CN104640501A - Transmitter guide - Google Patents
Transmitter guide Download PDFInfo
- Publication number
- CN104640501A CN104640501A CN201380036608.3A CN201380036608A CN104640501A CN 104640501 A CN104640501 A CN 104640501A CN 201380036608 A CN201380036608 A CN 201380036608A CN 104640501 A CN104640501 A CN 104640501A
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- China
- Prior art keywords
- sensor
- emitter
- matrix
- calculate
- distance
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7203—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
Abstract
In a tracking system that monitors a position and an orientation of an object with a transmitter and one or more sensors, a method of using a closed loop control system to automatically adjust a transmitter location and orientation for maximal performance optimization of the different operational sensors within a measurement volume.
Description
Technical field
Present invention relates in general to the position of monitoring objective and the tracking system in direction, and particularly for automatically adjusting emitter position and direction, to make the method for the maximum performance optimization of different operating sensor in measurement volumes.
Background technology
In general, the position of tracking means monitoring objective and direction.Such as, the position (such as, x, y and z cartesian coordinate) about reference point or frame measured by 6DOF (6DOF) tracking means, and direction (deflection, pitching and rolling).The intensity in the magnetic field be associated with emitter and sensor measured by electromagnetism tracking means, and typically, field orientation is perpendicular to one another.
Both the emitter that the performance suffers of magnetic tracking uses in tracking system and sensor, as referring now to Fig. 1 explain.The sensor signal finally converting 5DOF or 6DOF position and direction (PNO) data to depends on that sensor 1 is about the position in magnetic field or the measurement volumes that produced by emitter 2.
Sensor signal and carrying out as off-line procedure based on the mapping between the position of the sensor of algorithm in 3d space; The precision of the PNO reported depends on the precision that off-line emitter mapping graph creates, and more accurate in the some parts of measurement volumes due to the physical property in produced magnetic field well known in the art.If sensor 1 is just in time in optimized mapping volume (as shown in leftward position in Fig. 1), then precision is good.But along with the edge (as shown in centre position in Fig. 1) of sensor more close mapping volume, until can not use the point (as shown in right positions in Fig. 1) of reading completely, the performance of sensor accuracy will be tending towards declining.
In certain operations is arranged, due to can affect the different clinical procedure of the position of magnetic volume, user job region, mechanical problem, etc., the position of emitter can be restricted; Follow the tracks of volume if sensor leaves or be in the border of volume and cause hydraulic performance decline, this can cause availability issue.
In order to avoid this behavior as noted above, emitter can be placed as and make it cover whole area-of-interest, comprises and uses the solution (such as arm) of machinery thus it be placed near volume of interest.Another solution uses different security mechanisms to assess sensing station and to determine whether reading quality enough uses.If user is in the border of working volume, must adjust emitter, sensor or target location, to continue the position of tracking target.
Summary of the invention
The present invention tries hard to provide a kind of for automatically adjusting emitter position and direction to make the method for the maximum performance optimization of different operating sensor in measurement volumes, as hereafter will specifically described.The method is not only applicable to electromagnetic tracking system, be also applicable to comprise optical pickocff, ultrasound wave, etc. other tracking.
Here, " optimized working region " is defined as the region with optimum precision specification.When magnetic transmitter, this is often referred to for the position in the middle of mapping area, but it also can be the point (minimum potential range) closest to emitter, etc.In addition, optimized working region normally has the position of high s/n ratio (SNR), and its high signal quality provides better precision.Method of the present invention considers the above-mentioned factor for optimized working region, thus determines the best operating point of sensor and emitter; But, if there are some interference (such as, position line disappearance when optical tracker, or the magnetic interference when magnetic tracking device), the method also can the position of optimized for emission device, its can by by the position change of emitter for be not optimized on position (mapping graph precise region, distance etc.) to emitter but SNR better some other put and walk around this position.
Accompanying drawing explanation
By reference to the accompanying drawings, by comprehend and understand the present invention from detail specifications below, wherein:
Fig. 1 is the simplified illustration of the position of sensor about optimized mapping volume, and respectively illustrate well mapping the sensor in volume, wherein precision is good; Near the sensor at the edge (loss of significance) of mapping volume borders; And at the sensor of volume outer (not sensing anything);
Fig. 2 be according to non-limiting example of the present invention for automatically adjusting emitter position and direction, to make the simplified illustration of the method for the maximum performance optimization of different operating sensor in measurement volumes.
Fig. 3 be according to non-limiting example of the present invention for automatically adjusting emitter position and direction, to make the simplified illustration of the system of the maximum performance optimization of different operating sensor in measurement volumes.
Fig. 4 A with 4B be respectively according to the sensor cable stretcher of the embodiment of the present invention before proceeding be connected after diagram.
Detailed description of the invention
Referring now to Fig. 2, which illustrates according to non-limiting example of the present invention for automatically adjusting emitter position and direction, to make the method for the maximum performance optimization of different operating sensor in measurement volumes.
