CN104776865A - Electromagnetic tracking system and method based on rapid determination of vector rotation angle of maximum magnetic induction intensity - Google Patents

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

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CN104776865A
CN104776865A CN 201510123915 CN201510123915A CN104776865A CN 104776865 A CN104776865 A CN 104776865A CN 201510123915 CN201510123915 CN 201510123915 CN 201510123915 A CN201510123915 A CN 201510123915A CN 104776865 A CN104776865 A CN 104776865A
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magnetic field
magnetic
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CN104776865B (en )
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邬小玫
沙敏
王一枫
丁宁
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复旦大学
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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

基于最大磁感应强度矢量旋转角快速测定的电磁跟踪系统及方法 Electromagnetic tracking system based on the maximum rotation angle of the magnetic induction vector and a method for rapid determination

技术领域 FIELD

[0001] 本发明属于电磁跟踪技术领域,具体涉及一种通过单次激励磁场源线圈快速测定最大磁感应强度矢量旋转角,进而对作为跟踪目标的磁场传感器进行定位的电磁跟踪系统及方法。 [0001] The present invention belongs to the field of electromagnetic tracking technology, particularly relates to a rapid determination of the maximum magnetic flux density vector rotation angle, and thus the magnetic field sensors is a tracking target electromagnetic tracking system and method for positioning a single source of magnetic field excitation coil.

背景技术 Background technique

[0002] 电磁跟踪是一种利用磁场源与磁场传感器之间的磁场耦合关系,获得跟踪目标空间位置的方法,在微创手术导航中具有广泛的应用前景,成为目标跟踪领域的研宄热点。 [0002] Electromagnetic tracking is a magnetic-field coupling between the source and the magnetic field sensor, to obtain the target spatial position tracking method, having wide applications in minimally invasive surgery navigation, target tracking has become a hot research fields traitor. 相较于其他跟踪方式,电磁跟踪具有无损伤、无辐射、无遮挡问题、操作简便、定位准确、等优点;但同时存在依赖理论磁场模型、迭代算法复杂、易受干扰等问题。 Compared with other tracking mode, electromagnetic tracking with no damage, no radiation, no occlusion, simple, accurate positioning, etc; however, the presence of a magnetic field-dependent theoretical model, an iterative algorithm is complicated, vulnerable to interference problems simultaneously. 针对传统磁跟踪方法存在的问题,本研宄组提出了一种基于最大磁感应强度矢量旋转角检测的电磁跟踪方法(发明专利号:ZL 2010 1 0179332. 2),该方法不依赖于磁场理论模型、采用非迭代的几何算法实现定位。 For the presence of a conventional magnetic tracking methods, the present study based group electromagnetic tracking method is proposed based on the maximum magnetic flux density vector detected rotational angle (patent number: ZL 2010 1 0179332. 2), the magnetic field does not rely on a theoretical model geometric non-iterative algorithm to achieve positioning. 与传统磁跟踪方法相比,该方法的算法简洁有效、运算速度快。 Compared with conventional magnetic tracking method, the algorithm is simple and effective method of computing speed.

[0003] 这种电磁跟踪方法可以通过搜索最大磁感应强度实现。 [0003] Such an electromagnetic tracking method may be implemented by searching for the maximum magnetic flux density. 在搜索的过程中,根据通电螺线管产生的磁感应强度最大值沿轴线方向的原理,通过步进电机控制处于不同位置的两个螺线管旋转,当两个通电螺线管轴线指向传感器时,传感器可以分别检测到最大磁感应强度,然后根据两个螺线管之间的距离(已知)及螺线管由初始位置到指向传感器的旋转角,通过几何方法可以计算出传感器的空间位置。 In the search process, in accordance with the principles of the maximum magnetic flux density in the axial direction is generated by energization of the solenoid, the solenoid in two different positions by rotating the stepping motor control, when the solenoid is energized two axis heading sensor sensors detect respectively the maximum magnetic flux density, and the distance between the two solenoids (known) and the solenoid to the rotational angle of the heading sensor can be calculated from the initial position by the method of the geometrical spatial position sensor.

[0004] 这种通过搜索最大磁感应强度实现的电磁跟踪方法可以实现高精度的定位和跟踪。 [0004] This enables high-accuracy positioning and tracking by an electromagnetic tracking method of searching for the maximum achieved magnetic induction. 但其定位速度受到步进电机带动螺线管旋转速度的限制,系统的实时性较差;并且搜索过程只能在步进电机有限的旋转平面中进行,搜索灵活性较差。 However, the stepping motor speed is positioned a solenoid driven rotational speed limit, poor real-time system; and a limited search process only in the plane of rotation of the stepping motor, the poor flexibility of search.

发明内容 SUMMARY

[0005] 本发明的目的在于提出一种跟踪实时性高、灵活性强的电磁跟踪方法和系统。 [0005] The object of the present invention is to provide a high real-time tracking, and strong electromagnetic tracking method and system flexibility.

[0006] 本发明提出的电磁跟踪方法,是一种通过快速测定最大磁感应强度矢量旋转角实现的电磁跟踪方法。 [0006] Electromagnetic tracking method proposed by the present invention, an electromagnetic tracking method for rapid determination of the maximum magnetic flux density achieved by the rotation angle of the vector. 本发明设计了一种由三个缠绕在软磁铁氧体磁芯上的、中心点重合且相互正交的线圈组成的磁场源模型,根据单线圈磁感应强度最大值方向为其轴线方向、三轴合成的总磁感应强度最大值由单轴最大值合成以及线圈激励电流强度和线圈所产生的磁感应强度之间存在线性关系的特性,采用相同强度电流激励的线圈所产生的磁感应强度乘以不同的电流系数来代替不同强度电流激励的线圈所产生的磁感应强度,快速求解最大磁感应强度矢量旋转角,即合成的总磁感应强度指向磁场传感器时的旋转角,从而对跟踪目标(磁场传感器)进行定位。 The present invention is designed by the three magnetic field source model is wound around the ferrite core, and the center point coincides with the mutually orthogonal coils, a single coil according to a direction of its maximum magnetic flux density in the axial direction, a triaxial linear relationship between the characteristics of the magnetic induction resulting overall excitation maximum magnetic induction coil by the current intensity and the maximum uniaxial synthesis and generated by the coil, using the same magnetic induction intensity of the current generated by the excitation coil current multiplied by different coefficient instead of magnetic induction coil to produce different intensity of the current excitation, fast solution rotational angle at the maximum magnetic flux density vector rotation angle, i.e. resulting total magnetic induction points to a magnetic field sensor, thereby tracking the target (magnetic sensor) is positioned.

