CN114073580A - Magnetic field generator calibration device and calibration method - Google Patents
Magnetic field generator calibration device and calibration method Download PDFInfo
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- CN114073580A CN114073580A CN202110723963.4A CN202110723963A CN114073580A CN 114073580 A CN114073580 A CN 114073580A CN 202110723963 A CN202110723963 A CN 202110723963A CN 114073580 A CN114073580 A CN 114073580A
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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Abstract
The invention discloses a calibration device and a calibration method for a magnetic field generator. The invention designs a magnetic field generator calibration device which is a three-dimensional device provided with a plurality of magnetic field sensors with known relative positions and is used for determining the placement position and the placement direction of a magnetic field generator, so that the problem that the positioning accuracy of different spatial positions of the existing magnetic field generator is different can be solved, the magnetic field generator can be further optimized, and the use requirement in the medical field can be better met. The calibration method can be used for quickly calibrating the magnetic field generator, and is simple and high in calibration precision.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to a magnetic field generator calibration device and a magnetic field generator calibration method.
Background
A medical navigation positioning system relates to tracking and positioning of a target (also called a detector or a magnetic field sensor) in a three-dimensional space, and electromagnetic navigation is one of the widely adopted methods. The electromagnetic navigation system relates to a magnetic field generator and a target object, wherein the common device provided with the target object comprises a catheter, a guide wire, a guide device (sheath tube), a probe and the like, and the application fields comprise cardiac interventional therapy navigation, pulmonary bronchus positioning navigation, renal artery ablation navigation and the like.
The existing magnetic field generator has the defects of different positioning accuracy of different spatial positions, thereby seriously influencing the positioning accuracy of an electromagnetic navigation system and generating adverse influence on the treatment process.
Disclosure of Invention
The invention aims to: aiming at the problems that the positioning accuracy of the existing magnetic field generator at different positions in space is different, the positioning accuracy of an electromagnetic navigation system is seriously influenced, and the treatment process is adversely influenced in the prior art, the magnetic field generator calibration device and the magnetic field generator calibration method are provided.
In order to achieve the purpose, the invention adopts the technical scheme that:
the magnetic field generator calibration device comprises an installation body, wherein at least six magnetic field sensors are fixedly installed on the installation body, the three-dimensional space positions and the placing angles of the magnetic field sensors are known, and the placing angles comprise pitch angles (polar angles) and direction angles (azimuth angles). The magnetic field sensor is an excitation coil.
The invention designs a magnetic field generator calibration device which is a three-dimensional device provided with a plurality of magnetic field sensors with known relative positions and is used for determining the placement position and the placement direction of a magnetic field generator, so that the problem that the positioning accuracy of different spatial positions of the existing magnetic field generator is different can be solved, the magnetic field generator can be further optimized, and the use requirement in the medical field can be better met.
Furthermore, the magnetic field sensor is convenient to integrate and install by arranging the installation body structure, and the three-dimensional space position and the placing angle of the magnetic field sensor are convenient to obtain (when the installation body structure is processed and manufactured, the three-dimensional space position and the placing angle of the magnetic field sensor can be designed and determined), so that the subsequent calibration calculation is simplified.
As a preferable aspect of the present invention, the magnetic field sensor has a plurality of pitch angles, and/or the magnetic field sensor has a plurality of direction angles, so that the calibration accuracy can be improved.
As a preferable scheme of the invention, the number of the magnetic field sensors is more than or equal to 15, so that the calibration precision can be improved.
As a preferable scheme of the present invention, the mounting body is provided with a jack, a three-dimensional position and a placement angle of the jack are known, the jack is adapted to the magnetic field sensor, and the magnetic field sensor is placed in the jack. Through the design the jack is convenient for install and get and put magnetic field sensor is also convenient for confirm magnetic field sensor's three-dimensional space position and put the angle.
As a preferable scheme of the invention, the magnetic field sensor is bonded and fixed in the jack, so that the magnetic field sensor is prevented from displacement and deformation to influence the calibration precision.
As a preferable aspect of the present invention, the insertion hole has a plurality of pitch angles, and/or the insertion hole has a plurality of azimuth angles, so that the magnetic field sensor mounted therein has a plurality of pitch angles, and/or the magnetic field sensor has a plurality of azimuth angles, which can improve calibration accuracy.
