CN115969519A - Interventional operation robot synchronous positioning and three-dimensional map construction method and system - Google Patents
Interventional operation robot synchronous positioning and three-dimensional map construction method and system Download PDFInfo
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- CN115969519A CN115969519A CN202211534824.8A CN202211534824A CN115969519A CN 115969519 A CN115969519 A CN 115969519A CN 202211534824 A CN202211534824 A CN 202211534824A CN 115969519 A CN115969519 A CN 115969519A
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Abstract
The invention discloses a method and a system for synchronously positioning an interventional operation robot and constructing a three-dimensional map. The system comprises a catheter component, an ultrasonic sensor and an electromagnetic positioning coil, wherein the ultrasonic sensor and the electromagnetic positioning coil are arranged at the front end in the catheter component; an electromagnetic shielding layer is arranged between the ultrasonic sensor and the electromagnetic positioning coil; the ultrasonic positioning system also comprises a near-end driving module and an ultrasonic imaging system of the ultrasonic sensor, an electromagnetic positioning system matched with the electromagnetic positioning coil and a synchronous positioning and mapping System (SLAM) for data processing; and the SLAM acquires 2D images of intravascular ultrasound and spatial position information of the electromagnetic positioning coil, and performs synchronous positioning and three-dimensional map construction of the interventional operation robot. The invention effectively combines an intravascular ultrasound and electromagnetic positioning system with the SLAM, can realize intravascular autonomous positioning and navigation of the vascular interventional surgical robot, improves the navigation and position perception capabilities of the robot in the interventional surgery, and effectively improves the accuracy and the surgical effect of the surgery.
Description
Technical Field
The invention relates to the technical field of intelligent medical instruments, in particular to a method and a system for synchronously positioning an interventional operation robot and constructing a three-dimensional map.
Background
The vascular interventional operation is a mode of diagnosing and treating intravascular lesions by puncturing blood vessels, guide wires, catheters and other instruments in vivo, has the advantages of accurate operation, short operation time, small operation wound, short postoperative recovery time, light pain suffered by patients and the like, and belongs to a minimally invasive operation. The vascular intervention operation robot mainly carries out the propulsion and navigation of a catheter in the vascular intervention operation. The navigation technology of the current interventional operation robot mostly acquires the position state information of the catheter through external radiography or space coordinate registration, and the technologies are generally poor in instantaneity and low in accuracy. The intravascular position state information has the characteristics of being more accurate, more instant and more direct, however, the state information provided by the intravascular information of the catheter is not applied to navigation of an interventional operation robot at present.
Intravascular ultrasound (IVUS) refers to a medical imaging technique using a special catheter with an ultrasound probe connected to the end, in combination with non-invasive ultrasound and invasive catheter techniques. IVUS utilizes the ultrasonic principle to survey the structure of blood vessel, vascular wall and surrounding tissue, can be used to guide vascular intervention treatment, can be called "fire eye golden eye" of doctor among the cardiovascular intervention art.
A synchronous positioning and mapping (SLAM) system, which is mainly used for solving the problem of positioning and mapping of a robot in an unknown environment. SLAMs can be classified into a laser SLAM and a visual SLAM depending on a sensor mounted on the mobile robot. The visual SLAM acquires picture information of a scene by using a camera, so that the perception work of the environment is completed.
Beatriz FarolaBar et al proposed a Local Vessel Estimation method Based on IVUS Intravascular robot Navigation (IVUS-Based Local Vessel Estimation for robust Intravascular Navigation, IEEE ROBOTICS ANDAUTOMATION LETTERS, 2021), approximating the Vessel geometry near the catheter tip by a cylinder model, and realizing the Vessel intervention robot obstacle avoidance function by shape Estimation. However, this study does not achieve intravascular positioning and mapping using imaging information from the IVUS.
Disclosure of Invention
Due to the defects in the prior art, the invention provides the method and the system for utilizing the SLAM of the vascular interventional surgical robot in IVUS, which can improve the autonomous positioning and navigation performance of the vascular interventional surgical robot by combining electromagnetic positioning and is beneficial to the development of an intelligent medical robot.
