CN117883192B - Electromagnetic positioning system and positioning method based on magnetic marks - Google Patents
Electromagnetic positioning system and positioning method based on magnetic marks Download PDFInfo
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The invention relates to the technical field of electromagnetic positioning, in particular to an electromagnetic positioning system and a positioning method based on magnetic marks, comprising the following steps: the positioning array is used for collecting magnetic induction intensities generated by magnetic source targets of different types such as magnetic markers, magnetic detection rods and the like; the magnetic marker generates a static magnetic field signal and can mark a detection target by injection and the like; the magnetic detection rod is used for generating alternating-current magnetic signals and guiding and detecting the real space position of the target; and the PC terminal is used for carrying out signal spectrum analysis and magnetic dipole gesture inversion on the received magnetic signals to obtain and display the pose information of the magnetic marker and the magnetic detection rod under the positioning array coordinate system. The invention can acquire, display and track pose information under the positioning array coordinate system of different magnetic sources in real time, and realizes the accurate positioning of targets with unknown visual space positions in a detection area by applying the magnetic markers with controllable characters and the visual magnetic detection rod guidance and combining a coordinate system conversion method.
Description
Technical Field
The invention relates to the technical field of electromagnetic positioning, in particular to an electromagnetic positioning system and a positioning method based on magnetic marks.
Background
Along with the increase of the early cancer detection rate of the digestive tract, the tumor stage reduction rate after the new adjuvant therapy is improved, the requirements of additional surgery positive to the incisional margin after the endoscopic surgery is cut are increased, and the like, the transmural positioning of the tumor in the gastrointestinal tract cavity becomes an increasingly critical ring in the minimally invasive surgery.
Malignant tumor in cavity is difficult to obtain specific position under the visual field of laparoscopic optical system in minimally invasive surgery, and the surgery efficiency and tumor excision accuracy are affected. The accuracy of gastrointestinal malignant tumor resection directly affects survival prognosis and postoperative functional recovery, and typically, the accuracy of rectal cancer resection directly determines the overall survival rate of the patient and whether anus can be preserved.
The existing technology for positioning the tumor in the cavity in the operation mainly comprises the positioning under the marking of biological dye, the positioning under the marking of autologous blood, the positioning under the marking of metal clamp, and the positioning of an endoscope in the operation. The preoperative endoscopic biological dye mark comprises Indian ink, nano carbon, methylene blue, indigo carmine, indocyanine green and the like, and has the problems of easy diffusion, insufficient precision, intra-abdominal overflow, short duration and the like in application. The positioning under the preoperative metal clip mark is limited by weak touch feeling when operating laparoscopic instruments in laparoscopic surgery, and X-ray scanning under the assistance of a C-arm machine is needed to confirm the position of the metal clip, so that medical resources and time are consumed greatly.
The specific position of the tumor in the cavity can be accurately determined by the operation of the electronic endoscope, however, the defects that equipment resources and human resources are consumed, the subsequent excision operation is influenced by intestinal tract qi accumulation after the operation and the like exist, and the electronic endoscope is difficult to be a positioning technology commonly applicable to hospitals of all levels.
In summary, the existing intra-operative cavity tumor positioning method needs to rely on biological dye marking, X-ray scanning under the assistance of a C-arm machine or positioning under the operation of an endoscope, so that not only is large medical resources consumed, but also time consumption is large, and the positioning accuracy has limitations due to the technology.