[0007] 本发明的特点之一在于不依赖于某种假定的磁场模型建立磁场源与磁场传感器之间的耦合关系,避免了由于磁场源实际分布与理想磁场源不一致而产生的定位误差;本发明的特点之二在于采用非迭代的几何算法,计算复杂度低,不仅可大幅度提高定位速度, 还避免了迭代算法可能收敛到局部最优解或发散等问题造成的系统不稳定。 [0007] One of the features of the present invention is not dependent on some presumed model field coupling between the magnetic source and the magnetic field sensor, to avoid positioning errors due to inconsistencies in the magnetic field over the magnetic field source and the actual distribution of source generated; this characteristics of the invention is the use of two non-iterative algorithm geometry, low computational complexity, not only can greatly increase the positioning speed, but also to avoid the iterative algorithm may converge to a local optimum system instability or other problems caused by the divergence. 本发明的特点之三在于通过分别单次激励每个磁场源的线圈,根据磁场传感器所测得的磁感应强度就可以快速求解最大磁感应强度矢量的旋转角,有效提高跟踪系统的实时性和灵活性。 Characteristics of the invention three characterized by each single excitation coil of each magnetic field source, the magnetic field measured by the sensor of the magnetic flux density can be quickly solved the rotation angle of the maximum magnetic flux density vector, improve the real-time tracking system and flexibility .

[0008] 为了便于说明,先定义如下三个坐标系: 坐标系1 :为磁场源1的坐标系。 [0008] For convenience of explanation, the first three coordinate systems are defined as follows: 1 coordinate system: the coordinate system of the magnetic field source 1. 组成磁场源1的线圈I、线圈II和线圈III的轴线分别沿该坐标系的Xl轴、Yl轴和Zl轴。 Composition coil magnetic field source I, II and the coil axis of the coil 1, respectively along III-axis of the coordinate system Xl, Yl, and Zl-axis shaft. 磁场源1的中心点即该坐标系原点0,坐标为(0,0,0)。 A magnetic field source, i.e., the center point of origin O of the coordinate system, coordinates (0,0,0). 该坐标系也是系统坐标系xyz。 The coordinate system is a coordinate system xyz.

[0009] 坐标系2 :为磁场源2的坐标系。 [0009] 2 coordinate system: the coordinate system of the magnetic field source 2. 组成磁场源2的线圈I、线圈II和线圈III的轴线分别沿该坐标系的X2轴、Y2轴和Z2轴。 Composition I 2 of the magnetic field source coil, the coil axis of the coil II and III, respectively, along the axis of the coordinate system X2, Y2 axis and the Z2 axis. 磁场源2的中心点即该坐标系原点0',在系统坐标系中的坐标为(足。该坐标系各坐标轴与系统坐标系中的相应坐标轴相互平行,X2 轴与X轴方向相反,Y2轴、Z2轴与Y轴、Z轴方向相同。 Magnetic field source 2, i.e. the center point of the coordinate origin 0 ', the coordinate system is the coordinate system (foot. Coordinate axis of the coordinate system corresponding to each axis of the coordinate system and parallel to each other, an X2 axis and the X-axis direction opposite to , Y2 axis, Z2 axis and the Y-axis, the same Z-axis direction.

[0010] 坐标系3 :为三轴磁场传感器的坐标系。 [0010] 3 coordinate system: three-axis magnetic field sensor coordinate system. 该坐标系的X3轴、Y3轴和Z3轴方向分别与三轴磁场传感器相应检测轴方向一致,原点与三轴磁场传感器的中心点重合。 X3-axis, Y3-axis and the Z3-axis direction corresponding to the triaxial magnetic field sensor detection axis coincides with the direction of the coordinate system, the origin center point coincides with the three-axis magnetic field sensor.

[0011] 磁场源产生的最大磁感应强度矢量的旋转角定义如下: 水平旋转角:指从坐标系1 (或坐标系2)的原点到三轴磁场传感器中心点之间的连线在XlYl平面(或X2Y2平面)的投影与Xl轴(或X2轴)之间的夹角q (或% )。 [0011] The rotation angle is defined maximum magnetic flux density vector field produced by source as follows: horizontal rotation angle: refers to the connection from the origin between 1 (or 2 coordinate system) into the coordinate system of the three-axis magnetic field sensor XlYl center point in the plane ( or an angle q between X2Y2 plane) of the projection of the axis Xl (or X2 axis) (or%).

[0012] 垂直旋转角:指从坐标系1 (或坐标系2)的原点到三轴磁场传感器中心点之间的连线与该连线在XlYl平面(或X2Y2平面)的投影之间的夹角A (或爲)。 [0012] The vertical rotation angle: refers to the connection from the origin between 1 (or 2 coordinate system) into the coordinate system of the three-axis magnetic field sensor and the center point connection is sandwiched between XlYl plane (X2Y2 or plane) of the projection angle A (or is).

[0013] 本发明提出的电磁跟踪系统,由四部分构成:一个三轴磁场传感器装置、由两组三轴正交线圈组成的磁场源装置、一个可控恒流源装置、一个控制处理显示装置;系统结构如图2所示。 [0013] The present invention is made of an electromagnetic tracking system, consists of four parts: a three-axis magnetic field sensor device, the magnetic field source device consists of two sets of three-axis orthogonal coils, a controlled current source means, a display control processing apparatus ; system configuration shown in Fig. 其中: 所述三轴磁场传感器装置附着于跟踪目标,用于测量跟踪目标所在位置处三个正交方向的磁场;三轴磁场传感器装置包括一个三轴分量磁场传感器和一个信号调理/模拟-数字(AD)转换模块;三轴分量传感器分别用来检测所在位置三个正交方向X3、Y3和Z3的磁感应强度,其输出经后续信号调理/模拟-数字(AD)转换模块送入控制处理显示装置。 Wherein: the three-axis magnetic field sensor means is attached to the target track, the magnetic field for three orthogonal directions at a position where the measurement target tracking; triaxial magnetic field sensor means comprises a three-axis component of the magnetic field sensor and a signal conditioning / analog - digital (AD) converter module; triaxial component sensor for detecting the location of each of three orthogonal directions X3, Y3 and Z3 of the magnetic induction, which outputs the subsequent signal conditioning / analog - digital (AD) converter module into the display control process device. 传感器装置的选择依据测量范围和精度的要求,可以采用磁阻传感器、霍尔效应传感器或磁通门传感器等。 Selecting a sensor device according to the requirements of the measurement range and accuracy, it may be employed magnetoresistive sensor, a Hall effect sensor or a flux gate sensor.