In order to achieve the above object, in one aspect, the present invention provides a method for synchronously positioning an interventional surgical robot and constructing a three-dimensional map, comprising the following steps:
s1, a synchronous positioning and mapping system acquires an intravascular ultrasound image as an input frame through an ultrasound probe in an interventional operation robot to acquire map points;
s2, preprocessing the input frame;
s3, extracting feature points by adopting an ORB feature point extraction algorithm;
s4, estimating the pose of the ultrasonic probe through the motion model;
s5, reserving the optimal feature points in the area through a non-maximum suppression algorithm, and removing a plurality of feature points at adjacent positions;
s6, the synchronous positioning and mapping system acquires the depth of an image through an electromagnetic positioning coil in the interventional operation robot, and generates three-dimensional map point information corresponding to the optimal feature point by combining the feature point of the input frame; each map point information comprises a 3D coordinate and a view direction in a world coordinate system; the view direction refers to the ray direction connecting the point cloud and the optical center of the corresponding observation key frame;
s7, extracting ORB feature points of each new image by using an algorithm for real-time tracking, comparing the ORB feature points with the nearest key frame, calculating the positions of the feature points and roughly estimating the pose of a camera for judging whether the key frame needs to be added into the current frame or not;
s8, local map construction: according to the added key frames, a local map is constructed, and according to the feature points and the camera pose in the local space, the local Bundle Adjustment minimum re-projection error is solved so as to obtain a finer camera pose and a feature point space position, and meanwhile, redundant key frames of map points which can be observed by other key frames are eliminated;
s8, estimating the pose of the ultrasonic probe through the motion model;
s9, observing and estimating the movement of the robot by using a Kalman filtering method;
and S10, continuously updating the map and the position, and realizing synchronous positioning and map construction of the robot.
The synchronous positioning and three-dimensional map construction method effectively combines the IVUS, the electromagnetic positioning system and the SLAM, can realize the intravascular autonomous positioning and navigation of the vascular interventional operation robot, improves the navigation and position perception capability of the robot in the interventional operation, and effectively improves the accuracy and the operation effect of the operation.
Further, the synchronous positioning and mapping system does not incorporate a loop detection module for detecting robot motion path repetitions.
Further, the preprocessing in step S2 includes converting the ultrasound image into a grayscale image.
Further, the ORB feature point extraction algorithm in step S3 includes a FAST algorithm. The characteristic enables the synchronous positioning and mapping system to have the characteristics of high calculation speed and high efficiency, and the operation efficiency of the system can be effectively improved.
Further, in step S5, the following information is stored for each key frame Ki: camera pose T (i, w), transformation matrix camera parameters transformed from the world coordinate system to the camera coordinate system, including principal point and focal length.
Further, the motion model in step S8 is a PnP algorithm.
On the other hand, the invention also provides a system for synchronously positioning the interventional operation robot and constructing the three-dimensional map, which is used for realizing the method for synchronously positioning the interventional operation robot and constructing the three-dimensional map and is characterized by comprising the following steps: the ultrasonic positioning device comprises a catheter assembly, an ultrasonic sensor and an electromagnetic positioning coil, wherein the ultrasonic sensor and the electromagnetic positioning coil are arranged at the front end inside the catheter assembly; an electromagnetic shielding layer is arranged between the ultrasonic sensor and the electromagnetic positioning coil;
further comprising an extracorporeal portion of the operated body, the extracorporeal portion comprising: the near-end driving module and the ultrasonic imaging system of the ultrasonic sensor, the electromagnetic positioning system matched with the electromagnetic positioning coil and the synchronous positioning and mapping system for data processing; the synchronous positioning and mapping system acquires 2D images of intravascular ultrasound and spatial position information of the electromagnetic positioning coil, and performs synchronous positioning and three-dimensional mapping of the interventional surgical robot.
Furthermore, the NDI Aurora V3 series medical magnetic field generator is selected as the electromagnetic positioning system.