Disclosure of Invention
The invention aims to provide an electromagnetic positioning system and a positioning method based on magnetic marks, which are used for solving the technical problems that the existing intra-operative cavity tumor positioning technology has medical resources and high time consumption, and the positioning accuracy has limitations due to the technology.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
An electromagnetic positioning system based on magnetic markers, comprising:
a positioning array comprising at least a plurality of magnetic sensors forming an array, the positioning array for establishing a positioning array coordinate system containing a positioning target object in visual space;
The system comprises a biological magnetic marker, a static magnetic field signal and a target object, wherein the biological magnetic marker is used for generating a static magnetic field signal and marking the position of a positioning target object in the visual space so as to calibrate pose information of the biological magnetic marker under a positioning array coordinate system;
The magnetic detection rod is internally provided with a coil structure and is used for generating alternating-current magnetic signals so as to provide pose information of the magnetic detection rod under a positioning array coordinate system and realize the conversion of a positioning target object marked by a biological magnetic marker from a real visual space into the positioning array coordinate system;
The positioning array is used for identifying and collecting the static magnetic field signals and the alternating magnetic signals and tracking pose information of the biological magnetic marker and the magnetic detection rod in a positioning array coordinate system in real time;
And the PC terminal is used for carrying out signal spectrum analysis and magnetic dipole gesture inversion on the received static magnetic field signals and alternating current magnetic signals to obtain real-time pose information of the biological magnetic marker and the magnetic detection rod under the positioning array coordinate system, and displaying the real-time pose information in the positioning array coordinate system in real time so as to provide critical visual information for judging the situation that the positions of the biological magnetic marker and the magnetic detection rod are close to and coincident with each other in the real visual space.
As a preferable scheme of the invention, the built-in coil structure of the magnetic detection rod comprises a solenoid and an iron core, the tail end of the coil structure is externally connected with an FPGA chip through a lead, the FPGA chip generates a digital signal, the digital signal is converted into an analog signal through digital-to-analog conversion, and the analog signal is amplified through a power amplifier and then is led to the coil structure through the lead to obtain a sinusoidal alternating magnetic field for generating an alternating magnetic signal.
As a preferred scheme of the invention, the biological magnetic marker comprises magnetic hydrogel, magnetic fluid and magnetic titanium clamp.
As a preferable scheme of the invention, the positioning array comprises a magnetic sensor array which is packaged on a PCB and is formed by MMC5983MA sensing chips and a magnetic sensor array which is packaged on the PCB and is formed by HWT3100-485 magnetic sensors.
As a preferred scheme of the invention, the magnetic sensor array formed by MMC5983MA sensing chips comprises nine MMC5983MA sensing chips, the MMC5983MA sensing chips adopt STM32 singlechips as communication relay equipment, the MMC5983MA sensing chips and PC terminals are respectively in communication connection with the STM32 singlechips, wherein the PC terminals send instructions to the STM32 singlechips through a USART serial port, then the STM32 singlechips read measured values of static magnetic field signals and alternating current magnetic signals of the magnetic sensors through an I2C protocol according to a preset program, and finally the measured values of the magnetic sensors are sent back to the PC terminals through the USART serial port.
As a preferable scheme of the invention, the magnetic sensor array formed by HWT3100-485 magnetic sensors comprises eight HWT3100-485 magnetic sensors, the HWT3100-485 magnetic sensors are connected with a conversion interface of a PC terminal through a 485 bus and are in communication connection with the PC terminal through a Modbus protocol, wherein the PC terminal sends an instruction through a USART serial port, becomes 485 bus signals after passing through the conversion interface, and sequentially reads the measured values of the magnetic sensors on a static magnetic field signal and an alternating current magnetic signal in a bus sharing mode.