[0014] 所述磁场源装置包括两个相对位置和姿态已知的磁场源(即磁场源1和磁场源2),其组成和结构完全相同,分别由缠绕在软磁性铁氧体磁芯上的三个中心点重合且相互正交的线圈组成。 [0014] The magnetic field source means comprises two known relative position and attitude of the magnetic field source (i.e., magnetic field source 1 and source 2), which is identical to composition and structure, they are respectively wound on the soft magnetic ferrite core the three center coincident and mutually orthogonal coils. 这样,在与磁场源中心点等距离的球面上,单轴线圈的磁感应强度最大值为该线圈的轴线位置,方向沿轴线方向,三轴线圈合成的总磁感应强度最大值由单轴最大值合成。 Thus, the magnetic field source with the center point of the sphere equidistant, uniaxial magnetic induction coil for the maximum position of the coil axis direction in the axial direction, total three-axis magnetic induction coil synthesized maximum uniaxial maximum Synthesis . 两个磁场源装置中心点之间的距离为rf,且三组对应线圈相互平行。 The distance between the center point of two magnetic field source device rf, and the corresponding three sets of coils are parallel. 线圈需要保证很好的正交性和对称性,其中线圈的截面形状可采用方形或者圆形等。 Coil required to ensure good orthogonality and symmetry, wherein the cross-sectional shape of the coil can be square or circular, etc. 分别对三个线圈通以相同强度的直流电,可分别在每个线圈的轴线方向产生单轴磁感应强度最大值,并且三轴合成磁感应强度最大值由三个单轴最大值合成;由于线圈激励电流强度和其产生的磁感应强度之间存在线性关系,可以采用相同强度电流激励的线圈所产生的磁感应强度乘以不同的电流系数来代替不同强度电流激励的线圈所产生的磁感应强度。 Respectively, can generate the three direct current through the coil in the axial direction of the same intensity of each coil uniaxial magnetic flux density maximum value and the maximum value of the magnetic induction triaxial synthesized by the synthesis of three single-axis maximum value; Since the coil exciting current There is a linear relationship between the intensity and the intensity of the magnetic induction generated by the same magnetic induction intensity of the current generated by the excitation coil current multiplied by different coefficients may be used instead of a different magnetic induction intensity of the current generated by the excitation coil. 因此,可以得到关于磁场传感器检测到的总磁感应强度和电流系数的表达式,根据这个表达式的单调性, 可以求解总磁感应强度最大时的电流系数。 Thus, it is possible to obtain an expression of the total magnetic induction and the current coefficient on the detected magnetic field sensor according monotonicity of this expression can be solved when the current coefficient maximum total magnetic induction. 利用这个电流系数,同样可以计算出一组最大磁感应强度矢量的旋转角(此时合成最大磁感应强度矢量指向磁场传感器)信息,利用两个磁场源的两组旋转角信息和两个磁场源的相对位置,可以通过几何方法计算出传感器的位置,从而实现定位和跟踪。 With this current coefficient, can also calculate the rotation angle of a set of maximum magnetic induction vector (in this case a synthetic maximum magnetic flux density vector points to the magnetic field sensor) information, using two magnetic field sources relative rotation angle information and sets two magnetic field sources position, the position sensor can be calculated by geometrical methods to achieve the positioning and tracking.

[0015] 所述恒流源装置由恒流源及相关控制电路组成,为构成磁场源的线圈提供激励电流,即恒流源输出直流电流,控制处理显示装置通过控制电路使得恒流源输出的电流交替激励磁场源装置的各线圈。 [0015] The constant current source means by a constant current source and associated control circuit to provide current to the excitation coils of the magnetic field source, i.e., a DC current source output current, the display device control process by the control circuit so that the output of the constant current source each coil excitation current alternating magnetic field source device.

[0016] 所述控制处理显示装置由控制单元、算法单元、显示输出单元组成。 [0016] The display control processing apparatus by the control unit, arithmetic unit, the display output unit. 控制单元包括两个部分:采样处理模块和激励电流控制模块。 The control unit consists of two parts: the sample processing module and the excitation current control module. 采样处理模块用于采样处理来自三轴磁场传感器装置的信号;激励电流控制模块控制可控恒流源装置交替激励磁场源装置的各线圈。 Processing means for processing the sampling signal samples from the three-axis magnetic field sensor device; excitation current control module controls the controllable current source means alternately exciting the respective coils of the magnetic field source device. 算法单元一方面根据采样处理模块的输出数据计算当前三轴磁场传感器装置检测到的磁感应强度值,进而根据下文所述的最大磁感应强度矢量旋转角快速测定算法计算最大磁感应强度矢量对应的一组旋转角;另一方面,当计算得到磁场源装置中的两个磁场源的最大磁感应强度矢量对应的旋转角时,根据下文所述的位置算法计算磁场传感器的空间位置坐标。 Arithmetic unit on the one hand calculate magnetic flux density value of the current three-axis magnetic field sensor means detected by the output data sampling processing module, and thus the maximum magnetic flux density vector described hereinafter rotation angle rapid determination algorithm calculates a set of rotating the maximum magnetic flux density vectors corresponding to angle; on the other hand, when the rotation angle calculated two magnetic field sources in the source device the maximum magnetic flux density vectors corresponding to the spatial position coordinates of the magnetic field sensor is calculated based on the position of the algorithm described below. 显示输出单元将磁场传感器的定位信息显示/输出。 A display output unit to display the magnetic field sensor positioning information / output. 其中,控制单元、算法单元由微处理器实现,显示输出单元由显示器实现。 Wherein the control unit, arithmetic unit is implemented by the microprocessor, the display output unit is implemented by the display.

[0017] 本发明提出的基于上述系统的电磁跟踪方法,其步骤为(以磁场源1的最大磁感应强度矢量旋转角快速测定为例): (1) 由控制处理显示装置控制可控恒流源装置对磁场源装置中磁场源1的三轴线圈分别进行相同电流强度的直流激励; (2) 由三轴磁场传感器装置测量其所在位置的三个正交方向上的磁感应强度值,送至控制处理显示装置; (3) 控制处理显示装置根据下文所述的最大磁感应强度矢量旋转角快速测定算法,计算磁场源1的最大磁感应强度矢量对应的一组旋转角。 [0017] The present invention is proposed based on the above-described method of an electromagnetic tracking system, comprising the steps of (a maximum magnetic flux density vector field source 1 Example rapid determination of a rotation angle): (1) the control by the display processing apparatus controllable current source means a magnetic field source coil triaxial magnetic field source device 1 are the same DC excitation current intensity; the value of magnetic induction (2) measured by the three-axis magnetic field sensor device in its position in three orthogonal directions, to the control display processing means; means for measuring the rotation angle of the fast algorithm to calculate a set of rotating angle of the maximum magnetic flux density magnetic field source vector corresponding to a maximum magnetic flux density vector in accordance with the below (3) display control process. 磁场源装置中,磁场源2通过与磁场源1相似的步骤,计算磁场源2的最大磁感应强度矢量对应的一组旋转角。 The magnetic field source device, the source of the magnetic field and the magnetic field source 2 through a similar step, calculating a set of maximum rotation angle of the magnetic field source the magnetic flux density vectors corresponding to 2. 根据所获得的两组旋转角信息,结合磁场源装置中磁场源1和2中心点之间的距离J,计算求得磁场传感器装置的空间位置。 The two sets of the obtained rotation angle information, in conjunction with the magnetic field source device, a distance J between the center point magnetic field source 1 and 2, is calculated to obtain spatial position of the magnetic field sensor device.

[0018] 本发明提出的最大磁感应强度矢量旋转角快速测定算法,只需分别对组成磁场源装置的各个线圈激励一次就可以计算出两组旋转角(q,A)和(¾,,¾),即磁场源1和磁场源2的最大磁感应强度矢量对应的水平旋转角和垂直旋转角。 [0018] The maximum rotation angle of the magnetic induction vector of the present invention is made fast detection algorithm, respectively, only the respective coils a magnetic field source excitation means once sets the rotation angle can be calculated (q, A) and (¾ ,, ¾) , i.e., the magnetic field source 1 and the horizontal and vertical rotation angle of the rotation angle of the maximum magnetic flux density magnetic field source 2 corresponding to the vector.

