CN117942058B - Electromagnetic positioning method and system combining direct current and alternating current magnetic signals - Google Patents
Electromagnetic positioning method and system combining direct current and alternating current magnetic signals Download PDFInfo
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Abstract
The invention relates to the technical field of medical positioning, in particular to an electromagnetic positioning method and system combining direct current and alternating current magnetic signals, comprising the following steps: a direct current magnetic signal is generated through a ferromagnetic magnetic source with adjustable properties and shape; generating an alternating-current magnetic signal by an electromagnet magnetic source with strong anti-magnetic field interference capability; in an electromagnetic positioning application area, respectively acquiring a direct current magnetic signal and a frequency spectrum conversion separation acquisition alternating current magnetic signal by a differential extraction method; an electromagnetic positioning model for electromagnetic positioning is constructed in various application scenes. The invention utilizes the advantage of controllable performance of the direct current magnetic signal source to prepare the biocompatible magnetic source with different properties such as liquid, colloid and the like for marking various tissue structures in a human body, effectively collects direct current signals by a differential extraction method, and establishes an alternating current-direct current magnetic signal fusion model to realize multi-scene applications such as focus guidance, curve measurement, path marking and the like by utilizing the advantage of strong anti-interference capability of the alternating current signal source.
Description
Technical Field
The invention relates to the technical field of medical positioning, in particular to an electromagnetic positioning method and system combining direct current and alternating current magnetic signals.
Background
The existing electromagnetic positioning signal detection model mainly detects a single direct current signal or alternating current signal. Wherein, the direct current signal of the magnetic source is easy to be interfered by the environmental magnetic field because the direct current signal is consistent with the static magnetic field type of equipment, instruments and the like in a positioning environment. The alternating-current magnetic signal has strong anti-interference capability and is easy to distinguish from a positioning environment magnetic field; however, the magnetic source generating the signals is fixed in shape, and the controllable adjustment of the shape and the property is difficult to realize, so that the signals are conveniently applied to different positioning scenes.
In the prior art, the electromagnetic positioning application mainly uses a single direct current signal or alternating current signal detection model, the positioning effect is poor, and the application range is small.
Disclosure of Invention
The invention aims to provide an electromagnetic positioning method and system combining direct current and alternating current magnetic signals, which are used for solving the technical problems that in the prior art, electromagnetic positioning application is mainly based on a single direct current signal or alternating current signal detection model, positioning effect is poor and application range is small.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
an electromagnetic positioning method combining direct current and alternating current magnetic signals comprises the following steps:
A direct current magnetic signal is generated through a ferromagnetic magnetic source with adjustable properties and shape;
generating an alternating-current magnetic signal by an electromagnet magnetic source with anti-magnetic field interference capability;
in an electromagnetic positioning application area, respectively acquiring a direct current magnetic signal and a frequency spectrum conversion separation acquisition alternating current magnetic signal by a differential extraction method;
According to the acquired direct current magnetic signals and the acquired alternating current magnetic signals, an alternating current-direct current magnetic signal fusion model is established, and an electromagnetic positioning model suitable for multi-scene electromagnetic positioning is established based on the alternating current-direct current magnetic signal fusion model.
In a preferred embodiment of the present invention, the electromagnetic positioning application area includes a magnetic sensor array formed by a plurality of magnetic sensors, and the magnetic sensor array is used for collecting the direct current magnetic signals through a differential extraction method and collecting the alternating current magnetic signals through spectrum transformation separation.