As a preferred scheme of the invention, the invention provides an electromagnetic positioning method based on magnetic marks, which is applied to the electromagnetic positioning system based on magnetic marks, and comprises the following steps:
Marking the detection target in the human body model by using a biological magnetic marker through an endoscopic injection mode;
The method comprises the steps that a positioning array is close to a human body model, a positioning array coordinate system in a detection area is established, the magnetic induction intensity of a static magnetic field signal of a biological magnetic marker is measured, and the position of the biological magnetic marker under the positioning array coordinate system is obtained; the hand-held magnetic detection rod enters a human body model detection area to generate an alternating-current magnetic signal; the positioning array continuously collects static magnetic field signals and alternating magnetic signals generated by the biological magnetic markers and the magnetic detection rods in real time, and synchronously transmits the collected static magnetic field signals and alternating magnetic signals to the PC terminal;
the PC terminal performs signal spectrum analysis and magnetic dipole gesture inversion on the received static magnetic field signals and alternating current magnetic signals, and displays and tracks the pose information of the biological magnetic markers and the magnetic detection rods under the array coordinate system in real time through a program built in the PC terminal;
Under the guidance of the magnetic detection rod, the magnetic detection rod is continuously close to a positioning target object under the marking of the biological magnetic marker on the program of the PC terminal, wherein,
When the position postures of the magnetic detection rod and the biological magnetic marker are displayed on the PC terminal program to coincide or a position posture distance minimum value is generated, the magnetic detection rod indicates that the magnetic detection rod is synchronously close to the biological magnetic marker in a real visual space, and therefore target detection under the biological magnetic marker is completed;
when the position and posture distance of the biological magnetic marker and the magnetic detection rod under the positioning array coordinate system is displayed on the PC terminal program and is larger than the position and posture distance minimum value, the fact that the magnetic detection rod does not finish detecting the target of the biological magnetic marker in the real visual space is indicated, and the magnetic detection rod is continuously controlled to move towards the biological magnetic marker in a handheld mode.
As a preferable scheme of the invention, the alternating magnetic signal of the magnetic detection rod is generated by an externally connected FPGA chip into a digital signal, the digital signal is converted into an analog signal through digital-to-analog conversion, and the analog signal is amplified by a power amplifier to obtain a sinusoidal alternating magnetic field.
As a preferred embodiment of the present invention, the method for transmitting the acquired static magnetic field signal and the ac magnetic signal to the PC terminal by the positioning array includes: the PC terminal sends an instruction to the STM32 singlechip through the USART serial port, then the STM32 singlechip reads measured values of the magnetic sensor on the static magnetic field signal and the alternating current magnetic signal through the I2C protocol according to a preset program, and finally the measured values of the magnetic sensor are sent back to the PC terminal through the USART serial port.
As a preferred embodiment of the present invention, the method for transmitting the acquired static magnetic field signal and the ac magnetic signal to the PC terminal by the positioning array includes: the PC terminal sends an instruction through the USART serial port, the instruction is converted into 485 bus signals through the conversion interface, and the measured values of the magnetic sensor on the static magnetic field signals and the alternating current magnetic signals are sequentially read in a bus time sharing occupation mode.
Compared with the prior art, the invention has the following beneficial effects:
The invention can collect static magnetic field signals and low-frequency alternating magnetic field signals generated by different magnetic source targets simultaneously, acquire pose information of a magnetic marker and a positioning array coordinate system of a magnetic detection rod, combine the visual space coordinate system with pose information conversion of the positioning array coordinate system through the guiding and detecting actions of the visual space coordinate system, realize accurate positioning of the magnetic marker with unknown visual space position in a detection area, realize high-precision, high-efficiency and safe positioning of invisible or complex-position targets by utilizing a multi-magnetic source target tracking technology and a coordinate system conversion method, provide a technology which is easy to deploy and convenient to apply for positioning focuses of surgical scenes, and avoid the defects of poor positioning precision, high medical consumption or large manpower resources of the traditional scheme.