As a preferable scheme of the present invention, the mounting body is a polyhedron or a rotating body, which facilitates integrated mounting of the magnetic field sensor and acquisition of a three-dimensional position and a placement angle of the magnetic field sensor. The mounting body can also adopt other structures as long as the three-dimensional space position and the placing angle of the magnetic field sensor mounted on the mounting body can be determined in advance.
As the preferable scheme of the invention, each face of the polyhedron is provided with at least 3 insertion holes. The more the number of jacks, the more magnetic field sensors can be installed, and the more magnetic field sensors are installed, the higher the calibration accuracy is.
As a preferable aspect of the present invention, the mounting body is a solid structure or a frame-beam structure.
The mounting body is designed to be a solid structure, the strength and rigidity of the structure are high, the displacement and the deformation of the magnetic field sensor can be reduced, the calibration precision is improved, and the magnetic field sensor is more convenient to process and manufacture.
The mounting body is designed into a frame beam structure, so that the structural strength and rigidity can be improved, the displacement and deformation of the magnetic field sensor can be reduced, and the calibration precision can be improved; secondly, the installation space of the magnetic field sensor is increased, so that more magnetic field sensors can be arranged on the installation body, and the calibration precision can also be improved; third, a partially hollowed-out region is formed, thereby facilitating wiring.
As a preferable scheme of the invention, the installation body is a regular polyhedron or a sphere or a cylinder. The mounting body is designed to be of a regular structure, so that the placement position and the placement angle of each magnetic field sensor can be conveniently determined, and the calculation workload is reduced.
As a preferred scheme of the invention, the mounting body is a plastic structural part (such as ABS, PEEK, PVM, TPU and the like), a wood structural part, a stone structural part and the like, and at the moment, the rigidity is higher, the influence of temperature is smaller, and the calibration precision is higher. Solid materials with magnetic conductivity close to air are selected as much as possible to manufacture the mounting body, so that the interference to a magnetic field can be reduced.
The invention also discloses a magnetic field generator calibration method, which comprises the following steps:
the method comprises the following steps: placing any one of the magnetic field generator calibration devices on one side of a magnetic field generator, wherein the distance between the magnetic field generator and the magnetic field sensor is more than 10 times of the self size of the magnetic field generator,
step two: obtaining a normalized direction vector of the orientation of the ith magnetic field sensor according to the three-dimensional space position and the placing angle of the magnetic field sensor
In the formula (x)i，yi，zi) Is the three-dimensional spatial position of the ith magnetic field sensor, (alpha)i，βi) The pitch angle and the direction angle of the ith magnetic field sensor are shown, i is 1, 2, 3, n is more than or equal to 6,
step three: calculating the signal quantity Vol generated by the magnetic field generator acting on the ith magnetic field sensori，
Wherein (x, y, z) is the three-dimensional spatial position of the magnetic field generator, (α, β) is the pitch and yaw angles of the magnetic field generator, η is the gain factor,
step four: the simultaneous formation of an overdetermined system of equations,
and solving to obtain the value of the unknown quantity (x, y, z, alpha, beta, eta).
The calibration method can be used for quickly calibrating the magnetic field generator, and is simple and high in calibration precision.
As a preferable scheme of the invention, the overdetermined equation set is solved by adopting an LM (Levenberg-Marquardt) algorithm or an improved version thereof, and convergence can be generally obtained within 3-8 iterations.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention designs a magnetic field generator calibration device which is a three-dimensional device provided with a plurality of magnetic field sensors with known relative positions and is used for determining the placement position and the placement direction of a magnetic field generator, so that the problem that the positioning accuracy of different spatial positions of the existing magnetic field generator is different can be solved, the magnetic field generator can be further optimized, and the use requirement in the medical field can be better met.
2. According to the invention, the installation body structure is arranged, so that the magnetic field sensor can be conveniently integrated and installed, the three-dimensional space position and the placing angle of the magnetic field sensor can be conveniently obtained, and further the subsequent calibration calculation is simplified.
3. The calibration method can be used for quickly calibrating the magnetic field generator, and is simple and high in calibration precision.
Drawings
Fig. 1 is a schematic structural diagram of a magnetic field generator calibration device according to the present invention.
Fig. 2 is a schematic view of the arrangement angle of the magnetic field sensor according to the present invention.
Fig. 3 is a schematic diagram of the calibration using the calibration apparatus of the present invention.