As a preferred embodiment of the present invention, the magnetic sensor array collects a direct current magnetic signal and separates and collects an alternating current magnetic signal through a differential extraction method, and the method includes:
The magnetic sensors in the magnetic sensor array read magnetic field values at sampling frequency f 0 =100 Hz, and the mth magnetic sensor continuously acquires N signal points to form a magnetic field sampling signal sequence ，/>From a three-component sequence of magnetic field strengthsConstitution/>The expression of (2) is: ; magnetic signal sequence/>, which is generated by ferromagnetic magnetic source at mth magnetic sensor and consists of direct current magnetic signal Magnetic signal sequence/>, which is generated by electromagnet magnetic source at mth magnetic sensor and consists of alternating magnetic signalAmbient magnetic field sequence at mth magnetic sensor/>，/>、And/>And/>The relation of (2) is: /(I); In the/>Is a magnetic field noise signal sequence;
Will be Performing discrete Fourier transform DFT,/>The discrete fourier transform DFT of (a) is: /(I); In the method, in the process of the invention,Is the magnetic field sampling signal sequence acquired by the mth magnetic sensor/>Double-sided spectrum sequence after DFT of row discrete Fourier transform,/>From the three-component magnetic field signal spectrum sequence/>Composition; will/>Single-sided spectral sequence/>, transformed into a magnetic field sampling signal acquired by an mth magnetic sensor，/>The expression of (2) is: ; in the method, in the process of the invention, Is the m-th sensor frequency/>Three component amplitudes corresponding to the sinusoidal magnetic signal;
For a pair of K of the magnetic source are sequentially assigned to 0 and 1, and magnetic signal sequences/>, which are obtained by sampling the ferromagnetic magnetic source at the mth magnetic sensor and are formed by direct current magnetic signals, are respectively separatedMagnetic signal sequence/>, which is obtained by sampling the electromagnetic magnetic source at the mth magnetic sensor and consists of alternating-current magnetic signals, of the electromagnetSaid/>And/>The expression of (2) is: /(I); In the/>For the sequence of the ambient magnetic field at the mth magnetic sensor before electromagnetic positioning,/>Three-component amplitude values corresponding to sine magnetic signals with frequency f (0) =0 at the mth sensor respectively,/>The frequencies at the mth sensor are/>, respectivelyThree component amplitudes corresponding to the sinusoidal magnetic signal of (c).
As a preferable scheme of the invention, the construction method of the alternating current-direct current magnetic signal fusion model comprises the following steps:
electromagnetic positioning is carried out on the electromagnet magnetic source according to an alternating current magnetic signal generated by the electromagnet magnetic source, so that a position vector and a magnetic moment vector of the electromagnet magnetic source are obtained;
And carrying out electromagnetic positioning on the ferromagnetic magnetic source according to the direct current magnetic signal generated by the ferromagnetic magnetic source to obtain the position vector and the magnetic moment vector of the ferromagnetic magnetic source.
As a preferable scheme of the invention, the electromagnetic positioning of the electromagnet magnetic source according to the alternating magnetic signal generated by the electromagnet magnetic source to obtain the position vector and the magnetic moment vector of the electromagnet magnetic source comprises the following steps:
magnetic signal sequence consisting of alternating magnetic signals generated at the mth magnetic sensor using an electromagnet magnetic source And solving the association relation between the position vector and the magnetic moment vector of the electromagnet magnetic source, wherein the/>The association relation with the electromagnet magnetic source is as follows: ; wherein, ，/>Is the relative permeability of the medium where the electromagnet magnetic source is located,/>Is the magnetic permeability of the vacuum and is equal to the magnetic permeability of the vacuum,For magnetization/>For the electromagnet magnetic source to produce three components of magnetic field strength at the mth sensor, m=1, 2,3, …, M is the total number of magnetic sensors on the magnetic sensor array;
the position vector and the magnetic moment vector of the electromagnet magnetic source are as follows: ; in the/> Is the magnetic moment vector of the electromagnet magnetic source, wherein/>Respectively utilize/>, under the coordinate systemTwo parametric representations, and in rectangular coordinate systemThree parameters represent,/>Expressed from the central coordinates of the electromagnet magnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a). As a preferred scheme of the invention, the method for electromagnetically positioning the ferromagnetic magnetic source according to the direct current magnetic signal generated by the ferromagnetic magnetic source to obtain the position vector and the magnetic moment vector of the ferromagnetic magnetic source comprises the following steps:
magnetic signal sequence consisting of direct current magnetic signals generated at the mth magnetic sensor using a ferromagnetic magnetic source And solving the association relation between the position vector and the magnetic moment vector of the ferromagnetic magnetic source, wherein the/>The association relation with the ferromagnetic magnetic source is:；
Wherein, ，/>Is the relative permeability of the medium where the electromagnet magnetic source is located,/>Is vacuum permeability,/>For magnetization/>For the electromagnet magnetic source to produce three components of magnetic field strength at the mth sensor, m=1, 2,3, …, M is the total number of magnetic sensors on the magnetic sensor array; the ferromagnetic source has a position vector and a magnetic moment vector of: /(I); In the/>Is the magnetic moment vector of a ferromagnetic magnetic source, wherein/>Respectively utilize/>, under the coordinate systemTwo parametric representations, and/>, in rectangular coordinatesThree parameters represent,/>Expressed from the central coordinates of the ferromagnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a).