[0019] 下面以磁场源1为例具体介绍最大磁感应强度矢量旋转角的计算(如图5 所示),磁场源1的坐标系为坐标系1,其线圈I、II和III分别沿着Xl轴、Yl轴和Zl轴的轴线方向。 [0019] In the following Example 1 specifically describes a magnetic field source intensity vector calculating the maximum rotation angle of the magnetic induction (FIG. 5), the magnetic field source coordinate system is a coordinate system 1, which coil I, II and III, respectively, along Xl axial direction of the shaft, Yl, and Zl-axis shaft. 假设传感器S·的坐标为(AXZ),在XlOYl、Υ1〇Ζ1和ZlOXl平面的投影分别为5^, 、&和&,4和I分别与Xl轴、Yl轴和Zl轴的夹角是Zl、Ζ2和Ζ3,其中,Zl即磁场源1最大磁感应强度矢量的水平旋转角。 Suppose the coordinates of sensor S · (AXZ), in XlOYl, Υ1〇Ζ1 ZlOXl plane and projection 5, respectively ^, &, and &, I 4, respectively, and the axis Xl, Yl-axis and the angle between the axis Zl Zl , Ζ2 and Ζ3, wherein, Zl i.e., a horizontal magnetic field source 1 maximum magnetic induction vector of the rotation angle. A,马和鸟表示当线圈Ι、Π和III分别以电流J激励时,三轴磁场传感器测量到的磁感应强度。 A, horses and birds indicates that when the coil iota, and III, respectively, when Π J excitation current, three-axis magnetic field sensor to measure the magnetic induction. 可以表示为: It can be expressed as:

Figure CN104776865AD00081

如果线圈激励电流为J时产生的磁感应强度为S,则当激励线圈I和线圈II的电流分别为/cost% 和/smi%,即电流系数分别为COsq2和Sinq2,产生的磁感应强度则分别为Scosq2和Ssm%。 If the coil excitation current magnetic flux density J is generated when is S, then when the excitation coil I and the coil II currents were / cost% and / smi%, i.e. the current coefficients were COsq2 and Sinq2, the magnetic flux density generated respectively as Scosq2 and Ssm%. q2是线圈I和线圈II产生的磁感应强度的合矢量与Xl轴的夹角, 变化范围是[0,孕]。 q2 is the angle between the resultant vector Xl axis of the magnetic induction coil I and II generated by the coil, varies in the range [0, pregnant]. 当传感器所测得的磁感应强度合矢量达到最大值时,该磁感应强度合矢量将指向传感器在XlOYl平面内的投影。 When the sensor is measured resultant vector magnetic flux density reaches a maximum magnetic flux density of the resultant vector will point in the sensor XlOYl projection plane. 此时,A 2是传感器在XlOYl平面上的投影与Xl 轴的夹角Zl,同时也是磁场源1最大磁感应强度矢量的水平旋转角卬。 In this case, A 2 is the angle between the sensor and the projector Zl Xl XlOYl axis in a plane, a source of magnetic field is also the maximum horizontal magnetic induction vector rotation angle Ang.

[0020] 传感器检测的线圈I和线圈II的磁感应强度合矢量可以表示为: [0020] The magnetic induction coil I and II detected by the sensor coil resultant vector may be expressed as:

Figure CN104776865AD00082

[0021] 总磁感应强度的模可以写为: [0021] The total magnetic induction in the mold can be written as:

Figure CN104776865AD00083

Figure CN104776865AD00091

当免=2α12时,|网|达到最大值,可以表示为: When free = 2α12 time, | net | reaches its maximum, it can be expressed as:

Figure CN104776865AD00092

即磁场源1最大磁感应强度矢量的水平旋转角q,也就是传感器在XiOYi平面上的投影与Xi轴的夹角Zl。 I.e., the maximum horizontal magnetic field source 1 magnetic induction vector of the rotation angle q, Zl is the angle on the plane and XiOYi Xi axis sensor.

[0023] 当线圈III被激励时,与线圈II或者线圈I组合,可以用同样的方法计算传感器在YlOZl平面上的投影与Yl轴的夹角Z2和传感器在ZlOXl平面上的投影与Zl轴的夹角Z3 〇 [0023] III when the coil is energized, the coil I or II in combination with a coil can be calculated using the same method YlOZl projected on the sensor plane and the angle sensor Z2 axis Yl ZlOXl projected on a plane with the axis Zl Z3 angle billion

[0024] 由于Zl、Z2和Z 3可以表示为: [0024] Because of Zl, Z2 and Z 3 may be expressed as:

Figure CN104776865AD00093

磁场源1最大磁感应强度矢量的垂直旋转角A可以表示为: A magnetic field source maximum magnetic induction vector perpendicular to the rotation angle A can be expressed as:

Figure CN104776865AD00094

为提高计算的准确性,磁场源1最大磁感应强度矢量的水平旋转角和垂直旋转角A 可以写为: To improve the accuracy of calculation, a maximum horizontal magnetic field source the magnetic flux density vector rotation angle and the vertical angle of rotation A can be written as:

Figure CN104776865AD00101

根据上述算法可计算出磁场源1最大磁感应强度矢量的旋转角。 A maximum rotation angle of the magnetic induction vector based on the algorithm to calculate the magnetic field source.

[0025] 磁场源2最大磁感应强度矢量的旋转角可以在其坐标系2中(如图6所示),按照和磁场源1同样的方法进行计算,的算式如下: [0025] The maximum rotation angle of the magnetic field source 2 may be the magnetic induction vector in the coordinate system 2 (FIG. 6), and according to the same manner as in formula 1 for the magnetic field source is calculated, as follows:

Figure CN104776865AD00102

(16) 根据图6, Zl1、Z2_和Z31的定义如下:Zl1是传感器在X20' Y2平面上的投影与X2轴的夹角,Z21是传感器在Y20' Z2平面上的投影与Y2轴的夹角,Z31是传感器在Z20' X2平面上的投影与Z2轴的夹角。 (16) According to FIG. 6, Zl1, Z2_ Z31 and defined as follows: Zl1 sensor in X20 'on the projection plane and the angle between the Y2 axis X2, Z21 is the sensor Y20' on the projection plane Y2 Z2 axis the angle between the projection angle, Z31 is a sensor in the Z20 'X2 plane of the Z2 axis.

[0026] 根据磁场源1和磁场源2之间的相对位置和两组旋转角和,通过几何算法即可获得三轴磁场传感器的空间位置。 [0026] The magnetic field source 1 and source 2 and the relative position between the two rotation angles and the spatial-axis magnetic field sensor can be obtained by a geometrical position algorithm.