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. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
FIG. 1 is a block diagram of an electromagnetic positioning system provided by an embodiment of the present invention;
FIG. 2 is a diagram of a magnetic sensor array formed by MMC5983MA sensor chips according to an embodiment of the present invention;
fig. 3 is a diagram of a magnetic sensor array comprising HWT3100-485 magnetic sensors according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the present invention provides an electromagnetic positioning system based on magnetic markers, comprising:
A positioning array comprising at least a plurality of magnetic sensors forming an array, the positioning array being for establishing a positioning array coordinate system comprising a positioning target object in visual space;
the system comprises a biological magnetic marker, a static magnetic field signal and a target object, wherein the biological magnetic marker is used for generating a static magnetic field signal and marking the position of the target object in a visual space so as to calibrate pose information of the biological magnetic marker under a positioning array coordinate system;
The magnetic detection rod is internally provided with a coil structure and is used for generating alternating-current magnetic signals so as to provide pose information of the magnetic detection rod under a positioning array coordinate system, and the purpose of converting a positioning target object marked by a biological magnetic marker from a real visual space into the positioning array coordinate system is achieved;
The positioning array is used for identifying and collecting static magnetic field signals and alternating magnetic signals and tracking pose information of the biological magnetic marker and the magnetic detection rod in real time under a positioning array coordinate system;
And the PC terminal is used for carrying out signal spectrum analysis and magnetic dipole gesture inversion on the received static magnetic field signals and alternating magnetic signals to obtain real-time pose information of the biological magnetic marker and the magnetic detection rod under the positioning array coordinate system, and displaying the real-time pose information in the positioning array coordinate system in real time so as to provide critical visual information for judging the situation that the positions of the biological magnetic marker and the magnetic detection rod are close to and coincident with each other in the real visual space.
In order to realize the accurate positioning of an object with unknown position under a real visual space coordinate system, namely the magnetic positioning of the object with optical invisibility caused by shielding and the like, a positioning array coordinate system is constructed by utilizing a positioning array, and a detection object is converted into the positioning array coordinate system from the real visual space for visualization, so that the relative pose of a magnetic detection rod and a positioning object (under a biological magnetic marker mark) is visualized, the magnetic detection rod is guided to approach the positioning object (under the biological magnetic marker mark) infinitely, and even coincide with the position of the positioning object (under the biological magnetic marker mark), and the requirement that the magnetic detection rod accurately detects the positioning object with unknown real space position is met.
Specifically, the invention collects static magnetic field signals and low-frequency alternating magnetic field signals generated by different magnetic source targets (the biological magnetic marker and the magnetic detection rod) simultaneously, acquires pose information of a positioning array coordinate system of the biological magnetic marker and the magnetic detection rod, analyzes the static magnetic field signals and the low-frequency alternating magnetic field signals through a PC terminal, and displays and tracks the poses of the different magnetic source targets in real time in the positioning array coordinate system, so that the relative positions of the different magnetic source targets in a real visual space can be displayed in the positioning array coordinate system, namely, the position relation in the real visual space can be reproduced through the display of the positioning array coordinate system, and the invention is not influenced by the reasons of shielding and the like in the real visual space, thereby realizing the high-precision, high-efficiency and safe positioning of invisible or complex-position targets.
The magnetic detection rod, the biological magnetic marker and the positioning array for positioning are simple to deploy, are convenient to operate, and avoid the imaging registration operation required by the traditional optical and electromagnetic navigation technology. Because the focus position information of preoperative imaging and the intraoperative real-time anatomical position information are fused during registration, the fusion difficulty of different coordinate systems is extremely high, especially the gastrointestinal tract is easy to deform, and the focus position information of the intraoperative imaging and the preoperative imaging position information are changed, so that errors occur in navigation and positioning.
The invention provides a specific application scene such as:
In the excision operation of the gastrointestinal malignant tumor simulation target of the human body model, the specific position of the tumor simulation target in the gastrointestinal tract in the human body model is difficult to observe under the visual field of an optical system (a laparoscope or a shadowless lamp), and the excision operation efficiency and the excision operation precision of the tumor focus are required to be improved by a high-efficiency and accurate positioning technology;
for this, the biological magnetic marker is used for marking an invisible intracavity tumor simulation target in the operation visual field, specifically can be injected under the mucous membrane through endoscopic examination before operation, can provide the position information of the tumor simulation target in operation under the positioning array coordinate system, and further detects the real anatomical position of the tumor simulation target in the human body model through a coordinate conversion method;
The magnetic detection rod is introduced into the detection area to provide a key guiding effect, the magnetic detection rod has real-time equivalent pose information under the visual space coordinate system and the positioning array coordinate system, and then the pose of the magnetic detection rod and the biological magnetic marker under the positioning array coordinate system is close to and coincident with each other under the guidance of the handheld magnetic detection rod, so that the close and coincident of the magnetic detection rod and the biological magnetic marker in the visual anatomical space can be realized at the same time, and the high-efficiency and high-precision detection of the focus simulation target in the cavity is realized.
