CN114305686A - Positioning processing method, device, equipment and medium based on magnetic sensor - Google Patents
Positioning processing method, device, equipment and medium based on magnetic sensor Download PDFInfo
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Abstract
The invention provides a positioning processing method, a positioning processing device, equipment and a medium based on a magnetic sensor, wherein the positioning processing method comprises the following steps: acquiring first position and attitude information detected by the first magnetic sensor and second position and attitude information detected by the second magnetic sensor, and determining relative position and attitude information between the first magnetic sensor and the second magnetic sensor based on the first position and attitude information and the second position and attitude information; determining target pose information of the object to be detected based on the relative pose information and a registered relation between the first magnetic sensor and any virtual coordinate system; the target pose information is used for representing the position and the posture of the object to be measured in the virtual coordinate system.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a positioning processing method, a positioning processing device, positioning processing equipment and a positioning processing medium based on a magnetic sensor.
Background
In the magnetic navigation system based on the low-frequency magnetic signal of the permanent magnet, the magnetic sensor is positioned in the magnetic field generated by the magnetic field generator, further, the magnetic sensor can measure the self pose information based on the magnetic field of the magnetic field generator, and then, the in-place pose information measured by the magnetic sensor is projected to other coordinate systems based on the relation between the magnetic field generator and other coordinate systems, so that the pose of the object to be measured corresponding to the magnetic sensor is determined.
However, the positioning accuracy of the magnetic sensor becomes lower as the distance between the magnetic sensor and the magnetic field generator increases, and when it is necessary to position a position outside the designed tracking range of the magnetic field generator, only the magnetic field generator can be moved, thus requiring re-registration of the relationship of the magnetic field generator with other coordinate systems. It can be seen that after each movement of the magnetic field generator, a registration has to be done again, which takes a lot of time.
Disclosure of Invention
The invention provides a positioning processing method, a positioning processing device, positioning processing equipment and a positioning processing medium based on a magnetic sensor, and aims to solve the problem of time consumption.
According to a first aspect of the present invention, a positioning processing method based on magnetic sensors is provided, wherein a plurality of magnetic sensors are adopted, including a first magnetic sensor and a second magnetic sensor arranged on an object to be measured, and the first magnetic sensor and the second magnetic sensor are arranged in a magnetic field range of a magnetic field generator;
the positioning processing method comprises the following steps:
acquiring first position and posture information detected by the first magnetic sensor and second position and posture information detected by the second magnetic sensor, wherein the first position and posture information is used for representing the position and posture of the first magnetic sensor relative to the magnetic field generator, and the second position and posture information is used for representing the position and posture of the object to be measured relative to the magnetic field generator;
determining relative pose information between the first magnetic sensor and the second magnetic sensor based on the first pose information and the second pose information;
determining target pose information of the object to be detected based on the relative pose information and a registered relation between the first magnetic sensor and any virtual coordinate system; the target pose information is used for representing the position and the posture of the object to be measured in the virtual coordinate system.
Optionally, the first pose information includes: a rotation matrix and a translation matrix of a first coordinate system relative to a magnetic field coordinate system of the magnetic field generator with the first magnetic sensor as a reference;
the second posture information includes: a rotation matrix and a translation matrix of a second coordinate system relative to the magnetic field coordinate system with the second magnetic sensor as a reference;
the relative pose information includes: calculating a rotation matrix and a translation matrix of the second coordinate system relative to the first coordinate system based on the first position and orientation information and the second position and orientation information;
the registered relationship is a spatially projected relationship between the first coordinate system and the virtual coordinate system.
Optionally, determining the relative pose information between the first magnetic sensor and the second magnetic sensor based on the first pose information and the second pose information includes:
acquiring a first rotation and translation matrix for representing the first position and posture information and a second rotation and translation matrix for representing the second position and posture information;
and multiplying the second rotation and translation matrix by the inverse matrix of the first rotation and translation matrix to obtain an appointed rotation and translation matrix for representing the relative pose information.
Optionally, the registration process of the registered relationship includes:
selecting a plurality of arbitrary target position points in space;
determining first position information of the target position point in the first coordinate system and second position information of the target position point in the virtual coordinate system;
and determining a spatial projection relation between the first coordinate system and the virtual coordinate system based on the corresponding relation between the first position information and the second position information.