Further, the electromagnetic shielding layer comprises two separation layers between the fixing device of the electromagnetic positioning coil and the ultrasonic sensor and a shielding body between the separation layers.
Further, the separation layer is in a sheet shape and made of a material capable of absorbing electromagnetic waves; the shielding body is made of a low-resistance metal material and is grounded.
Compared with the prior art, the invention has the following advantages or beneficial effects:
1. the IVUS, the electromagnetic positioning system and the SLAM are effectively combined, so that the intravascular autonomous positioning and navigation of the vascular interventional operation robot can be realized, the navigation and position perception capabilities of the robot in the interventional operation are improved, and the accuracy and the operation effect of the operation are effectively improved;
2. the electromagnetic positioning system increases the spatial scale for the monocular IVUS image, and makes up for the defect that the traditional monocular SLAM lacks the spatial scale;
3. the position information image is obtained by intravascular ultrasound, so that the dependence on X-ray imaging and contrast agents is reduced, and the radiation dose of doctors and patients is reduced;
4. the synchronous positioning and three-dimensional map building system is reasonable in design, and the interference of electromagnetic signals on the ultrasonic sensor is reduced as much as possible through the electromagnetic shielding layer.
Drawings
The invention and its features, aspects and advantages will become more apparent from reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference symbols in the various drawings indicate like elements. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
FIG. 1 is a flowchart illustrating a method for simultaneous localization and three-dimensional map construction according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the processing of the SLAM system in accordance with one embodiment of the present invention;
FIG. 3 is a cross-sectional view of an end layout of an interventional catheter in accordance with an embodiment of the present invention;
FIG. 4 is a block diagram of a simultaneous localization and three-dimensional mapping system architecture in accordance with an embodiment of the present invention;
wherein, 1, the conduit; 2. an ultrasonic sensor; 3. fixing the electromagnetic positioning coil; 4. a separation layer; 5. a shield.
Detailed Description
The structures and methods of this invention are further described in the following detailed description of the embodiments, taken in conjunction with the accompanying drawings, it is to be understood that the embodiments described are illustrative of some, but not all embodiments of the invention. It is to be understood that detailed descriptions of well-known devices, algorithms, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
Example 1
The embodiment provides a synchronous positioning and map building method of an interventional robot based on intravascular ultrasound and electromagnetic positioning, which can realize autonomous positioning and navigation of the vascular interventional robot, and the specific flow is shown in fig. 1. The image information acquired by the system is from an intravascular ultrasonic sensor at the head of the interventional robot, the sensor can acquire and transmit an ultrasonic image in a blood transfusion tube, the spatial position information is from an electromagnetic positioning system matched with the interventional robot, the electromagnetic positioning system can acquire and transmit spatial coordinate information of a specific point on the interventional robot, and the difference of coordinates at adjacent moments can be used as the depth of the image and used for an image building part in an SLAM system. The information obtained by the two sensors is the information of the head of the catheter part of the interventional robot, and the guiding of the movement of the robot in the blood vessel of the human body is facilitated. And after the image and the position information are acquired, the image and the position information are transmitted into the SLAM system. The specific execution flow of the SLAM module is shown in fig. 2. Firstly, preprocessing an input frame by an SLAM system, wherein the preprocessing comprises converting an ultrasonic image into a gray image; meanwhile, the space coordinate information is converted into depth distance information through resolving.
And then, adopting a FAST algorithm in an ORB feature point extraction algorithm for the preprocessed ultrasonic image. The FAST corner is defined as: if a pixel is in a different region from enough pixels in the surrounding region, the pixel may be an angular point. In the grayscale image used in this embodiment, that is, if the grayscale value of the point is greater than or less than the grayscale values of enough pixels in the surrounding field, the point may be an angular point.