As a preferred embodiment of the present invention, the method for constructing an electromagnetic positioning model includes: the minimum electromagnetic positioning error is used as an optimization target, and、/>、/>And/>Constructing an electromagnetic positioning objective function, wherein the electromagnetic positioning objective function is as follows: /(I); Wherein E 1 is the electromagnetic positioning optimization target of the ferromagnetic magnetic source, E 2 is the electromagnetic positioning optimization target of the electromagnet magnetic source,/>Magnetic signal sequence consisting of direct-current magnetic signals generated at the mth magnetic sensor for a ferromagnetic magnetic source,/>Magnetic signal sequence consisting of alternating magnetic signals generated at the mth magnetic sensor for an electromagnet magnetic source,/>Magnetic signal sequence consisting of direct current magnetic signals sampled by a ferromagnetic magnetic source at an mth magnetic sensor,/>A magnetic signal sequence consisting of alternating current magnetic signals is sampled by an electromagnet magnetic source at an mth magnetic sensor, M is the total number of magnetic sensors in a magnetic sensor array, and min is a minimization operator;
carrying out optimization solution on the electromagnetic positioning objective function to obtain 、/>、/>And/>Wherein/>Is the magnetic moment vector of a ferromagnetic magnetic source,/>Expressed from the central coordinates of the ferromagnetic source/>Pointing to mth magnetic sensor coordinate/>Position vector of/>Is the magnetic moment vector of the electromagnet magnetic source,/>Expressed from the central coordinates of the electromagnet magnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a). As a preferred embodiment of the present invention, the present invention provides an electromagnetic positioning system combining dc and ac magnetic signals, which is applied to the electromagnetic positioning method combining dc and ac magnetic signals, the electromagnetic positioning system includes:
the signal generating unit is used for generating a direct current magnetic signal through a ferromagnetic magnetic source with adjustable properties and shape;
And the electromagnetic source is used for generating alternating-current magnetic signals through the electromagnetic magnetic source with the anti-magnetic field interference capability;
the signal processing unit is used for respectively acquiring direct-current magnetic signals and frequency spectrum conversion and separation to acquire alternating-current magnetic signals in the electromagnetic positioning application area through a differential extraction method;
The model construction unit is used for establishing an alternating current-direct current magnetic signal fusion model according to the acquired direct current magnetic signals and the acquired alternating current magnetic signals, and constructing an electromagnetic positioning model suitable for multi-scene electromagnetic positioning based on the alternating current-direct current magnetic signal fusion model.
As a preferred embodiment of the present invention, the signal processing unit collects a direct current magnetic signal and separates and collects an alternating current magnetic signal by using a magnetic sensor array through a differential extraction method, and includes:
The magnetic sensor in the magnetic sensor array reads the magnetic field value at the sampling frequency f 0 =100 Hz, the first N signal points continuously collected by a magnetic sensor form a magnetic field sampling signal sequence/>，/>From a three-component sequence of magnetic field strengthsConstitution/>The expression of (2) is: ; magnetic signal sequence/>, which is generated by ferromagnetic magnetic source at mth magnetic sensor and consists of direct current magnetic signal Magnetic signal sequence/>, which is generated by electromagnet magnetic source at mth magnetic sensor and consists of alternating magnetic signalAmbient magnetic field sequence at mth magnetic sensor/>，、/>And/>And/>The relation of (2) is: /(I); In the method, in the process of the invention,Is a magnetic field noise signal sequence; will/>Performing discrete Fourier transform DFT,/>The discrete fourier transform DFT of (a) is: ; in the/> Is the magnetic field sampling signal sequence acquired by the mth magnetic sensor/>Double-sided spectrum sequence after discrete Fourier transform DFT,/>From the three-component magnetic field signal spectrum sequence/>Composition;
Will be Single-sided spectral sequence/>, transformed into a magnetic field sampling signal acquired by an mth magnetic sensor，/>The expression of (2) is: ; in the method, in the process of the invention, Is the m-th sensor frequency/>Three component amplitudes corresponding to the sinusoidal magnetic signal; pair/>In/>Sequentially assigning 0 and 1, and respectively separating a magnetic signal sequence/>, which is obtained by sampling a ferromagnetic magnetic source at an mth magnetic sensor and is formed by direct current magnetic signalsMagnetic signal sequence/>, which is obtained by sampling the electromagnetic magnetic source at the mth magnetic sensor and consists of alternating-current magnetic signals, of the electromagnetThe saidAnd/>The expression of (2) is: /(I); In the/>For the sequence of the ambient magnetic field at the mth magnetic sensor before electromagnetic positioning,/>Three-component amplitude values corresponding to sine magnetic signals with frequency f (0) =0 at the mth sensor respectively,/>The frequencies at the mth sensor are/>, respectivelyThree component amplitudes corresponding to the sinusoidal magnetic signal of (c). As a preferred embodiment of the present invention, the method for constructing an electromagnetic positioning model by the model construction unit includes:
the minimum electromagnetic positioning error is used as an optimization target, and 、/>、/>And/>Constructing an electromagnetic positioning objective function, wherein the electromagnetic positioning objective function is as follows: /(I); Wherein E 1 is the electromagnetic positioning optimization target of the ferromagnetic magnetic source, E 2 is the electromagnetic positioning optimization target of the electromagnet magnetic source,/>For ferromagnetic magnetic source at the/>Magnetic signal sequence consisting of direct-current magnetic signals generated at individual magnetic sensors,/>For electromagnet magnetic source at the first/>Magnetic signal sequence consisting of alternating magnetic signals generated at individual magnetic sensors,/>For ferromagnetic magnetic source at the/>Magnetic signal sequence consisting of direct current magnetic signals and obtained by sampling at each magnetic sensor,/>For electromagnet magnetic source at the first/>The magnetic signal sequence consisting of alternating-current magnetic signals is sampled at the magnetic sensors, M is the total number of the magnetic sensors in the magnetic sensor array, and min is a minimization operator; carrying out optimization solution on the electromagnetic positioning objective function to obtain/>、/>、/>And/>Wherein/>Is the magnetic moment vector of a ferromagnetic magnetic source,/>Expressed from the central coordinates of the ferromagnetic source/>Pointing to mth magnetic sensor coordinate/>Position vector of/>Is the magnetic moment vector of the electromagnet magnetic source,/>Expressed from the central coordinates of the electromagnet magnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a). Compared with the prior art, the invention has the following beneficial effects:
The invention utilizes the advantage of controllable performance of the direct current magnetic signal source to prepare the biocompatible magnetic source with different properties such as liquid, colloid and the like for marking the target to be positioned, effectively collects the direct current signal by a differential extraction method, develops a multifunctional module such as guiding, measuring, marking and the like by combining with an operation instrument for operation by utilizing the advantage of strong anti-interference capability of the alternating current signal source, and establishes an alternating current-direct current magnetic signal fusion model to realize construction of an electromagnetic positioning model for multi-scene applications such as focus guiding, curve measuring, path marking and the like.
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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 flowchart of an electromagnetic positioning method according to an embodiment of the present invention;
FIG. 2 is a block diagram of an electromagnetic positioning system according to an embodiment of the present invention;
Fig. 3 is a block diagram of an electromagnetic positioning system in an electromagnetic positioning application example provided by an embodiment of the present 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 invention provides an electromagnetic positioning method combining direct current and alternating current magnetic signals, which comprises the following steps:
A direct current magnetic signal is generated through a ferromagnetic magnetic source with adjustable properties and shape;
generating an alternating-current magnetic signal by an electromagnet magnetic source with anti-magnetic field interference capability;
in an electromagnetic positioning application area, respectively acquiring a direct current magnetic signal and a frequency spectrum conversion separation acquisition alternating current magnetic signal by a differential extraction method;
According to the acquired direct current magnetic signals and the acquired alternating current magnetic signals, an alternating current-direct current magnetic signal fusion model is established, and an electromagnetic positioning model suitable for multi-scene electromagnetic positioning is established based on the alternating current-direct current magnetic signal fusion model.
The invention performs electromagnetic positioning of various scenes and various purposes through the fusion of the direct-current magnetic signals and the alternating-current magnetic signals, wherein in order to accurately acquire the direct-current magnetic signals and the alternating-current magnetic signals, the invention utilizes the magnetic induction array to perform the direct-current magnetic signals and the alternating-current magnetic signals, transmits the direct-current magnetic signals and the alternating-current magnetic signals to an electromagnetic detection system matched with the magnetic induction array, and utilizes an electromagnetic positioning model to complete the electromagnetic positioning.
Specifically, the invention utilizes the magnetic sensor array to collect the direct current magnetic signals and the alternating current magnetic signals through a differential extraction method and a frequency spectrum transformation separation method, thereby ensuring the accuracy of magnetic signal collection, preparing the follow-up accurate electromagnetic positioning in advance, namely providing the early guarantee for the electromagnetic positioning.