[0027] 本发明的位置算法引用专利ZL 2010 1 0179332. 2,利用分别激励上述磁场源装置的各个线圈所得的磁感应强度,可计算磁场源1和磁场源2的最大磁感应强度矢量对应的旋转角:(q,A)和(%»爲),根据旋转角信息和两磁场源中心点之间的距离i,通过式(17) ~ (19)计算传感器在系统坐标系中的位置坐标(Uj)如下: [0027] The location algorithm of the present invention, reference magnetic flux density of each resultant coil Patent No. ZL 2010 1 0179332. 2, using respectively the excitation of the magnetic field source device, calculate the magnetic field source rotation angle 1 and the magnetic field source maximum magnetic induction vector of 2 corresponding to : (q, a) and (% »as), depending on the distance between the rotation angle information i and the center point of two magnetic field sources, sensor coordinate system, the position coordinates calculated by formulas (17) ~ (19) (Uj )as follows:

Figure CN104776865AD00103

Figure CN104776865AD00111

由于本方法是一种根据相同三轴激励电流下的磁感应强度,理论推导任意激励电流下的磁感应强度,从而快速测定最大磁感应强度矢量旋转角的电磁跟踪方法,只需要分别对三轴线圈激励一次就可以实现定位,避免搜索过程,显著提高了系统的实时性。 Since the present method is a magnetic flux density at the same three-axis excitation current theoretical analysis of any excitation magnetic flux density at a current, so that rapid determination of electromagnetic tracking method of the maximum magnetic flux density vector rotation angle, only needs respectively three-axis coil driving time positioning can be achieved to avoid the search process, significantly improve the system in real time. 本发明不依赖于某种假定的磁场模型或迭代算法,快速有效,稳定性高,计算复杂度低,可应用于微创手术的导航,亦可运用于虚拟(增强)现实、三维超声成像等领域。 The present invention does not depend on the magnetic field pattern or some iterative algorithm assumed quickly and efficiently, high stability, low computational complexity and can be used for minimally invasive surgery navigation, also used in the virtual (enhanced) reality, three-dimensional ultrasound imaging, field.

附图说明 BRIEF DESCRIPTION

[0028] 图1为按照本发明的实施例的装置部分的视图。 [0028] FIG. 1 is a view according to an embodiment of the present invention means portions.

[0029] 图2为图1中的装置的细节框图。 [0029] FIG. 2 is a detailed block diagram of apparatus 1 in FIG.

[0030] 图3为本发明的实施例的磁场源装置三视图。 [0030] FIG. 3 three-view drawing of the embodiment of the magnetic field source device of the present invention.

[0031] 图4为本发明的实施例的系统工作流程框图。 A block diagram of a workflow system according to an [0031] embodiment of the present invention. FIG. 4.

[0032] 图5为本发明的实施例的磁场源1最大磁感应强度矢量旋转角快速测定算法示意图。 [0032] FIG. 5 of the present invention, a magnetic field source maximum magnetic induction vector embodiment of a rotary angle schematic rapid determination algorithm.

[0033] 图6为本发明的实施例的磁场源2最大磁感应强度矢量旋转角快速测定算法示意图。 [0033] FIG. 6 of the present invention, the magnetic field source 2 maximum flux density vector schematic embodiment of a rotary angle measurement algorithm is fast.

[0034] 图7为本发明的实施例的待测物体位置算法示意图。 Measured position of the object of the algorithm is a schematic view of an embodiment [0034] FIG. 7 of the present invention.

[0035] 图中标号:1为电磁跟踪系统,2为三轴磁场传感器装置,3为磁场源装置,4为控制处理显示装置,5为可控恒流源装置。 [0035] FIG numeral: 1 is an electromagnetic tracking system, 2 is a three-axis magnetic field sensor device, the magnetic field source device 3, the display device 4 is a control process, controllable current source means 5. 6、7、8分别为三轴磁场传感器装置的三轴分量传感器,9为信号调理和模数转换模块;10、11分别为两个磁场源装置磁场源1和磁场源2,12、 13、14分别为磁场源装置10的三轴线圈,15、16、17分别为磁场源装置11的三轴线圈;18 为控制单元,19为算法单元,20为显示输出单元,21为采样处理模块,22为激励电流控制模块;23为恒流源,24为控制电路;25为磁感应强度数据,26为最大磁感应强度矢量旋转角数据;27为初始化过程模块,28为测量过程模块,29为计算过程模块,30为最大磁感应强度矢量旋转角计算过程模块,31为位置计算过程模块,32为显示输出过程模块。 6,7,8 sensors are tri-axial component of triaxial magnetic field sensor device, and nine for the signal conditioning analog-digital conversion module; 10,11 respectively two magnetic field source 1 and source device a magnetic field source 2, 12, 13, 14 are three-axis coil of the magnetic field source means 10, 16, 17 are three-axis coil 11, a magnetic field source apparatus; the control unit 18, arithmetic unit 19, display output unit 20, 21 is a sample module, 22 to the excitation current control module; 23 a constant current source, 24 is a control circuit; 25 is a magnetic induction intensity data, 26 is the maximum magnetic flux density vector rotation angle data; 27 initialization module 28 to measure a process module 29 to calculate process module, the maximum magnetic flux density of 30 vector rotation angle calculation module, the position calculation module 31, module 32 is a display output process.

具体实施方式 Detailed ways

[0036] 下面结合具体实施例并参照附图,对系统组成及工作过程进行说明。 [0036] The following embodiments and with reference to specific embodiments with reference to the accompanying drawings, and the working process of the system components will be described. 本具体实施例所涉及的坐标系定义同表1,如图7所示;所涉及的水平旋转角和垂直旋转角定义同发明内容。 Coordinate system is defined according to a same Table 1, this particular embodiment shown in Figure 7; according to a horizontal rotation angle and a vertical rotation angle is defined with the Summary of the Invention.

[0037] 本具体实施例设计了图1所示的电磁跟踪系统1,包括四个部分:三轴磁场传感器装置2、磁场源装置3、控制处理显示装置4、可控恒流源装置5。 [0037] The present embodiment is designed electromagnetic tracking system shown in FIG. 11, comprises four parts: a three-axis magnetic field sensor device 2, the magnetic field source device 3, the control 4, the controllable current source means 5 display processing apparatus. 三轴磁场传感器装置2附着于跟踪目标上。 Axis magnetic field sensor device 2 is attached to the target track. 磁场源装置3包括两个磁场源10和11 (对应发明内容和权利要求书中所述磁场源1和磁场源2),分别由三个缠绕在由软磁铁氧体材料做成的磁芯上的、中心点重合且相互正交的线圈组成;两个磁场源中心点之间的距离为,且对应的线圈互相平行。 The magnetic field source device 3 comprises two magnetic field sources 10 and 11 (set forth in the magnetic field source and a magnetic field source 2 corresponding to a disclosure and claims), respectively, by three wound on a material made of ferrite cores the center point coincident and mutually orthogonal coils; distance between the center point of the two magnetic field sources, and the corresponding coils parallel to each other. 控制处理显示装置4控制可控恒流源装置5分别为磁场源装置3的各个线圈提供相同强度的激励电流。 Processing control means 4 controls the display means controllable current source means 5 of each magnetic field source to provide the excitation coil 3 of the same intensity of current, respectively. 另外,控制处理显示装置4还采集三轴磁场传感器装置2的输出,分别计算磁场源10和11的最大磁感应强度矢量对应的旋转角以及三轴磁场传感器装置2的空间位置, 并输出或显示定位结果。 Further, the display control processing apparatus 4 also collected triaxial magnetic field sensor output apparatus 2, calculates the maximum magnetic field source 10 and the magnetic flux density vector 11 corresponding to the rotation angle and the spatial position of the three-axis magnetic field sensor device 2, and output or display positioned result.

[0038] 如图2所不为系统各部分的分解框图。 [0038] FIG. 2 is an exploded block diagram that are not part of the system.