The method comprises the following specific steps:
1. a pixel P is selected from the picture, and we will determine whether it is a feature point. We first set its value to lp;
2. setting a proper threshold value t;
3. consider a discretized Bresenham circle centered at the pixel point with a radius equal to 3 pixels, 16 pixels on the boundary of this circle;
4. if there are n consecutive pixels on the 16 pixel circle whose pixel values are either all larger than lp + t or all smaller than lp-t, it is a corner point. The effect is generally best when n = 9.
And then, using a non-maximum suppression algorithm (NMS) to reserve the optimal feature points, and simultaneously eliminating the feature points at adjacent positions to reduce the data volume of operation. The specific process is to take a window of 3 × 3 on the image, if a plurality of characteristic points exist in the window, according to the response value of the FAST characteristic point, deleting the characteristic point with a smaller response value, and only keeping the characteristic point with a maximum response value, thereby realizing the purpose of screening the characteristic points. Meanwhile, the pose of the IVUS sensor is estimated through a motion model, the used motion model is a PnP algorithm, and space points can be established according to a camera modelAnd calculating the posture R and t of the camera by considering the relation between the position and the pixel position and the n three-dimensional space points P and the projection P thereof. Its cluster of plums is denoted T. I represents the ith pixel point, and the coordinate P of a certain space point is assumed i ＝[X i ，Y i ，Z i ] T Projected pixel coordinate of u i ＝[u i ，v i ] T The following formula can be obtained:
wherein S i Is an intra-camera parameter matrix, which is related to specific parameters of the camera.
And then, combining the spatial position information with the ultrasonic image to generate three-dimensional map information corresponding to the optimal characteristic point. That is, the synchronous localization and mapping system acquires the depth of an image through an electromagnetic localization coil in the interventional surgical robot and generates three-dimensional map information corresponding to the optimal feature point in conjunction with the feature points of the input frame. Each map point has the following information: 3D coordinates in the world coordinate system, view direction, i.e. the mean unit vector of all view directions (the direction refers to the ray direction connecting the point cloud and its corresponding observation key frame optical center); the following information is kept for each key frame Ki: camera pose T (i, w), transformation matrix camera parameters transformed from the world coordinate system to the camera coordinate system, including principal point and focal length.
Specifically, the coordinates (x) of the camera in the world coordinate system W can be obtained by the electromagnetic positioning sensor w ，y w ，z w ) (ii) a At adjacent time, the position difference of the camera:
the spatial coordinates of the pixel points with the position difference compensation added are as follows:
the specific position of the characteristic point i in a world coordinate system and the change rule thereof can be obtained through the accumulation of position difference compensation and a vector set formed by a plurality of compensated space coordinates.
And then, extracting ORB feature points from each new image, tracking in real time, comparing with the nearest key frame, calculating the positions of the feature points and roughly estimating the pose of the camera. For judging whether the current frame needs to be added into the key frame.
And then, combining the pose of the ultrasonic sensor estimated by the motion model, further constructing a local map according to the added key frames, solving the local Bundle Adjustment minimized reprojection error according to the feature points and the camera pose in the local space to obtain a finer camera pose and feature point space position, and simultaneously eliminating redundant key frames of map points which can be observed by other key frames.
And then, observing and estimating the movement by using a Kalman filtering method, thereby realizing the synchronous positioning and map construction of the robot.
It should be noted that, in general, the path that the vascular interventional robot passes through in the blood vessel does not repeat, so it is not necessary to introduce a loop detection module for detecting the repetition of the robot motion path in the method described in this embodiment.
Example 2
The embodiment provides a system for synchronously positioning an interventional surgical robot and constructing a three-dimensional map, which is used for implementing the method for synchronously positioning an interventional surgical robot and constructing a three-dimensional map in embodiment 1, and with reference to fig. 3, the method includes: the device comprises a catheter component 1, an ultrasonic sensor 2 and an electromagnetic positioning coil 3, wherein the ultrasonic sensor 2 and the electromagnetic positioning coil 3 are arranged at the front end in the catheter component; an electromagnetic shielding layer is arranged between the ultrasonic sensor 2 and the electromagnetic positioning coil 3; further comprising an extracorporeal portion of the operated body, the extracorporeal portion comprising: the near-end driving module and the ultrasonic imaging system of the ultrasonic sensor, the electromagnetic positioning system matched with the electromagnetic positioning coil and the synchronous positioning and mapping system for data processing; the synchronous positioning and mapping system acquires 2D images of intravascular ultrasound and spatial position information of the electromagnetic positioning coil, and performs synchronous positioning and three-dimensional mapping of the interventional operation robot.