The direct current magnetic signal and the alternating current magnetic signal acquired by the invention are measured values of the magnetic sensor, and the direct current magnetic signal and the alternating current magnetic signal generated by the ferromagnetic magnetic source and the electromagnet magnetic source are theoretical values of the magnetic signals.
The invention utilizes a magnetic sensor array to collect direct current magnetic signals and alternating current magnetic signals through a differential extraction method and a frequency spectrum transformation separation method, and specifically comprises the following steps:
The electromagnetic positioning application area comprises a magnetic sensor array formed by a plurality of magnetic sensors, and the magnetic sensor array is used for collecting direct-current magnetic signals through a differential extraction method and collecting alternating-current magnetic signals through spectrum transformation and separation.
The electromagnetic positioning application area comprises a magnetic sensor array formed by a plurality of magnetic sensors, and the magnetic sensor array is used for collecting direct-current magnetic signals through a differential extraction method and collecting alternating-current magnetic signals through spectrum transformation and separation.
The magnetic sensor array collects direct current magnetic signals and spectrum transformation and separation to collect alternating current magnetic signals through a differential extraction method, and the method comprises the following steps:
The magnetic sensors in the magnetic sensor array read magnetic field values at sampling frequency f 0 =100 Hz, and the mth magnetic sensor continuously acquires N signal points to form a magnetic field sampling signal sequence ，/>From a three-component sequence of magnetic field strengthsConstitution/>The expression of (2) is: /(I); Magnetic signal sequence/>, which is generated by ferromagnetic magnetic source at mth magnetic sensor and consists of direct current magnetic signalMagnetic signal sequence/>, which is generated by electromagnet magnetic source at mth magnetic sensor and consists of alternating magnetic signalAmbient magnetic field sequence at mth magnetic sensor/>，、/>And/>And/>The relation of (2) is: /(I); In the method, in the process of the invention,Is a magnetic field noise signal sequence;
Will be Performing discrete Fourier transform DFT,/>The discrete fourier transform DFT of (a) is: /(I); In the method, in the process of the invention,Is the magnetic field sampling signal sequence acquired by the mth magnetic sensor/>Double-sided spectrum sequence after discrete Fourier transform DFT,/>From the three-component magnetic field signal spectrum sequence/>Composition;
Will be Single-sided spectral sequence/>, transformed into a magnetic field sampling signal acquired by an mth magnetic sensor，/>The expression of (2) is: ; in the method, in the process of the invention, Is the m-th sensor frequency/>Three component amplitudes corresponding to the sinusoidal magnetic signal; wherein when k=0, the direct current component of the signal is the direct current magnetic field signal generated by the magnetic mark and the alternating current magnetic field signal of 10Hz generated by the positioning device are concerned, so that the signal amplitude at the frequency in the frequency spectrum needs to be obtained, namely when k=0, 1, so that the measured value/>, of the magnetic mark signal is separatedAnd locating instrument signal measurements/>; For a pair ofK of the magnetic source are sequentially assigned to 0 and 1, and magnetic signal sequences/>, which are obtained by sampling the ferromagnetic magnetic source at the mth magnetic sensor and are formed by direct current magnetic signals, are respectively separatedMagnetic signal sequence/>, which is obtained by sampling the electromagnetic magnetic source at the mth magnetic sensor and consists of alternating-current magnetic signals, of the electromagnet，/>And/>The expression of (2) is: ; in the/> For the sequence of the ambient magnetic field at the mth magnetic sensor before electromagnetic positioning,/>Three-component amplitude values corresponding to sine magnetic signals with frequency f (0) =0 at the mth sensor respectively,/>The frequencies at the mth sensor are/>, respectivelyThree component amplitudes corresponding to the sinusoidal magnetic signal of (c). The construction method of the AC-DC magnetic signal fusion model comprises the following steps:
electromagnetic positioning is carried out on the electromagnet magnetic source according to an alternating current magnetic signal generated by the electromagnet magnetic source, so that a position vector and a magnetic moment vector of the electromagnet magnetic source are obtained;
And carrying out electromagnetic positioning on the ferromagnetic magnetic source according to the direct current magnetic signal generated by the ferromagnetic magnetic source to obtain the position vector and the magnetic moment vector of the ferromagnetic magnetic source.