[0039] 三轴磁场传感器装置2包括三轴分量传感器6、7、8,分别用来检测三个正交方向X3、Y3和Z3的磁感应强度。 [0039] 2-axis magnetic field sensor means comprises a three-axis component sensors 6,7,8, are used to detect three orthogonal directions X3, Y3 and Z3 magnetic induction of. 本实施例中的磁场传感器选用三轴磁阻传感器。 The magnetic field sensor of the embodiment of the present embodiment selection triaxial magnetoresistive sensor. 传感器的输出经后续的信号调理和模拟-数字(AD)转换模块9送入控制处理显示装置4。 Subsequent sensor outputs a signal conditioning and analog - digital (AD) conversion processing control module 9 into the display device 4.

[0040] 磁场源装置3由磁场源装置10和11组成,磁场源装置10由三个缠绕在截面为圆形磁棒上的中心点重合且相互正交的线圈12、13和14组成;磁场源装置11由三个缠绕在截面为圆形磁棒上的中心点重合且相互正交的线圈15、16和17组成。 [0040] The magnetic field source device 3 by a magnetic field source means 10 and 11 are composed by the three magnetic field source means 10 is wound on a circular cross section coincides with the center point of the bar magnet and mutually orthogonal coils 12, 13 and 14 composition; field three source device 11 is wound on a circular cross section coincides with the center point of the bar magnet and mutually orthogonal coils 15, 16 and 17 compositions. 系统中,构成磁场源的磁棒长为l〇cm,圆形截面直径为lcm,每个线圈匝数均为800匝,三轴激励电流均为1Α。 System, long magnet bar the magnetic field source is configured l〇cm, LCM circular cross-section diameter, number of turns of each coil turn 800 are three-axis excitation current are 1Α. 磁场源装置10和11的磁芯结构完全一样,其三视图如图3所示。 A magnetic field source means 10 and core structure 11 is exactly the same as that shown in Figure 3 three views.

[0041] 控制处理显示装置4由DSP和PC机组成,包括控制单元18、算法单元19、显示输出单元20三个部分。 [0041] The control process of the display device 4 by the DSP and PC, including three partial output unit 20 the control unit 18, arithmetic unit 19, a display. 控制单元18包括采样处理模块21和激励电流控制模块22。 The control unit 18 includes a sample processing module 21 and the excitation current control module 22. 控制处理显示装置4实现对其他组件的控制、数据的采集和处理、跟踪结果的显示输出等。 Processing control display device 4 enables control of other components, the data acquisition and processing, and the like trace display output.

[0042] 可控恒流源装置5由恒流源23和控制电路24组成。 [0042] The constant current source 5 by a controllable constant current source 23 and control circuit 24. 控制电路24由控制处理显示装置4的激励电流控制模块22控制,使得恒流源23输出的直流电流为磁场源装置3中的各个线圈提供激励电流,实现对构成两个磁场源装置10和11的两组线圈12、13、14和15、 16、17的交替激励。 Module 22 controls the excitation current control means 4 of the control circuit 24 by the display control process, so that the constant current source 23 outputs a DC current source to the respective magnetic field coil excitation current providing means 3, to achieve the two magnetic field source device constituting 10 and 11 the two sets of coils 13, 14 and 15 are alternately excited, 16, 17.

[0043] 图4所示为系统的工作流程框图。 [0043] FIG. 4 is a block diagram of a workflow system. 开机后系统首先进行初始化。 After the first boot the system is initialized. 之后的工作过程可分为测量过程28和计算过程29。 After the working process can be divided into 28 measurement and calculation process 29. 其中测量过程是控制处理显示装置4控制可控恒流源装置5对磁场源装置3的各个线圈分别提供相同的激励电流,三轴磁场传感器装置2分别测量磁场源装置3的各个线圈被激励时产生的磁感应强度,然后系统即进入计算过程29。 Wherein the measurement unit 4 is a control processing of the display device 5, the controllable current source for each of the coil magnetic field source device 3 are provided with the same excitation current, three-axis magnetic field sensor device 2 were measured respective coils of the magnetic field source unit 3 is energized magnetic induction generated, then the system 29 enter into the calculation. 计算过程29包括最大磁感应强度矢量旋转角计算过程30和位置计算过程31,二者依次进行,分别计算磁场源装置10和11的最大磁感应强度矢量旋转角和磁场传感器的位置,其中位置计算算法是依赖于最大磁感应强度矢量旋转角的计算结果。 Calculation process 29 includes the maximum magnetic flux density vector rotation angle calculating process 30 and a position calculation process 31, both sequentially, the position of the maximum flux 10 and 11 of the strength of the magnetic source device vector rotation angle and the magnetic field sensor are calculated, wherein the position calculation algorithm is It depends on the calculation result of the maximum magnetic flux density vector rotating angle. 每次计算完成时,执行显示输出过程32,实时更新跟踪结果。 Each time the calculation is complete, the process 32 performs display output, updated in real time tracking results.

[0044] 图5所示为磁场源1最大磁感应强度矢量旋转角快速测定算法的示意图。 [0044] FIG. 5 shows a magnetic source magnetic induction vector maximum rotation angle schematic rapid determination algorithm. 利用磁场源1的线圈I和线圈II被激励时的磁感应强度,通过式(1)~ (7)可以计算出磁感应强度合矢量达到最大值时,即该磁感应强度合矢量将指向传感器在XlOYl平面内的投影时, 该磁感应强度的合矢量与Xl轴的夹角A 2,即传感器在XlOYl平面上的投影与Xl轴的夹角Zl,同时也是磁场源1最大磁感应强度矢量的水平旋转角吒。 Using a flux density at a magnetic field source coil I and the coil II 1 is energized, can be calculated magnetic induction resultant vector by formula (1) to (7) at the maximum value, i.e., the magnetic flux density resultant vector will point in XlOYl planar sensor when projected in the angle between the transfer vector and the Xl-axis of the magnetic induction intensity a 2, i.e. a sensor angle Zl on XlOYl plane and the Xl-axis, but also the magnetic field source 1 maximum horizontal rotation angle readers magnetic induction vector . 分别利用线圈Π和线圈III、线圈I和线圈III被激励时的磁感应强度,可以用同样的方法计算传感器在YlOZl平面上的投影与Yl轴的夹角Z2和传感器在ZlOXl平面上的投影与Zl轴的夹角Z3。 Angle Z2 and sensor respectively by the coil Π and the coil III, coil I and a coil III that the flux density is energized, may be calculated sensor of the projector and the Yl-axis on YlOZl plane by the same method of the projection and Zl on ZlOXl plane the angle between the axis Z3. 根据Zl、Z2和Z3的空间位置关系,通过式(8)~ (10)可以计算出磁场源1最大磁感应强度矢量的垂直旋转角A。 The spatial relationship Zl, Z2 and Z3 by the formula (8) to (10) can calculate the magnetic field source 1 perpendicular to the rotation angle of the maximum magnetic induction vector A. 为提高计算的准确性,磁场源1最大磁感应强度矢量的旋转角(卬》A) 可通过式(11)~ (14)计算。 To (14) is calculated to improve the accuracy of calculation, the maximum rotation angle of the magnetic field source 1 of the magnetic induction vector (Ang "A) can be obtained by formula (11).

