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Electromagnetic tracking system and method based on rapid determination of vector rotation angle of maximum magnetic induction intensity

A technology of magnetic induction intensity and vector rotation, applied in the field of electromagnetic tracking, can solve the problems of poor real-time performance of the system and poor search flexibility, and achieve the effects of avoiding positioning errors, improving positioning speed, and avoiding system instability

Inactive Publication Date: 2015-07-15
FUDAN UNIV
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Problems solved by technology

However, its positioning speed is limited by the rotation speed of the solenoid driven by the stepping motor, and the real-time performance of the system is poor; and the search process can only be carried out in the limited rotation plane of the stepping motor, and the search flexibility is poor

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  • Electromagnetic tracking system and method based on rapid determination of vector rotation angle of maximum magnetic induction intensity
  • Electromagnetic tracking system and method based on rapid determination of vector rotation angle of maximum magnetic induction intensity

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Embodiment Construction

[0075]The composition and working process of the system will be described below in conjunction with specific embodiments and with reference to the accompanying drawings. The coordinate system definition involved in this specific embodiment is the same as Table 1, as Figure 7 Shown; The definition of the horizontal rotation angle and vertical rotation angle involved is the same as the content of the invention.

[0076] This specific embodiment designs figure 1 The electromagnetic tracking system 1 shown includes four parts: a three-axis magnetic field sensor device 2 , a magnetic field source device 3 , a control processing display device 4 , and a controllable constant current source device 5 . The three-axis magnetic field sensor device 2 is attached to the tracking target. The magnetic field source device 3 includes two magnetic field sources 10 and 11 (corresponding to the magnetic field source 1 and the magnetic field source 2 described in the summary of the invention ...

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Abstract

The invention belongs to the technical field of electromagnetic tracking, and particularly discloses an electromagnetic tracking system and method based on rapid determination of a vector rotation angle of maximum magnetic induction intensity. The electromagnetic tracking system disclosed by the invention consists of a three-axis magnetic-field sensor device, magnetic-field source devices, a controllable constant-current source device and a control processing display device; the controllable constant-current source device stimulates three coils which are wound on a magnetic core made of soft magnetic ferrite material and are mutually orthometric, and the central points of the coils are overlapped, so that one magnetic-field source device is formed; the three-axis magnetic-field sensor device is used for detecting the magnetic induction intensity of the magnetic-field source devices, and the control processing display device can control the controllable constant-current source device to stimulate the coils and can perform positioning calculation according to the magnetic induction intensity detected by the three-axis magnetic-field sensor device. Due to the adoption of the electromagnetic tracking system disclosed by the invention, positioning can be realized by only stimulating the three coils once, the searching process is avoided, the real-time performance is significantly improved, the stability is high, the calculating complexity is low, and the electromagnetic tracking system can be applied to the navigation of minimally invasive surgery and other fields, such as virtual (enhancing) reality, and three-dimension ultrasonic imaging.

Description

technical field [0001] The invention belongs to the technical field of electromagnetic tracking, and specifically relates to an electromagnetic tracking system and method for quickly measuring the rotation angle of a maximum magnetic induction intensity vector by a single excitation of a magnetic field source coil, and then positioning a magnetic field sensor as a tracking target. Background technique [0002] Electromagnetic tracking is a method to obtain the spatial position of the tracking target by using the magnetic field coupling relationship between the magnetic field source and the magnetic field sensor. It has broad application prospects in minimally invasive surgical navigation and has become a research hotspot in the field of target tracking. Compared with other tracking methods, electromagnetic tracking has the advantages of no damage, no radiation, no occlusion, easy operation, and accurate positioning. Aiming at the problems existing in the traditional magnetic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D5/12G01B7/004G01B7/30
Inventor 邬小玫沙敏王一枫丁宁
Owner FUDAN UNIV
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