When the vessel imaging is carried out through the IVUS, a catheter containing an ultrasonic sensor is firstly sent into a target vessel through radial artery puncture, after the target vessel reaches a diseased location, a software end firstly sends a signal for starting acquisition to a near-end driving module, the near-end driving module drives an ultrasonic sensor at the tip of the catheter to carry out rotary scanning, under the action of an ultrasonic excitation circuit, an ultrasonic transducer in the ultrasonic sensor sends out ultrasonic waves, the ultrasonic waves are reflected by tissue structures of all levels of the vessel to form ultrasonic echoes after entering vascular tissues, an ultrasonic signal image is obtained after an ultrasonic imaging system processes ultrasonic echo signals received by the transducer, and the ultrasonic signal image is transmitted back to an ultrasonic imaging system host. The host end processes the acquired signal images in software, performs coordinate transformation (polar coordinate- - > Cartesian coordinate), and finally displays the cross section and the longitudinal section of the lumen and the wall of the blood vessel in a specific range in the form of images respectively.
As a preferred embodiment, the NDIAurera V3 series medical magnetic field generator is selected as the electromagnetic positioning system. The electromagnetic shielding layer comprises two separation layers 4 between the fixing device of the electromagnetic positioning coil and the ultrasonic sensor and a shielding body 5 between the separation layers.
As a preferred embodiment, the separation layer 4 is in the form of a sheet made of a material that absorbs electromagnetic waves; the material capable of absorbing electromagnetic waves includes, but is not limited to, ferrite and nano-micro powder wave-absorbing material. The material of the shield 5 is a low-resistance metal material, and the shield 5 is grounded through an external cable.
The framework between the synchronous positioning and three-dimensional mapping system modules of the interventional surgical robot is shown in fig. 4. An IVUS intravascular ultrasound module and an electromagnetic positioning system of the interventional robot end are used as an information acquisition module to acquire images and position information of the interventional robot end, and then the images and the position information are transmitted to an upper computer to perform SLAM related data and information processing. The controller for data and information processing is a DSP28335 type high-performance fast processor of TI company.
In summary, the invention provides a method and a system for synchronous positioning and three-dimensional map construction of an interventional operation robot. The system comprises a catheter component, an ultrasonic sensor and an electromagnetic positioning coil, wherein the ultrasonic sensor and the electromagnetic positioning coil are arranged at the front end in the catheter component; an electromagnetic shielding layer is arranged between the ultrasonic sensor and the electromagnetic positioning coil; the ultrasonic positioning system also comprises a near-end driving module and an ultrasonic imaging system of the ultrasonic sensor, an electromagnetic positioning system matched with the electromagnetic positioning coil and a synchronous positioning and mapping System (SLAM) for data processing; and the SLAM acquires 2D images of intravascular ultrasound and spatial position information of the electromagnetic positioning coil, and performs synchronous positioning and three-dimensional map construction of the interventional operation robot. The invention effectively combines the intravascular ultrasound, the electromagnetic positioning system and the SLAM, can realize intravascular autonomous positioning and navigation of the vascular interventional operation robot, improves the navigation and position perception capability of the robot in the interventional operation, and effectively improves the accuracy and the operation effect of the operation.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the above embodiment of the present invention can also be implemented by instructing related hardware through a computer program. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that apparatus and methods not described in detail are understood to be practiced in a manner common to those of skill in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention, unless the technical essence of the present invention is not departed from the content of the technical solution of the present invention.