The position of the method control transmitter 2 and direction, thus the operating position of its " tracking " sensor 1 and about sensor localization himself, thus reorientate emitter precise volumes to locate around sensing station.The reorientating of emitter makes sensor can be optimum and gather the most accurately, and then generates the most accurate PNO data, and wherein sensor and/or interested position region have minimum change.
In the left side of Fig. 2, sensor 1 is positioned at the edge of working volume.This can introduce reading inferior, and can leave operation element region even during operation.Reorientating of following step determination sensor:
Calculate the vector between emitter and sensor.
Calculate the distance between emitter and sensor.
Calculate and rotate and transformation matrix (RT), its by use from step 1 and 2 about optimized region (in this case about the center of the mapping of emitter) predefined data, working region is caused by centered by sensor.
Mathematical character can also be used as RT inverse of a matrix matrix, its centre extremely mapped for " being moved by sensor ".
If because machinery restriction, environmental aspect etc. cause emitter to move some restrictions of upper existence, RT matrix will take into account it.
If when optimum " geometry " position is subject to affecting of some interference, emitter position can adjust to increase SNR repeatedly.In this case, further step is below taked:
4, calculate excursion matrix and be applied to the RT matrix calculated in step 3, thus limiting different rotary volume and the distance apart from emitter; Test the sensor quality of diverse location and select optimum position.
The present invention also allow from user manual input (thus control transmitter is positioned at and towards position), this user wishes to rewrite some or all RT parameters:
5, excursion matrix/RT matrix from user's input is calculated and the RT matrix being additional to/substituting from step 3 and/or step 4 and apply it.
If because interference, the loss of signal etc. cause and cannot learn initial position from sensor, can by use precalculated position, user's input, previous position history etc. carry out for determining emitter position initial step.
Referring now to Fig. 3, which illustrates according to non-limiting example of the present invention for automatically adjusting emitter position and direction, to make the system of the maximum performance optimization of different operating sensor in measurement volumes.
Emitter 2 is placed on actuator system 3, and this actuator system 3 comprises, but and unrestricted, have the mechanical arm of joint and servomotor (or other actuator), it can be remotely controlled to adjust emitter position and direction.Emitter 2 be placed in be determined by operation setting and by any predetermined or known the general initial position of condition restriction.
Controller (processor) 6 receives the signal from one or more operation sensor 1,8 and/or 10.Controller 6 is closing in control loop (one or more) sensing station processed about emitter 2, its middle controller 6 makes emitter 2 move and orientation, thus emitter 2 is remained in the optimal tracking volume (illustrating with chain-dotted line) about (one or more) sensor 1,8,10, that is, emitter working volume always " towards " sensor.
User data can directly apply to mechanical arm.Additionally or alternately, user can utilize any user interface 9 and/or 11 comprising GUI (graphic user interface), button, stick, sound etc. to input data with arbitrary form to processor.
Processor 6 also can consider other processor 8 or 10, such as, is placed in the Proximity Sensor on emitter, and this Proximity Sensor stop arm when detecting or report out of Memory to processor moves.Processor 6 can use this information to change the calculation stages of the RT matrix of emitter.
Other explanation/character can comprise following, but and unrestricted:
1, be that (one or more) sensor increases control priority, to determine which sensor has unique or maximum effect to emitter tracking.
2, the area-of-interest of each priority or often kind of application supports that multiple sensor is followed the tracks of.
3, support that multiple tracker maps; That is, if emitter can support multiple working volume, follow the tracks of according to sensing station, optimization and permission dynamically use different demapping section.
4, multiple tracker is supported; That is, if use multiple emitter, the use of certain emitter is by the optimization and allow dynamically to use different emitters according to sensing station.
5, can the different parameter of predefine controlling/restriction emitter moves:
A. the acceleration of movement.
B. position limitation.
C. the movement of one or more degree of freedom is limited.
6, the input from other input equipment walked abreast with magnetic sensor is supported, such as:
A. external sensor-optical pickocff etc.
B. manually input/rewrite-by user's manual operation.
C. for avoiding the sensor conflicted with patient or working environment.
D. come from the data of other image modalities of calibrating ultrasonic device as CT, MRI, 3D, it has position data etc., provides the other point-of-interest relative to emitter and sensor, such as, and anatomic landmark, medical device position etc.
7, back-up system to all or part of manual guiding of user so that emitter is positioned at tram.
8, support the input that the quality of sensor converts as emitter and optimization SNR as the part of emitter guiding device.
As shown in Figure 3, magnetic tracking system generally includes electronic control unit (such as tracker electronic unit 7), emitter 2 and sensor 1, and signal is also sent back to the generation that electronic unit is used for date processing and sensor relevant position and bearing data by this sensor 1 acquired signal.
The tracking system of prior art is fabricated to whole system usually, and is provided in the different different sensors solution in the aspect such as size (length, coil dimension, trocar sheath etc.), accuracy specifications, acquisition range.Sensor is fabricated to unique design and is configured to the ingredient of whole system.Sensor comprises one or more end coil, and it gathers magnetic field and is connected to the shielded cable making signal be back to electronic unit.
The problem brought by this solution be the sensor configuration that can use together with this system limitation, due to high cost assembly and several high manufacturing cost that may not reduce costs.