The built-in coil structure of the magnetic detection rod comprises a solenoid and an iron core, the tail end of the coil structure is externally connected with an FPGA chip through a lead, the FPGA chip generates a digital signal, the digital signal is converted into an analog signal through digital-to-analog conversion, and the analog signal is amplified through a power amplifier and then is led to the coil structure through the lead to obtain a sine alternating magnetic field for generating an alternating magnetic signal.
The biological magnetic marker comprises magnetic hydrogel, magnetic fluid, magnetic titanium clamp and the like.
The positioning array is based on a multi-magnetic target tracking principle, a magnetic sensor array consisting of a plurality of magnetic sensors is built, and can realize millimeter resolution magnetic mark positioning in 240mm x 160mm space, and specifically:
The positioning array comprises a magnetic sensor array which is packaged on a PCB and is formed by MMC5983MA sensing chips and a magnetic sensor array which is packaged on the PCB and is formed by HWT3100-485 magnetic sensors.
As shown in fig. 2, a magnetic sensor array formed by MMC5983MA sensing chips comprises nine MMC5983MA sensing chips, the MMC5983MA sensing chips adopt STM32 single-chip microcomputer as communication relay equipment, the MMC5983MA sensing chips and a PC terminal are respectively in communication connection with the STM32 single-chip microcomputer, wherein the PC terminal sends instructions to the STM32 single-chip microcomputer through a USART serial port, then the STM32 single-chip microcomputer reads measured values of the magnetic sensor on static magnetic field signals and alternating current magnetic signals through an I2C protocol according to a preset program, and finally the measured values of the magnetic sensor are sent back to the PC terminal through the USART serial port.
As shown in fig. 3, a magnetic sensor array formed by HWT3100-485 magnetic sensors comprises eight HWT3100-485 magnetic sensors, the HWT3100-485 magnetic sensors are connected with a conversion interface of a PC terminal through a 485 bus and are in communication connection with the PC terminal through a Modbus protocol, wherein the PC terminal sends an instruction through a USART serial port, the instruction is converted into a 485 bus signal after passing through the conversion interface, and the measurement values of the static magnetic field signal and the alternating current magnetic signal by the magnetic sensors are sequentially read in a bus time sharing mode.
The invention also provides a wireless structure, wherein a wireless communication module is added in the positioning array, so that communication with a PC terminal is realized by utilizing a wireless communication model, and measured values of a static magnetic field signal and an alternating magnetic signal by a magnetic sensor are sent to the PC terminal.
The length of the handle can be increased by the magnetic detection rod, and the FPGA chip, the power amplifier and the battery are arranged in the magnetic detection rod, so that the battery is used for supplying power, signals generated by the FPGA are converted into current through the power amplifier and are output to the coil, and therefore controllable alternating magnetic field signals are generated.