[0045] 图6所示为磁场源2最大磁感应强度矢量旋转角快速测定算法的示意图。 [0045] Figure 6 shows a schematic view of a magnetic field source is a fast detection algorithm of the maximum magnetic flux density vector 2 rotation angle. 磁场源2最大磁感应强度矢量的旋转角可以在其坐标系2中,按照与公式(1)~ (7)相同的步骤,在计算出Zl1、Z2_和/£3'的基础上,通过式(15) ~ (16)进行计算。 The magnetic field source 2 the rotational angle of the maximum magnetic flux density vector may be in the coordinate system 2, in accordance with equation (1) to (7) the same step, on the basis of Zl1, Z2_ and / £ 3 'is calculated, through the formula (15) to (16) is calculated.

[0046] 图7所示为位置算法的示意图。 [0046] FIG. 7 is a schematic view of the positioning algorithm. 通过最大磁感应强度矢量旋转角快速测定算法可得到两组旋转角(¾,抝和(¾,爲),两磁场源中心点之间的距离J已知,则可通过式(17)~ (19)计算传感器在系统坐标系中的位置坐标。 The maximum magnetic flux density vector obtained rotational angle of the fast detection algorithm sets the rotation angle (¾, and bend (¾, as), the distance between the center point of the two magnetic field sources known to J, may be by the formula (17) to (19 ) computing a position sensor in the system coordinate system.

[0047] 以上,仅为本发明的较佳实施例,但本发明的保护范围并不局限于此。 [0047] The above are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto. 任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到的变化或者替换,都应涵盖在发明的保护范围之内。 Any skilled in the art in the art within the scope of the invention disclosed can be easily thought of the changes or replacements shall fall within the protection scope of the invention. 因此,本发明的保护范围应该以权利要求书要求所界定的保护范围为准。 Accordingly, the scope of the present invention should be defined by the claims of the scope of the appended claims and their equivalents.

Claims (5)