Optionally, the object to be detected is a bronchoscope, and the first magnetic sensor and the second magnetic sensor are arranged on the bronchoscope.
Optionally, the object to be detected is a bronchoscope, and the number of the second magnetic sensors is multiple;
the positioning processing method further comprises the following steps:
constructing a virtual bronchial tree in the virtual coordinate system;
determining, in the virtual coordinate system, current location information of a bronchoscope model used to simulate the bronchoscope based on target pose information of a plurality of second magnetic sensors, the current location information being used to characterize a location of the bronchoscope model in the virtual bronchial tree.
According to a second aspect of the present invention, there is provided a positioning processing device based on magnetic sensors, wherein the magnetic sensors include a first magnetic sensor and a second magnetic sensor arranged on an object to be measured, and the first magnetic sensor and the second magnetic sensor are arranged in the magnetic field range of a magnetic field generator;
the positioning processing device comprises:
an acquiring module, configured to acquire first position and orientation information detected by the first magnetic sensor and second position and orientation information detected by the second magnetic sensor, where the first position and orientation information is used to represent a position and orientation of the first magnetic sensor relative to the magnetic field generator, and the second position and orientation information is used to represent a position and orientation of the object to be measured relative to the magnetic field generator;
a relative pose determination module configured to determine relative pose information between the first magnetic sensor and the second magnetic sensor based on the first pose information and the second pose information;
the target pose determining module is used for determining target pose information of the object to be detected based on the relative pose information and a registered relation between the first magnetic sensor and a virtual coordinate system; the target pose information is used for representing the position and the posture of the object to be measured in the virtual coordinate system.
According to a third aspect of the invention, there is provided an electronic device comprising a processor and a memory,
the memory is used for storing codes;
the processor is configured to execute the codes in the memory to implement the positioning processing method according to the first aspect and the optional aspects thereof.
According to a fourth aspect of the present invention, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the positioning processing method according to the first aspect and its alternatives.
According to a fifth aspect of the present invention, there is provided a magnetic navigation system including a plurality of magnetic sensors, a magnetic field generator, and a data processing section; the data processing section is configured to execute the positioning processing method according to the first aspect and its optional aspects.
In the positioning processing method, device, equipment and medium based on the magnetic sensor, after the second posture information of the second magnetic sensor is acquired, the first magnetic sensor and the second magnetic sensor may be configured to detect the magnetic field based on the relative pose information between the first magnetic sensor and the second magnetic sensor, and the registered relationship, the target pose information is determined in the virtual coordinate system, and therefore, the invention realizes the pose determination in the virtual coordinate system based on the registered relation between the first magnetic sensor and the virtual coordinate system, and at the moment, even if the position of the magnetic field generator is changed, as long as the pose of the first magnetic sensor is fixed, other magnetic sensors can be used as the second magnetic sensor, under the condition of no re-registration, the pose determination under the virtual coordinate system is realized for the second magnetic sensor, so that the time waste and the complicated process of the re-registration of the magnetic field generator are avoided, and the processing efficiency is improved. In addition, even if the first magnetic sensor needs to be moved and needs to be re-registered, compared with the moving magnetic field generator, the first magnetic sensor also has the positive effects of being more flexible and more convenient to move.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic representation of the construction of a magnetic navigation system in an exemplary embodiment of the invention;
FIG. 2 is a schematic view of the construction of a bronchoscope according to an exemplary embodiment of the present invention;
FIG. 3 is a schematic view of the configuration of the puncturing part in an exemplary embodiment of the present invention;
FIG. 4 is a flow diagram of a method for magnetic sensor based location processing in an exemplary embodiment of the invention;
FIG. 5 is a flow chart illustrating a calibration process for spatial projection relationships in an exemplary embodiment of the invention;
FIG. 6 is a flow diagram of a magnetic sensor based location processing method in another exemplary embodiment of the invention;
FIG. 7 is a schematic diagram of program modules of a magnetic sensor based positioning processing apparatus in an exemplary embodiment of the invention;
FIG. 8 is a schematic diagram of program modules of a magnetic sensor-based positioning processing apparatus in another exemplary embodiment of the invention;
fig. 9 is a schematic diagram of the configuration of an electronic device in an exemplary embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Referring to fig. 1, an embodiment of the invention provides a magnetic navigation system, which includes a plurality of magnetic sensors 101, a magnetic field generator 102, and a data processing unit 103.