The invention provides an electromagnetic positioning method based on magnetic marks, which is applied to an electromagnetic positioning system based on magnetic marks, and comprises the following steps:
Marking the detection target in the human body model by using a biological magnetic marker through an endoscopic injection mode;
the positioning array is close to the human body model, a positioning array coordinate system in the detection area is established, the magnetic induction intensity of a static magnetic field signal of the biological magnetic marker is measured, and the position of the biological magnetic marker under the positioning array coordinate system is obtained;
The hand-held magnetic detection rod enters a human body model detection area to generate an alternating-current magnetic signal; the positioning array continuously collects static magnetic field signals and alternating magnetic signals generated by the biological magnetic markers and the magnetic detection rods in real time, and synchronously transmits the collected static magnetic field signals and alternating magnetic signals to the PC terminal;
the PC terminal performs signal spectrum analysis and magnetic dipole gesture inversion on the received static magnetic field signals and alternating current magnetic signals, and displays and tracks the pose information of the biological magnetic markers and the magnetic detection rods under the array coordinate system in real time through a program built in the PC terminal;
Under the guidance of the magnetic detection rod, the magnetic detection rod is continuously close to a positioning target object under the marking of the biological magnetic marker on the program of the PC terminal, wherein,
When the position postures of the magnetic detection rod and the biological magnetic marker are displayed on the PC terminal program to coincide or a position posture distance minimum value is generated, the magnetic detection rod indicates that the magnetic detection rod is synchronously close to the biological magnetic marker in a real visual space, and therefore target detection under the biological magnetic marker is completed;
when the position and posture distance of the biological magnetic marker and the magnetic detection rod under the positioning array coordinate system is displayed on the PC terminal program and is larger than the position and posture distance minimum value, the magnetic detection rod in the real visual space is proved to not finish detecting the target of the biological magnetic marker, and the magnetic detection rod is continuously controlled to move towards the biological magnetic marker in a handheld manner;
Meanwhile, a push rod is arranged at the front end of the magnetic detection rod handle, the top of the front end of the magnetic detection rod can extend out of a 2-3 mm biosafety marking pen point after the push rod is pushed forwards, and the accurately detected position is marked by a painting brush;
the magnetic detection rod body does not contain any electronic device, and mainly comprises a structure for pushing a marker pen at the top of the front end of the magnetic detection rod; the electronic device is concentrated at the rear end of the handle and is subjected to insulation safety treatment.
The alternating magnetic signal of the magnetic detection rod is generated by an externally connected FPGA chip into a digital signal, the digital signal is converted into an analog signal through digital-to-analog conversion, and the analog signal is amplified by a power amplifier to obtain a sine alternating magnetic field.
The method for synchronously transmitting the acquired static magnetic field signals and alternating current magnetic signals to the PC terminal by the positioning array comprises the following steps: the PC terminal sends an instruction to the STM32 singlechip through the USART serial port, then the STM32 singlechip reads measured values of the magnetic sensor on the static magnetic field signal and the alternating current magnetic signal through the I2C protocol according to a preset program, and finally the measured values of the magnetic sensor are sent back to the PC terminal through the USART serial port.
The method for synchronously transmitting the acquired static magnetic field signals and alternating current magnetic signals to the PC terminal by the positioning array comprises the following steps: the PC terminal sends an instruction through the USART serial port, the instruction is converted into 485 bus signals through the conversion interface, and the measured values of the magnetic sensor on the static magnetic field signals and the alternating current magnetic signals are sequentially read in a bus time sharing occupation mode.
The invention can collect different magnetic source targets to generate static magnetic field signals and low-frequency alternating magnetic field signals simultaneously, acquire pose information of the magnetic markers and the magnetic detection rods under the positioning array coordinate system, combine the visual space coordinate system with the pose information conversion of the positioning array coordinate system through the guiding and detecting actions of the visual magnetic detection rods, realize the precise positioning of the magnetic markers with unknown visual space positions in the detection area, realize the high-precision, high-efficiency and safe positioning of invisible or complex-position targets by utilizing a multi-magnetic source target tracking technology and a coordinate system conversion method, provide a technology which is easy to deploy and convenient to apply for positioning focuses of surgical scenes, and avoid the defects of poor positioning precision, medical treatment consumption or large manpower resources of the traditional scheme.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this application will occur to those skilled in the art, and are intended to be within the spirit and scope of the application.