  1. 1. 一种基于最大磁感应强度矢量旋转角快速测定的电磁跟踪系统,其特征在于由如下四部分构成:一个三轴磁场传感器装置、由两组三轴正交线圈组成的磁场源装置、一个可控恒流源装置、一个控制处理显示装置;其中: 所述三轴磁场传感器装置附着于跟踪目标,用于测量跟踪目标所在位置处三个正交方向的磁场;三轴磁场传感器装置包括一个三轴分量磁场传感器和一个信号调理/模拟-数字转换模块;三轴分量传感器分别用来检测所在位置三个正交方向的磁感应强度,其输出经后续信号调理/模拟-数字转换模块送入控制处理显示装置; 所述磁场源装置包括两个相对位置和姿态已知的磁场源,即磁场源1和磁场源2,其组成和结构完全相同,分别由缠绕在软磁性铁氧体磁芯上的三个中心点重合且相互正交的线圈组成;这样,在与磁场源中心点等距离的球 A rotary angle electromagnetic tracking system based on rapid determination of the maximum magnetic flux density vector, characterized in that consists of the following four parts: a three-axis magnetic field sensor device, the magnetic field source device consists of two sets of three-axis orthogonal coils, a controlled current source means, a display control processing apparatus; wherein: the three-axis magnetic field sensor device is attached to a target track, a magnetic field in three orthogonal directions at a measurement location of the target track; triaxial magnetic field sensor means comprises a three axis component magnetic field sensor and a signal conditioning / analog - digital conversion module; triaxial component sensors are used to detect the position where the magnetic flux density in three orthogonal directions, which outputs the subsequent signal conditioning / analog - digital conversion module into the control process display means; said magnetic source comprises two means known relative position and attitude of the magnetic field source, i.e., a magnetic field source and a magnetic field source 2, which are identical composition and structure, are respectively wound on the soft magnetic ferrite core and three mutually orthogonal center point coincides coils; Thus, the magnetic field source with the ball central point equidistant 上,单轴线圈的磁感应强度最大值为该线圈的轴线位置,方向沿轴线方向,三轴线圈合成的总磁感应强度最大值由单轴最大值合成;两个磁场源装置中心点之间的距离为i,且三组对应线圈相互平行; 所述恒流源装置由恒流源及相关控制电路组成,为构成磁场源的线圈提供激励电流, 即恒流源输出直流电流,控制处理显示装置通过控制电路使得恒流源输出的电流交替激励磁场源装置的各线圈; 所述控制处理显示装置由控制单元、算法单元、显示输出单元组成;控制单元包括两个部分:采样处理模块和激励电流控制模块,采样处理模块用于采样处理来自三轴磁场传感器装置的信号,激励电流控制模块控制可控恒流源装置交替激励磁场源装置的各线圈;算法单元一方面根据采样处理模块的输出数据计算当前三轴磁场传感器装置检测到的磁感应强度值 The axial position of the magnetic induction, a maximum value for the coil axis coil, the direction of the axis direction, a three-axis magnetic induction coil resulting total intensity maximum uniaxial maximum synthesis; the distance between the center point of the two magnetic field source means is i, and the corresponding three sets of coils are mutually parallel; the constant current source means by a constant current source and associated control circuit to provide current to the excitation coils of the magnetic field source, i.e., a DC current source output current, the control processing by the display device the control circuit so that the alternating current source output current of each coil field excitation source device; a display control processing apparatus by the control unit, arithmetic unit, a display output units; the control unit comprises two parts: a sampling processing module and the excitation current control signal module, sampling processing means for processing samples from the three-axis magnetic field sensor device, the excitation current control module controls the controllable current source means alternately exciting the respective coils of the magnetic field source means; arithmetic unit on the one hand based on an output data sampling processing module current three-axis magnetic field sensor means for detecting the magnetic induction value 进而根据最大磁感应强度矢量旋转角快速测定算法计算最大磁感应强度矢量对应的一组旋转角;另一方面,当计算得到磁场源装置中的两个磁场源的最大磁感应强度矢量对应的旋转角时,根据位置算法计算磁场传感器的空间位置坐标;显示输出单元将磁场传感器的定位信息显示/输出。 Further according to the maximum magnetic flux density vector rotation angle rapid determination algorithm calculates a set of rotational angle of the maximum magnetic flux density vector corresponds; the other hand, when the rotation angle calculated two magnetic source magnetic field source device, the maximum magnetic flux density vectors corresponding to, the algorithm calculates the spatial position of the coordinate position of the magnetic field sensor; a display output unit to display the positioning information of the magnetic field sensor / output.
  2. 2. 根据权利要求1所述的电磁跟踪系统,其特征在于,定义如下三个坐标系: 坐标系1 :为磁场源1的坐标系;组成磁场源1的线圈I、线圈II和线圈III的轴线分别沿该坐标系的XI轴、Y1轴和Z1轴,磁场源1的中心点即该坐标系原点0,坐标为(〇,〇,〇) ;该坐标系也是系统坐标系XYZ; 坐标系2 :为磁场源2的坐标系;组成磁场源2的线圈I、线圈II和线圈III的轴线分别沿该坐标系的X2轴、Y2轴和Z2轴,磁场源2的中心点即该坐标系原点0',在系统坐标系中的坐标为(尤〇,〇);该坐标系各坐标轴与系统坐标系中的相应坐标轴相互平行,X2轴与X 轴方向相反,Y2轴、Z2轴与Y轴、Z轴方向相同; 坐标系3 :为三轴磁场传感器的坐标系;该坐标系的X3轴、Y3轴和Z3轴方向分别与三轴磁场传感器相应检测轴方向一致,原点与三轴磁场传感器的中心点重合; 磁场源产生的最大磁感应强度矢量的旋 The electromagnetic tracking system according to claim 1, characterized in that the three coordinate systems are defined as follows: 1 coordinate system: the coordinate system of the magnetic field source 1; field source coil composition I, II, and the coil of the coil III 1 along each axis of the coordinate system XI-axis, Y1-axis and the Z1 axis, the center point magnetic field source 1, i.e., the origin O of the coordinate system, coordinates (square, square, square); this coordinate system is the XYZ coordinate system; coordinate system 2: 2 as the magnetic field source coordinate system; composition I 2 of the magnetic field source coil, the coil axis of the coil II and III, respectively, along the axis of the coordinate system X2, Y2 axis and the Z2 axis, the magnetic field source 2, i.e. the center point coordinates origin 0 ', the coordinate system coordinate system is (esp square, square); corresponding coordinate axis of the coordinate system, each coordinate axis of the system coordinate system are parallel to each other, an X2 axis and the X-axis direction opposite to, Y2 axis, Z2 axis , the same Z-axis direction and the Y-axis; coordinate system 3: a coordinate system of three-axis magnetic field sensor; X3 axis of the coordinate system, Y3 axis and the Z3-axis direction coincides with the direction of the detection axis corresponding to three magnetic sensors origin and three axis coincides with the center point of the magnetic field sensor; magnetic field source generates a maximum magnetic flux density of the spin vector 角定义如下: 水平旋转角:指从坐标系1的原点到三轴磁场传感器中心点之间的连线在X1Y1平面的投影与XI轴之间的夹角q;或指坐标系2的原点到三轴磁场传感器中心点之间的连线在X2Y2平面的投影与X2轴之间的夹角巧; 垂直旋转角:指从坐标系1的原点到三轴磁场传感器中心点之间的连线与该连线在X1Y1平面的投影之间的夹角A;或指从坐标系2的原点到三轴磁场传感器中心点之间的连线与该连线在X2Y2平面的投影之间的夹角爲。 Angle is defined as follows: horizontal rotation angle: 1 refers to the origin of the coordinate system to a connection between the q-axis magnetic field sensor is an angle between the projection center point and the axis X1Y1 plane XI; or refers to the origin of the coordinate system 2 the connection between the center point of the three-axis magnetic field sensor and the angle between the projection plane of the X2 axis X2Y2 clever; vertical angle of rotation: refers to the connection between the origin of the coordinate system to the three-axis magnetic field sensor 1 and the center point the angle a connection between the projection plane X1Y1; or to the origin of the coordinate system 2 to the connecting line between the center point of the three-axis magnetic field sensor is an angle with the connecting line between the projection plane X2Y2 .
  3. 3. 根据权利要求2所述的电磁跟踪系统,其特征在于,所述算法单元中,根据最大磁感应强度矢量旋转角快速测定算法计算最大磁感应强度矢量对应的一组旋转角的算式为: 对于磁场源1,最大磁感应强度矢量旋转角的算式如下: The electromagnetic tracking system according to claim 2, wherein said arithmetic unit, according to the maximum rotation angle of the magnetic induction vector equation rapid determination algorithm calculates the maximum magnetic flux density vectors corresponding to a set rotation angle: for field source 1, the maximum magnetic flux density expression vector rotating angle as follows:
    Figure CN104776865AC00031
    其中,是传感器在X10Y1平面上的投影与XI轴的夹角,Z2.是传感器在Y10Z1平面上的投影与Y1轴的夹角,Z3是传感器在Z10X1平面上的投影与Z1轴的夹角; 对磁场源2,最大磁感应强度矢量的旋转角(%,戽)的算式如下: Wherein XI is the angle between the projection of the axis of the sensor in the plane X10Y1, Z2 is the angle between the plane of the sensor on a projection Y10Z1 axis Y1, Z3 is the angle between the plane of the sensor on a projection Z10X1 Z1 axis.; the magnetic field source 2, the rotation angle of formula (% bucket) of the maximum magnetic flux density vector is as follows:
    Figure CN104776865AC00032
    其中,Z11是传感器在X20'Y2平面上的投影与X2轴的夹角,Z21是传感器在Y20'Z2 平面上的投影与Y2轴的夹角,Z3'是传感器在Z20'X2平面上的投影与Z2轴的夹角。 Wherein, Z11 is the angle between the projection of the X2 axis sensor on X20'Y2 plane, Z21 is the angle between the plane of the sensor on a projection Y20'Z2 axis Y2, Z3 'are projected on a sensor plane Z20'X2 the angle between the axis Z2.
  4. 4. 根据权利要求3所述的电磁跟踪方法及系统,其特征在于所述算法单元中,根据磁场源1和磁场源2的最大磁感应强度矢量对应的旋转角:、(%,A),以及两磁场源中心点之间的距离j,传感器在系统坐标系中的位置坐标4算式如下: The electromagnetic tracking method and system according to claim 3, wherein said arithmetic unit in accordance with the rotation angle of the magnetic field source 1 and the maximum magnetic flux density magnetic field source vector corresponding to 2:, (%, A), and the distance between the center point of the two magnetic field source j, a position sensor coordinate system coordinate system 4 in formula is as follows:
    Figure CN104776865AC00033
  5. 5. 基于权利要求1-4之一所述的电磁跟踪系统的电磁跟踪方法,其特征在于具体步骤为: (1) 由控制处理显示装置控制可控恒流源装置对磁场源装置中磁场源的三轴线圈分别进行相同电流强度的直流激励; (2) 由三轴磁场传感器装置测量其所在位置的三个正交方向上的磁感应强度值,送至控制处理显示装置; (3) 控制处理显示装置根据最大磁感应强度矢量旋转角快速测定算法,计算磁场源1 和磁场源2的最大磁感应强度矢量对应的两组旋转角和;根据所获得的两组旋转角信息,结合磁场源装置中磁场源1和磁场源2中心点之间的距离^,计算求得磁场传感器装置的空间位置。 5. Based on the tracking method as claimed in claim solenoid electromagnetic tracking system of one of 1-4, characterized in that the specific steps: (1) by the control processing means controls the display means to the current source controllable magnetic source magnetic field source means three-axis coil, respectively, the same DC excitation current intensity; the value of magnetic induction (2) measured by the three-axis magnetic field sensor device in its position in three orthogonal directions, to the control process of the display device; (3) the control process the two rotation angle information obtained by combining the magnetic field source device, a magnetic field; means rapid determination algorithm to calculate the magnetic field source 1 and the two rotation angle of the magnetic field source maximum magnetic induction vector of 2 corresponding to and based on the maximum magnetic flux density vector rotation angle of the display the distance between the source 1 and the center point of the magnetic field source ^, is calculated to obtain spatial position of the magnetic field sensor device.
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