When the magnetic sensor is in the magnetic field generated by the magnetic field generator 102, the pose information of the magnetic sensor itself can be detected based on the magnetic field. The pose information detected by the magnetic sensor can be characterized as: a rotation matrix and a translation matrix of a coordinate system based on the magnetic field sensor with respect to a magnetic field coordinate system (i.e., a coordinate system based on the magnetic field generator 102). Any of the field generators 102 and field sensors 101 known in the art may be used as an alternative.
The data processing unit 103 may be any component or combination of components having data processing capability, and the data processing unit 103 may communicate with the magnetic field sensor 101 to further acquire the pose information detected by the magnetic field sensor 101, in an embodiment of the present invention, the data processing unit 103 may be configured to execute the positioning processing method based on the magnetic sensor according to the embodiment of the present invention.
In addition, the above magnetic field generator and magnetic sensor can be used as an alternative to the embodiments of the present invention, regardless of the kind of the object to be detected.
In one embodiment, the magnetic sensor 101 may be provided in a medical instrument, such as a bronchoscope, a puncture unit for puncturing, a C-arm machine for scanning a human body, and the like, so as to detect a posture of the medical instrument.
The magnetic sensor 201 in the embodiment shown in fig. 2 is the same as or similar to the magnetic sensor 101 in the embodiment shown in fig. 1, the magnetic sensor 201 can communicate with a corresponding data processing unit, and the magnetic sensor 201 is located in the magnetic field generated by a corresponding magnetic field generator, and the same or similar parts are not described again here.
Referring to fig. 2, the magnetic sensor 201 may be disposed on the bronchoscope 202, and further, the data processing unit may determine the pose of a part or all of the bronchoscope 202 according to the pose information of the magnetic sensor 201, so as to provide a sufficient basis for positioning the bronchoscope 202 in the human body; by arranging a plurality of different magnetic sensors 201 in the bronchoscope 202, the different magnetic sensors 201 can be used for accurately acquiring poses of different parts of the bronchoscope 202, wherein the arranged magnetic sensors 201 can be used as second magnetic sensors, and pose information of different parts of the bronchoscope 202 can be obtained based on the different magnetic sensors 201.
At least some features of the magnetic sensor 301 in the embodiment shown in fig. 3 are the same as or similar to those of the magnetic sensor 101 in the embodiment shown in fig. 1, and the description of the same or similar parts is omitted here.
Referring to fig. 3, the magnetic sensor 301 may be disposed on the puncturing part 302, and further, the data processing part may determine the poses of some or all parts of the puncturing part 302 according to the pose information of the magnetic sensor 301, so as to provide a sufficient basis for determining the puncturing depth, the puncturing direction, and the like.
Referring to fig. 4, an embodiment of the present invention provides a method for positioning processing, including:
s401: acquiring first position and attitude information detected by the first magnetic sensor and second position and attitude information detected by the second magnetic sensor;
the second magnetic sensor may be any one of a plurality of magnetic sensors in the magnetic field generated by the magnetic field generator, that is: any one of the plurality of magnetic sensors may be used as the second magnetic sensor.
The first magnetic sensor may be a magnetic sensor used for registering with the virtual coordinate system among a plurality of magnetic sensors in the magnetic field generated by the magnetic field generator, and during the use, the position of the first magnetic sensor is usually fixed and unchanged, of course, if necessary, the position of the first magnetic sensor may also be changed, and after the change, registration with the virtual coordinate system is usually required again;
the virtual coordinate system may be understood as any coordinate system that needs to be registered with the magnetic sensor, for example, a coordinate system where the virtual bronchial tree is located, a coordinate system where the virtual human body model is located, or a coordinate system that uses any device (e.g., a bed plate, a medical instrument) as a reference.