Claims (10)
1. A synchronous positioning and three-dimensional map construction method for an interventional operation robot is characterized by comprising the following steps:
s1, a synchronous positioning and mapping system acquires an intravascular ultrasound image as an input frame through an ultrasound probe in an interventional operation robot to acquire map points;
s2, preprocessing the input frame;
s3, extracting feature points by adopting an ORB feature point extraction algorithm;
s4, estimating the pose of the ultrasonic probe through the motion model;
s5, reserving the optimal feature points in the area through a non-maximum suppression algorithm, and removing a plurality of feature points at adjacent positions;
s6, the synchronous positioning and mapping system acquires the depth of an image through an electromagnetic positioning coil in the interventional operation robot, and generates three-dimensional map point information corresponding to the optimal feature point by combining the feature point of the input frame; each map point information comprises a 3D coordinate and a view direction in a world coordinate system; the view direction refers to the ray direction connecting the point cloud and the optical center of the corresponding observation key frame;
s7, extracting ORB feature points from each new image by using an algorithm to track in real time, comparing the ORB feature points with the nearest key frame, calculating the positions of the feature points and roughly estimating the pose of a camera, wherein the ORB feature points are used for judging whether the key frame needs to be added into the current frame or not;
s8, local map construction: combining the calculation result of the step S4 and the added key frames to construct a local map, solving a local BundleAdjustment minimized reprojection error according to the feature points and the camera pose in the local space to obtain a finer camera pose and feature point space position, and simultaneously eliminating redundant key frames of map points which can be observed by other key frames;
s9, observing and estimating the movement of the robot by using a Kalman filtering method;
and S10, continuously updating the map and the position, and realizing synchronous positioning and map construction of the robot.
2. The method of claim 1, wherein the simultaneous localization and mapping system does not incorporate a loop detection module for detecting robot motion path repetition.
3. The method for synchronously positioning and three-dimensional mapping of interventional surgical robot as claimed in claim 1 or 2, characterized in that said preprocessing in step S2 comprises transforming ultrasound image into grayscale image.
4. The method as claimed in claim 1 or 2, wherein the ORB feature point extraction algorithm in step S3 comprises FAST algorithm.
5. One of the claims 1 or 2, wherein the motion model in step S4 is a PnP algorithm.
6. The method for synchronously positioning and three-dimensional mapping of interventional surgical robot as set forth in claim 1 or 2, wherein in step S6, the following information is saved for each key frame Ki: camera pose T (i, w), transformation matrix camera parameters transformed from the world coordinate system to the camera coordinate system, including principal point and focal length.
7. An interventional surgical robot synchronous positioning and three-dimensional mapping system for realizing the interventional surgical robot synchronous positioning and three-dimensional mapping method of any one of claims 1 to 6, comprising: the ultrasonic positioning device comprises a catheter component, an ultrasonic sensor and an electromagnetic positioning coil, wherein the ultrasonic sensor and the electromagnetic positioning coil are arranged at the front end inside the catheter component; an electromagnetic shielding layer is arranged between the ultrasonic sensor and the electromagnetic positioning coil;
further comprising an extracorporeal portion of the operated body, the extracorporeal portion comprising: the near-end driving module and the ultrasonic imaging system of the ultrasonic sensor, the electromagnetic positioning system matched with the electromagnetic positioning coil and the synchronous positioning and mapping system for data processing; the synchronous positioning and mapping system acquires 2D images of intravascular ultrasound and spatial position information of the electromagnetic positioning coil, and performs synchronous positioning and three-dimensional mapping of the interventional surgical robot.
8. The system of claim 7, wherein the electromagnetic positioning system is selected from the ndiaura v3 series medical magnetic field generators.
9. An interventional surgical robot synchronized positioning and three-dimensional mapping system according to claim 7, wherein the electromagnetic shielding layer comprises two separation layers between the fixing means of the electromagnetic positioning coil and the ultrasound sensor and a shield between the separation layers.
10. The system of claim 9, wherein the spacer layer is a thin sheet made of a material capable of absorbing electromagnetic waves; the shielding body is made of a low-resistance metal material and is grounded.
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