing a divergence constraint regularization term; construction of a continuous three-dimensional deformation field within the region of interest using a hierarchical progressive strategy; application of the deformation field to the initial path for dynamic correction; control of the update frequency through an adaptive triggering mechanism, and real-time display of path risks using color coding. This invention achieves dynamic path correction in cases of intraoperative brain drift, contributing to improved accuracy in surgical path planning.

The invention relates to a magnetic navigation auxiliary device and an electromagnetic tracking system. The magnetic navigation auxiliary device is placed in an environment of a corresponding to-be-positioned area when the electromagnetic tracking system works, a transmitting coil in the magnetic navigation auxiliary device provides a magnetic field signal for simulating a magnetic field transmitted by the electromagnetic tracking system, and the working condition of the electromagnetic tracking system in the current environment is simulated. The positioning terminal receives a magnetic field signal in the environment, and if the magnetic field signal received by the positioning terminal is not matched with a reference signal, the prompt module works in a first working state, which indicates that magnetic interference exists in the surrounding environment of the magnetic navigation auxiliary device, so that the magnetic field signal provided by the transmitting coil is distorted; if the electromagnetic tracking system works at the position, the positioning accuracy of the electromagnetic tracking system can also be influenced. According to the magnetic navigation auxiliary device provided by the embodiment of the invention, the magnetic interference condition of the electromagnetic tracking system can be determined, and the positioning accuracy of the electromagnetic tracking system can be improved.

A respiratory phase search method and device based on electromagnetic tracking involves attaching magnetic positioning tags to the patient before surgery and taking preoperative images. During surgery, magnetic sensors are installed on the magnetic positioning tags for calibration, and a transformation matrix of the magnetic positioning tags is obtained. The transformation matrix is ​​used to record the position information of multiple respiratory cycle markers of the patient during surgery. The position information of multiple respiratory cycle markers is repeatedly registered with the position information of markers in the preoperative images to search for the respiratory phase that matches the respiratory phase of the preoperative images. Electromagnetic positioning tracking has the characteristics of fast response and high accuracy, which can accurately reflect the patient's respiratory phase in real time. Electromagnetic positioning tracking can avoid the problem of obstructed vision. The electromagnetic positioning tags can be changed according to the surgical procedure to better capture local respiratory phase changes of the patient.

Head-mounted augmented reality (AR) devices can track pose of a wearer's head to provide a three-dimensional virtual representation of objects in the wearer's environment. An electromagnetic (EM) tracking system can track head or body pose. A handheld user input device can include an EM emitter that generates an EM field, and the head-mounted AR device can include an EM sensor that senses the EM field. EM information from the sensor can be analyzed to determine location and / or orientation of the sensor and thereby the wearer's pose. The EM emitter and sensor may utilize time division multiplexing (TDM) or dynamic frequency tuning to operate at multiple frequencies. Voltage gain control may be implemented in the transmitter, rather than the sensor, allowing smaller and lighter weight sensor designs. The EM sensor can implement noise cancellation to reduce the level of EM interference generated by nearby audio speakers.