Wherein the first position and orientation information is used to characterize the position and orientation of the first magnetic sensor relative to the magnetic field generator, in one example, the first position and orientation information comprises: a rotation matrix and a translation matrix of a first coordinate system relative to a magnetic field coordinate system of the magnetic field generator by taking the first magnetic sensor as a reference, wherein the rotation matrix and the translation matrix can be combined to form a first rotation and translation matrix; the change of the pose of the first magnetic sensor brings the change of the first rotation-translation matrix;
wherein the second position and posture information is used for representing the position and posture of the second magnetic sensor relative to the magnetic field generator, and the second position and posture information can also be used for representing the position and posture of the object to be measured relative to the magnetic field generator as the second magnetic sensor is arranged on the object to be measured; in one example, the second posture information includes: a rotation matrix and a translation matrix of a second coordinate system relative to the magnetic field coordinate system of the magnetic field generator by taking the second magnetic sensor as a reference, wherein the rotation matrix and the translation matrix can be combined to form a second rotation and translation matrix; the change of the pose of the second magnetic sensor brings the change of a second rotation and translation matrix;
the object to be detected can be understood as a physical device, a physical component, or a portion of the physical device (or the physical component) to be detected. In a specific example, the object to be detected may be a bronchoscope for entering a bronchus of a human body to detect, may also be a specific part (e.g., a tip) of the bronchoscope, and may also be a puncture part for puncturing the human body;
s402: determining relative pose information between the first magnetic sensor and the second magnetic sensor based on the first pose information and the second pose information;
the relative pose information may be any information describing a relative pose between the first magnetic sensor and the second magnetic sensor, and in an example, the relative pose information includes: calculating a rotation matrix and a translation matrix of the second coordinate system relative to the first coordinate system based on the first position and orientation information and the second position and orientation information; the rotation matrix and the translation matrix can be combined to form a specified rotation and translation matrix;
s403: determining target pose information of the object to be detected based on the relative pose information and a registered relation between the first magnetic sensor and any virtual coordinate system;
the target pose information is used for representing the position and the posture of the object to be measured in the virtual coordinate system;
and further:
if the tail end of the bronchoscope is used as an object to be detected, namely the second magnetic sensor is arranged at the tail end of the bronchoscope, the obtained target pose information can be used for representing the pose information of the tail end of the bronchoscope in a virtual coordinate system;
if the bronchoscope is used as an object to be detected, the second magnetic sensor can also be arranged at the tail end of the bronchoscope, and at the moment, the position and attitude information of the tail end of the bronchoscope in the virtual coordinate system can be used as the position and attitude information of the bronchoscope; for example, the second magnetic sensor may be installed at a position where the tail end of the bronchoscope extends 1-2cm outwards, so that the second magnetic sensor is less interfered by a surrounding magnetic field, an electromagnetic field, or an iron substance, and the accuracy and reliability of the second position and posture information obtained based on the second magnetic sensor are higher, which is beneficial to improving the accuracy of the obtained position and posture information of the bronchoscope in the virtual coordinate.
If the middle part of the bronchoscope is taken as an object to be measured, namely the second magnetic sensor is arranged in the middle part of the bronchoscope, the obtained target pose information can be used for representing the pose information of the middle part of the bronchoscope in a virtual coordinate system;
if the puncture part is used as the object to be measured, and the second magnetic sensor can be arranged in the middle of the puncture part, the obtained target pose information can be used for representing the pose information of the puncture part in the virtual coordinate system.
The target pose information may be characterized using a set of points in a virtual coordinate system,
if a virtual object for simulating the object to be measured is arranged in the virtual coordinate system, then: the target pose information can also be represented by a rotation translation matrix of an object coordinate system which takes a virtual object as a reference under the virtual coordinate system relative to the virtual coordinate system, and the target pose information is represented in any mode without departing from the scope of the embodiment of the invention;
the virtual object can be a model which is established in a virtual coordinate system by simulating the object to be measured, the model can be established aiming at one or more parts of the object to be measured, and can also be established aiming at the whole object to be measured; the registered relationship can be understood as being characterized by: further, in the case where it is known how the posture of the first magnetic sensor is projected to the virtual coordinate system, if the relative posture information of the other object with respect to the first magnetic sensor is known, it is naturally possible to deduce how the other object is projected to the virtual coordinate system. Therefore, through the registered relation, the pose determination under the virtual coordinate system can be realized for the second magnetic sensor.
