In vivo three-dimensional positioning system and method based on multi-resolution mapping

Abstract

The invention discloses an in vivo three-dimensional positioning system and method based on multi-resolution mapping. Real-time accurate positioning of the three-dimensional space position of an in vivo duct can be realized, and the in vivo three-dimensional positioning system has the characteristics of being high in positioning accuracy, high in calculating efficiency, good in real-time properties and low in cost. The system comprises a plurality of electrode slices, an excitation issuing device, a magnetic field generator, a plurality of electrical impedance sensors, a plurality of magneticsensor, an amplifier, a controller and an operation processor, wherein the controller is used for controlling the excitation issuing device and the magnetic field generator to produce excitation and an magnetic field at the same time according to the same cycle; and the operation processor is used for performing normalized processing on electrical impedance data collected by a duct during movementin space, establishing a magnetoelectricity mapping data pair mapping relation table having at least three resolutions based on magnetic field data, and through inquiring a mapping relation matrix corresponding to electrical impedance data in the mapping relation table, the corresponding magnetic coordinate data can be obtained.

Description

technical field [0001] The invention relates to the technical field of three-dimensional positioning in vivo, in particular to a system and method for three-dimensional positioning in vivo based on multi-resolution mapping. Background technique [0002] At present, many medical devices more or less involve placing implants such as sensors and catheters in the living body, and cooperate with multi-angle CT to acquire images to realize the three-dimensional spatial positioning of the implants. For example, in the existing Electrical Impedance Localization (Electricity Impedance Localization, EIL) system, the electric field formed between the catheter entering the patient's body and the electrode pad attached to the patient's body surface can be used to collect the distance between the catheter in the body and an electrode pad. Electrical impedance, and then use the electrical impedance data to solve the catheter position coordinates. However, due to the complex potential grad...

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Problems solved by technology

However, due to the complex potential gradient changes in the three-dimensional distribution of the electric field formed by the excitation of the electrode pads in the EIL system, the accuracy of calculating the catheter position coordinates directly using the data collected by the EIL system is low

[0003] The existing Magnetic Field Localization (MFL) system uses a large number of magnetic sensors to collect the magnetic field coordinates of the corresponding positions. The cost of the sensor is too high, and a large amount of magnetic field coordinate data needs to be processed, and the system delay is relatively large

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