Claims (7)
1. An electromagnetic positioning system based on magnetic markers, comprising:
a positioning array comprising at least a plurality of magnetic sensors forming an array, the positioning array for establishing a positioning array coordinate system containing a positioning target object in visual space;
The system comprises a biological magnetic marker, a static magnetic field signal and a target object, wherein the biological magnetic marker is used for generating a static magnetic field signal and marking the position of a positioning target object in the visual space so as to calibrate pose information of the biological magnetic marker under a positioning array coordinate system;
The magnetic detection rod is internally provided with a coil structure and is used for generating alternating-current magnetic signals so as to provide pose information of the magnetic detection rod under a positioning array coordinate system and realize the conversion of a positioning target object marked by a biological magnetic marker from a real visual space into the positioning array coordinate system;
the positioning array is used for identifying and collecting the static magnetic field signals and the alternating magnetic signals and tracking pose information of the biological magnetic marker and the magnetic detection rod in a positioning array coordinate system in real time;
The PC terminal is used for carrying out signal spectrum analysis and magnetic dipole gesture inversion on the received static magnetic field signals and alternating current magnetic signals, obtaining real-time pose information of the biological magnetic marker and the magnetic detection rod under the positioning array coordinate system, and displaying the real-time pose information in the positioning array coordinate system in real time, so as to provide key visual information for judging the situation that the positions of the biological magnetic marker and the magnetic detection rod are close to and coincident with each other in the real visual space;
the positioning array comprises a magnetic sensor array which is packaged on a PCB and is formed by MMC5983MA sensing chips and a magnetic sensor array which is packaged on the PCB and is formed by HWT3100-485 magnetic sensors;
wherein, the biological magnetic marker marks the positioning target object in the human body model in an endoscopic injection mode;
the method comprises the steps that a positioning array is close to a human body model, a positioning array coordinate system in a detection area is established, the magnetic induction intensity of a static magnetic field signal of a biological magnetic marker is measured, and the position of the biological magnetic marker under the positioning array coordinate system is obtained;
The hand-held magnetic detection rod enters a human body model detection area to generate an alternating-current magnetic signal;
The positioning array continuously collects static magnetic field signals generated by the biological magnetic marker and alternating current magnetic signals generated by the magnetic detection rod in real time, and synchronously transmits the collected static magnetic field signals and alternating current magnetic signals to the PC terminal;
the PC terminal performs signal spectrum analysis and magnetic dipole gesture inversion on the received static magnetic field signals and alternating current magnetic signals, and displays and tracks the pose information of the biological magnetic markers and the magnetic detection rods under the array coordinate system in real time through a program built in the PC terminal;
Under the guidance of the magnetic detection rod, the magnetic detection rod is continuously close to a positioning target object under the marking of the biological magnetic marker on the program of the PC terminal;
When the position postures of the magnetic detection rod and the biological magnetic marker are displayed on the PC terminal program to coincide or a minimum position posture distance value is generated, the magnetic detection rod indicates that the magnetic detection rod is synchronously close to the biological magnetic marker in a real visual space, and therefore target detection under the biological magnetic marker mark is completed;
When the position and posture distance of the biological magnetic marker and the magnetic detection rod under the positioning array coordinate system is displayed on the PC terminal program and is larger than the position and posture distance minimum value, the fact that the magnetic detection rod in the real visual space does not complete target detection of the biological magnetic marker is indicated, and the magnetic detection rod is continuously controlled to move towards the biological magnetic marker in a handheld mode;
The MMC5983MA sensor chip comprises nine MMC5983MA sensor chips, the MMC5983MA sensor chips adopt STM32 singlechips as communication relay equipment, the MMC5983MA sensor chips and the PC terminal are respectively in communication connection with the STM32 singlechips, wherein the PC terminal sends instructions to the STM32 singlechips through a USART serial port, then the STM32 singlechips read measured values of static magnetic field signals and alternating current magnetic signals of the magnetic sensor through an I2C protocol according to a preset program, finally the measured values of the magnetic sensor are sent back to the PC terminal through a USART serial port, or the magnetic sensor array formed by HWT3100-485 magnetic sensors comprises eight HWT3100-485 magnetic sensors, the HWT3100-485 magnetic sensors are connected with a conversion interface of the PC terminal through a 485 bus, the Modbus protocol is in communication connection with the PC terminal, the PC terminal sends instructions through the USART serial port, the conversion interface becomes 485 bus signals, and the measured values of the static magnetic field signals and the alternating current magnetic signals are sequentially read through a mode of occupying the bus in a time-sharing mode.