In one example, the registered relationship is the firstThe spatial projection relationship between the coordinate system and the virtual coordinate system can be understood as: and projecting the position and the attitude in the first coordinate system to a relation of the virtual coordinate system. In a further example, the spatial projection relationship can be characterized as
Wherein:
APB0representing a translation vector of the first coordinate system relative to the virtual coordinate system;
Bp represents position information in a first coordinate system;
Ap represents position information in a virtual coordinate system.
In the above scheme, the pose determination under the virtual coordinate system is realized based on the registered relationship between the first magnetic sensor and the virtual coordinate system, at this time, even if the position of the magnetic field generator changes, as long as the pose of the first magnetic sensor is fixed and unchanged, other magnetic sensors can still be used as the second magnetic sensor, and under the condition of no re-registration, the pose determination under the virtual coordinate system is realized for the second magnetic sensor, so that the time waste and complicated flow of re-registration of the magnetic field generator are avoided, and the processing efficiency is improved.
In one embodiment, the first pose information includes a first rotation/translation matrix, the second pose information includes a second rotation/translation matrix, and the relative pose information includes a specified rotation/translation matrix, then in step S402, the second rotation/translation matrix may be multiplied by an inverse matrix of the first rotation/translation matrix to obtain the specified rotation/translation matrix.
For example, such as the system tracking to the second magnetic sensor S at a certain momentAThe rotational displacement matrix (4x4 homogeneous matrix) of (a) is TATracking to the first magnetic sensor SOThe rotational displacement matrix ofOThen, the first magnetic sensor S is usedOSecond magnetic sensor S available in a first reference systemAThe specified rotation-translation matrix T of (a) is: t isOInverse matrix of (2) multiplied by TAI.e. T ═ TO -1TA。
In one embodiment, referring to fig. 5, the registration process of the registered relationship includes:
s501: selecting a plurality of arbitrary target position points in space;
s502: determining first position information of the target position point in the first coordinate system and second position information of the target position point in the virtual coordinate system;
s503: determining the spatial projection relationship based on a correspondence relationship of the plurality of first position information and the second position information.
The target position points may be any position points artificially calibrated, and the number of the target position points is generally at least three. Any process in the art that can achieve the calibration of the spatial projection relationship between coordinate systems can be applied as an alternative.
In one example:
the first position information of the n target position points in the first coordinate system is respectively characterized as: pB1、PB2、……、PBn；
The second position information of the n target position points under the virtual coordinate system is respectively characterized as: pA1、PA2、……、PAn；
Wherein n may be, for example, an integer greater than or equal to 3;
the transformation formula of the target position point P from the first coordinate system B to the virtual coordinate system a is:
wherein:
APB0representing a translation vector of the first coordinate system relative to the virtual coordinate system;
Bp represents position information in a first coordinate system;
Ap represents position information in a virtual coordinate system.
On the basis, the P of the target position point can be determinedB1AsBP，PA1AsASubstituting P into the above transformation formula to obtain P of the target position pointB2AsBP，PA2AsASubstituting P into the above transformation formula, and so on, can obtain P of the target position pointBnAsBP，PAnAsAP is substituted into the above transformation formula; after substitution, can be deduced
AndAPB0。
further, it calculates
AndAPB0can be used to characterize the spatial projection relationship.
In the above scheme, through calibration of the first position point and the second position point, a sufficient basis can be provided for determination of the spatial projection relationship.
Steps S601, S602, and S603 in the embodiment shown in fig. 6 are the same as or similar to steps S401, S402, and S403 in the embodiment shown in fig. 4, and the same or similar parts are not repeated herein.
In one embodiment, if the object to be detected is a bronchoscope, the number of the second magnetic sensors is multiple; then:
the positioning processing method may further include:
s604: constructing a virtual bronchial tree in the virtual coordinate system;
s605: and determining current position information of a bronchoscope model for simulating the bronchoscope based on the target pose information of the second magnetic sensors in the virtual coordinate system.
The current location information is used to characterize the location of the bronchoscope model in the virtual bronchial tree;
in addition, the virtual bronchial tree can be used for simulating a real bronchial tree of a target human body, and the current position information represents the position of the bronchoscope model in the virtual bronchial tree, so that the position of the bronchoscope in the real bronchial tree can be embodied.