Icon: 1-a calibration device, 11-a mounting body, 12-a magnetic field sensor, 13-a jack, 14-a hollowed-out region, 2-a magnetic field generator, 21-a magnetic field generator group and 22-a magnetic field generator.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1, a magnetic field generator calibration apparatus includes a mounting body 11, in this embodiment, the mounting body 11 is a regular hexahedron. A plurality of jacks 13 have all been seted up to six faces of installation body 11, and 9 jacks 13 have all been seted up to every face in this embodiment. The jack 13 can be horizontally arranged, vertically arranged or inclined at any angle, in the embodiment, the jack 13 is arranged perpendicular to the plane, so that the placing position and the placing angle of the jack 13 can be calculated conveniently, and the placing angle comprises a pitch angle and a direction angle. A magnetic field sensor 12 is placed in the receptacle 13, and the receptacle 13 is shaped and dimensioned to substantially conform to the magnetic field sensor 12, thereby facilitating the determination of the position of the magnetic field sensor 12 by the position of the receptacle 13. The magnetic field sensors 12 are packaged in the insertion holes 13 through epoxy resin, and the number of the insertion holes 13 and the number of the magnetic field sensors 12 are not less than 6, preferably not less than 15. The arrangement position and the arrangement angle of the insertion holes 13 are known, so that the arrangement position and the arrangement angle of the magnetic field sensor 12 are known, and the pitch angle and the direction angle of the magnetic field sensor 12 are shown in fig. 2. A rectangular coordinate system is constructed by taking the central axis of the magnetic field sensor 12 as the X axis, and the attitude angle of the magnetic field sensor 12 includes a pitch angle (the included angle between the magnetic field sensor 12 and the Z axis) and two direction angles (the included angle between the magnetic field sensor 12 and the X axis and the included angle between the magnetic field sensor 12 and the Y axis), but since the magnetic field sensor 12 is an excitation coil and the excitation coil is a rotating body structure, the direction angle around the central axis (X axis) thereof does not need to be considered, and therefore, the direction angle described in the present invention refers to the included angle between the magnetic field sensor 12 and the Y axis.
Preferably, the magnetic field sensor 12 has a plurality of pitch angles and a plurality of azimuth angles, and the insertion hole 13 has a plurality of pitch angles and a plurality of azimuth angles, so that the calibration accuracy can be improved.
Further, in the present embodiment, the mounting body 11 is designed as a frame beam structure, and each surface is provided with a hollow area 14, and in the present embodiment, each surface of the mounting body 11 is provided with 4 hollow areas 14. The mounting body 11 is designed to be a frame beam structure, so that the structural strength and rigidity can be improved, the displacement and deformation of the magnetic field sensor 12 can be reduced, and the calibration precision can be improved; secondly, the installation space (which can be installed on a beam) of the magnetic field sensor 12 is increased, so that more magnetic field sensors 12 can be arranged on the installation body 11, and the calibration precision can also be improved; third, a plurality of hollowed-out regions 14 are formed to facilitate wiring.
Further, in this embodiment, the installation body 11 is a plastic structural member, a wood structural member, a stone structural member, or the like, and the installation body 11 is made of a solid material having a magnetic conductivity close to that of air, so that interference to a magnetic field can be reduced.
Example 2
A magnetic field generator calibration method, comprising the steps of:
the method comprises the following steps: as shown in fig. 3, a magnetic field generator calibration device 1 as described in embodiment 1 is placed on one side of a magnetic field generator 2. In the present embodiment, the calibration device 1 is placed above the magnetic field generator 2. The magnetic field generator 2 comprises 4 magnetic field generator groups 21, each magnetic field generator group 21 comprises three magnetic field generators 22, and the three magnetic field generators 22 are arranged in an orthogonal position.
The magnetic field generator 22 and the magnetic field sensor 12 are separated by a distance greater than 10 times the size of the magnetic field generator 22, i.e. the distance between the magnetic field generator 22 and the tracking magnetic field sensor 12 is much larger than the size of the magnetic field generator 22 itself, and they can be regarded as magnetic dipoles.
Step two: according to biot-savartThe principle of localization is detailed below, based on the Law of Er (Biot-Savart Law). Obtaining a normalized direction vector of the orientation of the ith magnetic field sensor 12 according to the three-dimensional space position and the placing angle of the magnetic field sensor 12
In the formula (x)i，yi，zi) Is the three-dimensional spatial position of the i-th magnetic field sensor 12, (α)i，βi) I is 1, 2, 3, a, n, n is equal to or more than 6,
step three: calculating the signal quantity Vol generated by the magnetic field generator 22 acting on the ith magnetic field sensor 12i，
Where (x, y, z) is the three-dimensional spatial position of the magnetic field generator 22, (α, β) is the pitch and yaw angles of the magnetic field generator 22, η is the gain factor,
step four: the simultaneous formation of an overdetermined system of equations,
and solving to obtain the value of the unknown quantity (x, y, z, alpha, beta, eta), namely obtaining the three-dimensional space position, the placing angle and the gain coefficient of the magnetic field generator 22.