2. An electromagnetic positioning system based on magnetic markers according to claim 1, characterized in that,
The built-in coil structure of the magnetic detection rod comprises a solenoid and an iron core, the tail end of the coil structure is externally connected with an FPGA chip through a lead, the FPGA chip generates a digital signal, the digital signal is converted into an analog signal through digital-to-analog conversion, and the analog signal is amplified through a power amplifier and then is led to the coil structure through the lead to obtain a sine alternating magnetic field for generating an alternating magnetic signal.
3. The magnetic marker-based electromagnetic positioning system according to claim 1, wherein the biological magnetic marker comprises magnetic hydrogel, magnetic fluid, magnetic titanium clip.
4. A magnetic marker-based electromagnetic positioning method, characterized by being applied to the magnetic marker-based electromagnetic positioning system as claimed in any one of claims 1-3, comprising the steps of:
Marking a detection target in the human body model by using a biological magnetic marker through an endoscopic injection mode;
the method comprises the steps that a positioning array is close to a human body model, a positioning array coordinate system in a detection area is established, the magnetic induction intensity of a static magnetic field signal of a biological magnetic marker is measured, and the position of the biological magnetic marker under the positioning array coordinate system is obtained;
The hand-held magnetic detection rod enters a human body model detection area to generate an alternating-current magnetic signal;
The positioning array continuously collects static magnetic field signals generated by the biological magnetic marker and alternating current magnetic signals generated by the magnetic detection rod in real time, and synchronously transmits the collected static magnetic field signals and alternating current magnetic signals to the PC terminal;
the PC terminal performs signal spectrum analysis and magnetic dipole gesture inversion on the received static magnetic field signals and alternating current magnetic signals, and displays and tracks the pose information of the biological magnetic markers and the magnetic detection rods under the array coordinate system in real time through a program built in the PC terminal;
Under the guidance of the magnetic detection rod, the magnetic detection rod is continuously close to a positioning target object under the marking of the biological magnetic marker on the program of the PC terminal;
When the position postures of the magnetic detection rod and the biological magnetic marker are displayed on the PC terminal program to coincide or a minimum position posture distance value is generated, the magnetic detection rod indicates that the magnetic detection rod is synchronously close to the biological magnetic marker in a real visual space, and therefore target detection under the biological magnetic marker mark is completed;
when the position and posture distance of the biological magnetic marker and the magnetic detection rod under the positioning array coordinate system is displayed on the PC terminal program and is larger than the position and posture distance minimum value, the fact that the magnetic detection rod in the real visual space does not complete target detection of the biological magnetic marker is indicated, and the magnetic detection rod is continuously controlled to move towards the biological magnetic marker in a handheld mode.
5. The electromagnetic positioning method based on magnetic marks as claimed in claim 4, wherein: the alternating magnetic signal of the magnetic detection rod is generated by an externally connected FPGA chip into a digital signal, the digital signal is converted into an analog signal through digital-to-analog conversion, and the analog signal is amplified by a power amplifier to obtain a sinusoidal alternating magnetic field.
6. The electromagnetic positioning method based on magnetic marks according to claim 5, wherein: the method for synchronously transmitting the acquired static magnetic field signals and alternating current magnetic signals to the PC terminal by the positioning array comprises the following steps: the PC terminal sends an instruction to the STM32 singlechip through the USART serial port, then the STM32 singlechip reads measured values of the magnetic sensor on the static magnetic field signal and the alternating current magnetic signal through the I2C protocol according to a preset program, and finally the measured values of the magnetic sensor are sent back to the PC terminal through the USART serial port.
7. The electromagnetic positioning method based on magnetic marks as claimed in claim 6, wherein: the method for synchronously transmitting the acquired static magnetic field signals and alternating current magnetic signals to the PC terminal by the positioning array comprises the following steps: the PC terminal sends an instruction through the USART serial port, the instruction is converted into 485 bus signals through the conversion interface, and the measured values of the magnetic sensor on the static magnetic field signals and the alternating current magnetic signals are sequentially read in a bus time sharing occupation mode.
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