In one example, a curve may be constructed in the virtual coordinate system based on the target pose information of the second magnetic sensors, the tangential direction of each of the plurality of portions of the curve is adapted to the corresponding target pose information, and then a shape registration may be performed based on the curve and the virtual bronchial tree in the virtual coordinate system, so as to locate a target bronchial segment in the virtual bronchial tree, the position of the target bronchial segment in the virtual bronchial tree being characterized by the positions of the plurality of position points of the target bronchial segment, which may be used as the current position information. Based on the current location information, a bronchoscope model may be displayed in the virtual bronchial tree.
In the scheme, the bronchoscope positioning based on the detection result of the magnetic sensor can be accurately realized.
Referring to fig. 7, an embodiment of the present invention further provides a positioning processing apparatus 700 based on a magnetic sensor, including:
an obtaining module 701, configured to obtain first position and orientation information detected by the first magnetic sensor and second position and orientation information detected by the second magnetic sensor, where the first position and orientation information is used to represent a position and orientation of the magnetic sensor relative to the magnetic field generator, and the second position and orientation information is used to represent a position and orientation of the second magnetic sensor and the object to be measured relative to the magnetic field generator;
a relative pose determination module 702, configured to determine relative pose information between the first magnetic sensor and the second magnetic sensor based on the first pose information and the second pose information;
a target pose determining module 703, configured to determine target pose information of the object to be measured based on the relative pose information and a registered relationship between the first magnetic sensor and a virtual coordinate system; the target pose information is used for representing the position and the posture of the object to be measured in the virtual coordinate system.
Optionally, the first pose information includes: a rotation matrix and a translation matrix of a first coordinate system relative to a magnetic field coordinate system of the magnetic field generator with the first magnetic sensor as a reference;
the second posture information includes: a rotation matrix and a translation matrix of a second coordinate system relative to the magnetic field coordinate system with the second magnetic sensor as a reference;
the relative pose information includes: calculating a rotation matrix and a translation matrix of the second coordinate system relative to the first coordinate system based on the first position and orientation information and the second position and orientation information;
the registered relationship is a spatially projected relationship between the first coordinate system and the virtual coordinate system.
Optionally, the relative pose determining module 702 is specifically configured to:
acquiring a first rotation and translation matrix for representing the first position and posture information and a second rotation and translation matrix for representing the second position and posture information;
and multiplying the second rotation and translation matrix by the inverse matrix of the first rotation and translation matrix to obtain the appointed rotation and translation matrix.
Optionally, the registration process of the registered relationship includes:
selecting a plurality of arbitrary target position points in space;
determining first position information of the target position point in the first coordinate system and second position information of the target position point in the virtual coordinate system;
and determining a spatial projection relation between the first coordinate system and the virtual coordinate system based on the corresponding relation between the first position information and the second position information.
The acquiring module 801, the relative pose determining module 802, and the target pose determining module 803 in the embodiment shown in fig. 8 are the same as or similar to the acquiring module 701, the relative pose determining module 702, and the target pose determining module 703 in the embodiment shown in fig. 7, and the same or similar parts are not described again here.
In one embodiment, if the object to be detected is a bronchoscope, the number of the second magnetic sensors is multiple; then:
referring to fig. 8, the magnetic sensor-based positioning processing apparatus 800 may further include:
a construction module 804 for constructing a virtual bronchial tree in the virtual coordinate system;
a positioning module 808, configured to determine, in the virtual coordinate system, current position information of a bronchoscope model used for simulating the bronchoscope based on the target pose information of the plurality of second magnetic sensors, where the current position information is used to characterize a position of the bronchoscope model in the virtual bronchial tree.
Referring to fig. 9, an electronic device 900 is provided, including:
a processor 901; and the number of the first and second groups,
a memory 902 for storing executable instructions of the processor;
wherein the processor 901 is configured to perform the above-mentioned method via execution of the executable instructions.
The processor 901 can communicate with the memory 902 over the bus 903.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned method.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A positioning processing method based on magnetic sensors is characterized in that the adopted magnetic sensors comprise a first magnetic sensor and a second magnetic sensor arranged on an object to be measured, and the first magnetic sensor and the second magnetic sensor are arranged in the magnetic field range of a magnetic field generator;
the positioning processing method comprises the following steps:
acquiring first position and posture information detected by the first magnetic sensor and second position and posture information detected by the second magnetic sensor, wherein the first position and posture information is used for representing the position and posture of the first magnetic sensor relative to the magnetic field generator, and the second position and posture information is used for representing the position and posture of the object to be measured relative to the magnetic field generator;
determining relative pose information between the first magnetic sensor and the second magnetic sensor based on the first pose information and the second pose information;
determining target pose information of the object to be detected based on the relative pose information and a registered relation between the first magnetic sensor and any virtual coordinate system; the target pose information is used for representing the position and the posture of the object to be measured in the virtual coordinate system.