For example, in the present embodiment, the calibration apparatus 1 has 9 magnetic field sensors 12 mounted on each surface, and 54 magnetic field sensors 12 are obtained for 6 surfaces, so that 54 equations including 6 unknowns (x, y, z, α, β, η) can be obtained, and the 54 equations are combined to form an overdetermined equation set.
Solving the problem of the overdetermined equation set is actually a nonlinear model solving problem, some (more than or equal to 6) or all equations can be selected according to a certain screening criterion to be solved simultaneously, a common solving method is an LM (Levenberg-Marquardt) algorithm or an improved version thereof, and the improved version is adopted in the embodiment to obtain convergence within 3-8 iterations.
The magnetic fields generated by a plurality of the magnetic field generators 22 can be distinguished by differences in frequency or on-time. For example, the frequency quadrature can be set, and then the quadrature demodulation can be performed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The magnetic field generator calibration device is characterized by comprising a mounting body (11), wherein at least six magnetic field sensors (12) are fixedly mounted on the mounting body (11), the three-dimensional space positions and the arrangement angles of the magnetic field sensors (12) are known, and the arrangement angles comprise pitch angles and direction angles.
2. A magnetic field generator calibration arrangement according to claim 1, characterized in that the magnetic field sensor (12) has a plurality of pitch angles and/or the magnetic field sensor (12) has a plurality of direction angles.
3. The magnetic field generator calibration device according to claim 1, wherein the mounting body (11) is provided with a jack (13), the three-dimensional position and the placing angle of the jack (13) are known, the jack (13) is adapted to the magnetic field sensor (12), and the magnetic field sensor (12) is placed in the jack (13).
4. A magnetic field generator calibration arrangement according to claim 3 wherein the magnetic field sensor (12) is adhesively secured within the receptacle (13).
5. A magnetic field generator calibration arrangement according to claim 1 characterized in that said mounting body (11) is a polyhedron or a rotator.
6. A magnetic field generator calibration device according to claim 5 characterized in that said mounting body (11) is a regular polyhedron or a sphere or a cylinder.
7. A magnetic field generator calibration arrangement according to claim 5, characterized in that the mounting body (11) is of solid or frame-beam construction.
8. The magnetic field generator calibration device according to any one of claims 1 to 7, wherein the mounting body (11) is a plastic structural member, a wood structural member or a stone structural member.
9. A method for calibrating a magnetic field generator, comprising the steps of:
the method comprises the following steps: placing a magnetic field generator calibration device (1) according to any one of claims 1 to 7 on one side of a magnetic field generator (22), the distance between the magnetic field generator (22) and the magnetic field sensor (12) being greater than 10 times the own size of the magnetic field generator (22),
step two: obtaining a normalized direction vector of the orientation of the ith magnetic field sensor (12) according to the three-dimensional space position and the placing angle of the magnetic field sensor (12)
In the formula (x)i，yi，zi) Is the three-dimensional spatial position of the ith magnetic field sensor (12) (. alpha.)i，βi) The pitch angle and the direction angle of the ith magnetic field sensor (12) are shown, i is 1, 2, 3, n, n is more than or equal to 6,
step three: calculating the signal quantity Vol generated by the magnetic field generator (22) generating the magnetic field acting on the ith magnetic field sensor (12)i，
Wherein (x, y, z) is the three-dimensional spatial position of the magnetic field generator (22), (α, β) is the pitch and yaw angles of the magnetic field generator (22), and η is a gain factor,
step four: the simultaneous formation of an overdetermined system of equations,
and solving to obtain the value of the unknown quantity (x, y, z, alpha, beta, eta).
10. A method for calibrating a magnetic field generator according to claim 9 wherein said system of over-determined equations is solved using the LM algorithm or a modification thereof.
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| CN114732521A (en) * | 2022-05-18 | 2022-07-12 | 成都思瑞定生命科技有限公司 | Tracking and positioning precision evaluation system of magnetic positioning device |
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