Referring now to Fig. 4 A-4B, which illustrates the solution for the problems referred to above according to the embodiment of the present invention, namely sensor cable stretcher 13.Sensor cable stretcher 13 is provided with the first adapter 12 of electronic unit, and for being connected to the second adapter 14 of sensor (such as, sensor extremity).More specifically, cell winding 17 is provided with cable (sensor extremity 16), and this cable is provided with the 3rd adapter 15 of the second adapter 14 for being connected to sensor cable stretcher 13.
The Signal transmissions of sensor cable stretcher 13 (also referred to as extension sensor line) sensor in future is to electronic unit.Stretcher is not sensor, and is only the device of transmit signal data.Simple connection between stretcher and sensor cable makes it possible to disposable or interchangeable extremity and uses together with nonexpondable stretcher cable.
Manufacture Sensor section according to different specification and be connected to prolongation pickup wire according to operation instruction, operational requirements etc.This solution has the advantage that sensor applications is extensive, sensor cost reduces, and this is the repeatedly use due to sensor stretcher, and the disposable sensor part manufactured when needed.
This solution supports that multiple adapter/sensor connector is selected, and comprises wired, wireless, optics etc.This solution support has the multiple sensors head configuration of different size, diameter, coil number etc.This solution support uses multiple sensor heads of an adapter, and it allows the 5DOF/6DOF based on coil count and/or sensor head number.
With the use together with an adapter (being generally 2-3 " head sensor ") of multiple heads (sensor) of known relation machinery location, allow based on the positional information measured by each sensor (" head ") multiple degrees of freedom (such as, 6DOF) information, and the identification of the magnetic distortion ining contrast to these sensors (" head ") known mechanical relative position by relation measurement between " head " and detect.
As mentioned, this solution allows repeatedly use for stretcher and/or sensor or disposable selection.
Claims (6)
1. a method, described method comprises:
In the tracking system of the position and direction that utilize emitter and one or more Sensor monitoring target, closed-loop control system is used automatically to adjust emitter position and direction, to make the maximum performance optimization of different operating sensor in measurement volumes.
2. method according to claim 1, wherein adjusts described emitter position and comprises:
Calculate the vector between described emitter and described sensor;
Calculate the distance between described emitter and described sensor;
Use described vector sum distance calculate rotation and transformation matrix (RT matrix), and use described RT matrix by by the working region of described emitter centered by described sensor.
3. method according to claim 1, wherein adjusts described emitter position and comprises:
Calculate the vector between described emitter and described sensor;
Calculate the distance between described emitter and described sensor;
Use described vector sum distance to calculate rotation and transformation matrix (RT matrix), and use described RT inverse of a matrix matrix thus make the sensed center in described emitter working region of described sensor.
4. method according to claim 2, also comprise and calculate excursion matrix and described excursion matrix is applied to described RT matrix, thus limit different rotary volumes and the distance apart from described emitter, test the sensor quality of diverse location and select optimal location.
5., for sensing data being transferred to a method for electronic unit, described method comprises:
Sensor cable stretcher is connected to the sensor cable of sensor, and described sensor cable stretcher is connected to electronic unit, wherein said sensor cable stretcher is by the extremely described electronic unit of the Signal transmissions from described sensor.
6. method according to claim 5, wherein said sensor is disposable.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/IL2013/050617 WO2014009961A1 (en) | 2012-07-12 | 2013-07-21 | Transmitter guide |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104640501A true CN104640501A (en) | 2015-05-20 |
| CN104640501B CN104640501B (en) | 2019-07-23 |
Family
ID=53267120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380036608.3A Expired - Fee Related CN104640501B (en) | 2013-07-21 | 2013-07-21 | Transmitter guiding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104640501B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7210959B1 (en) * | 2005-09-28 | 2007-05-01 | Teves Leonides Y | Apparatus for maintaining oximeter cables in orderly condition |
| CN101069645A (en) * | 2005-11-01 | 2007-11-14 | 韦伯斯特生物官能公司 | Controlling direction of ultrasound imaging catheter |
| CN101330870A (en) * | 2005-12-15 | 2008-12-24 | 皇家飞利浦电子股份有限公司 | Method and apparatus for position optimization of a field generator |
| US20130131503A1 (en) * | 2011-11-22 | 2013-05-23 | Ascension Technology Corporation | Tracking a guidewire |
-
2013
- 2013-07-21 CN CN201380036608.3A patent/CN104640501B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7210959B1 (en) * | 2005-09-28 | 2007-05-01 | Teves Leonides Y | Apparatus for maintaining oximeter cables in orderly condition |
| CN101069645A (en) * | 2005-11-01 | 2007-11-14 | 韦伯斯特生物官能公司 | Controlling direction of ultrasound imaging catheter |
| CN101330870A (en) * | 2005-12-15 | 2008-12-24 | 皇家飞利浦电子股份有限公司 | Method and apparatus for position optimization of a field generator |
| US20130131503A1 (en) * | 2011-11-22 | 2013-05-23 | Ascension Technology Corporation | Tracking a guidewire |
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| Publication number | Publication date |
|---|---|
| CN104640501B (en) | 2019-07-23 |
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