2. The magnetic sensor-based positioning processing method according to claim 1, wherein the positioning processing method is performed by using a magnetic sensor
The first pose information includes: a rotation matrix and a translation matrix of a first coordinate system relative to a magnetic field coordinate system of the magnetic field generator with the first magnetic sensor as a reference;
the second posture information includes: a rotation matrix and a translation matrix of a second coordinate system relative to the magnetic field coordinate system with the second magnetic sensor as a reference;
the relative pose information includes: calculating a rotation matrix and a translation matrix of the second coordinate system relative to the first coordinate system based on the first position and orientation information and the second position and orientation information;
the registered relationship is a spatially projected relationship between the first coordinate system and the virtual coordinate system.
3. The magnetic-sensor-based positioning processing method according to claim 2,
determining relative pose information between the first magnetic sensor and the second magnetic sensor based on the first and second pose information, including:
acquiring a first rotation and translation matrix for representing the first position and posture information and a second rotation and translation matrix for representing the second position and posture information;
and multiplying the second rotation and translation matrix by the inverse matrix of the first rotation and translation matrix to obtain an appointed rotation and translation matrix for representing the relative pose information.
4. The magnetic sensor-based positioning processing method of claim 2 or 3, wherein the registration process of the registered relationship comprises:
selecting a plurality of arbitrary target position points in space;
determining first position information of the target position point in the first coordinate system and second position information of the target position point in the virtual coordinate system;
and determining a spatial projection relation between the first coordinate system and the virtual coordinate system based on the corresponding relation between the first position information and the second position information.
5. The magnetic sensor-based positioning processing method according to any one of claims 1 to 3, wherein the object to be measured is a bronchoscope, and the second magnetic sensor is provided in the bronchoscope.
6. The magnetic sensor-based positioning processing method according to any one of claims 1 to 3, wherein the object to be measured is a bronchoscope, and the number of the second magnetic sensors is plural;
the positioning processing method further comprises the following steps:
constructing a virtual bronchial tree in the virtual coordinate system;
determining, in the virtual coordinate system, current location information of a bronchoscope model used to simulate the bronchoscope based on target pose information of a plurality of second magnetic sensors, the current location information being used to characterize a location of the bronchoscope model in the virtual bronchial tree.
7. A positioning processing device based on magnetic sensors is characterized in that a plurality of adopted magnetic sensors comprise a first magnetic sensor and a second magnetic sensor arranged on an object to be measured, and the first magnetic sensor and the second magnetic sensor are arranged in the magnetic field range of a magnetic field generator;
the positioning processing device comprises:
an acquiring module, configured to acquire first position and orientation information detected by the first magnetic sensor and second position and orientation information detected by the second magnetic sensor, where the first position and orientation information is used to represent a position and orientation of the first magnetic sensor relative to the magnetic field generator, and the second position and orientation information is used to represent a position and orientation of the object to be measured relative to the magnetic field generator;
a relative pose determination module configured to determine relative pose information between the first magnetic sensor and the second magnetic sensor based on the first pose information and the second pose information;
the target pose determining module is used for determining target pose information of the object to be detected based on the relative pose information and a registered relation between the first magnetic sensor and a virtual coordinate system; the target pose information is used for representing the position and the posture of the object to be measured in the virtual coordinate system.
8. An electronic device, comprising a processor and a memory,
the memory is used for storing codes;
the processor is configured to execute the codes in the memory to implement the positioning processing method according to any one of claims 1 to 7.
9. A storage medium having stored thereon a computer program which, when executed by a processor, implements the positioning processing method of any one of claims 1 to 6.
10. A magnetic navigation system is characterized by comprising a plurality of magnetic sensors, a magnetic field generator, and a data processing section; the data processing section is configured to execute the positioning processing method according to any one of claims 1 to 6.
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