Electromagnetic positioning is carried out on the electromagnet magnetic source according to an alternating current magnetic signal generated by the electromagnet magnetic source to obtain a position vector and a magnetic moment vector of the electromagnet magnetic source, and the method comprises the following steps:
magnetic signal sequence consisting of alternating magnetic signals generated at the mth magnetic sensor using an electromagnet magnetic source The association relation between the position vector and the magnetic moment vector of the electromagnet magnetic source is calculated, wherein,/>The association relation with the electromagnet magnetic source is as follows: ; wherein, ，/>Is the relative permeability of the medium where the electromagnet magnetic source is located,/>Is the magnetic permeability of the vacuum and is equal to the magnetic permeability of the vacuum,For magnetization/>For the electromagnet magnetic source to produce three components of magnetic field strength at the mth sensor, m=1, 2,3, …, M is the total number of magnetic sensors on the magnetic sensor array;
the position vector and the magnetic moment vector of the electromagnet magnetic source are as follows: ; in the/> Is the magnetic moment vector of the electromagnet magnetic source, wherein/>Respectively utilize/>, under the coordinate systemTwo parametric representations, and/>, in rectangular coordinatesThree parameters represent,/>Expressed from the central coordinates of the electromagnet magnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a). Electromagnetic positioning is carried out on the ferromagnetic magnetic source according to a direct current magnetic signal generated by the ferromagnetic magnetic source to obtain a position vector and a magnetic moment vector of the ferromagnetic magnetic source, and the method comprises the following steps:
magnetic signal sequence consisting of direct current magnetic signals generated at the mth magnetic sensor using a ferromagnetic magnetic source And the association relation between the position vector and the magnetic moment vector of the ferromagnetic magnetic source is calculated, wherein/>The association relation with the ferromagnetic magnetic source is: ; wherein, ，/>Is the relative permeability of the medium where the electromagnet magnetic source is located,/>Is vacuum permeability,/>For magnetization/>For the electromagnet magnetic source to produce three components of magnetic field strength at the mth sensor, m=1, 2,3, …, M is the total number of magnetic sensors on the magnetic sensor array;
The position vector and magnetic moment vector of the ferromagnetic source are: ; in the/> Is the magnetic moment vector of a ferromagnetic magnetic source, wherein/>Respectively utilize/>, under the coordinate systemTwo parametric representations, and/>, in rectangular coordinatesThree parameters represent,/>Expressed from the central coordinates of the ferromagnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a). The invention takes the error of the measured value and the theoretical value as an optimization target of electromagnetic positioning, namely the error of the measured value and the theoretical value is minimum, the error of the electromagnetic positioning is minimum, and the accuracy of the electromagnetic positioning can be optimized, thereby constructing an electromagnetic positioning model based on the optimization target, and obtaining the most accurate positioning of a ferromagnetic magnetic source and an electromagnet according to the electromagnetic positioning model, namely the most accurate electromagnetic positioning is realized by combining alternating current and direct current magnetic signals, and the invention comprises the following specific steps:
The construction method of the electromagnetic positioning model comprises the following steps:
the minimum electromagnetic positioning error is used as an optimization target, and 、/>、/>And/>Constructing an electromagnetic positioning objective function, wherein the electromagnetic positioning objective function is as follows: /(I); Wherein E 1 is the electromagnetic positioning optimization target of the ferromagnetic magnetic source, E 2 is the electromagnetic positioning optimization target of the electromagnet magnetic source,/>Magnetic signal sequence consisting of direct-current magnetic signals generated at the mth magnetic sensor for a ferromagnetic magnetic source,/>Magnetic signal sequence consisting of alternating magnetic signals generated at the mth magnetic sensor for an electromagnet magnetic source,/>Magnetic signal sequence consisting of direct current magnetic signals sampled by a ferromagnetic magnetic source at an mth magnetic sensor,/>A magnetic signal sequence consisting of alternating current magnetic signals is sampled by an electromagnet magnetic source at an mth magnetic sensor, M is the total number of magnetic sensors in a magnetic sensor array, and min is a minimization operator; carrying out optimization solution on the electromagnetic positioning objective function to obtain/>、/>、/>And/>Wherein/>Is the magnetic moment vector of a ferromagnetic magnetic source,/>Expressed from the central coordinates of the ferromagnetic source/>Pointing to the mth magnetic sensor coordinatePosition vector of/>Is the magnetic moment vector of the electromagnet magnetic source,/>Expressed from the central coordinates of the electromagnet magnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a). The property and shape of the ferromagnetic magnetic source for generating the direct current magnetic signal can be regulated and controlled, and the ferromagnetic magnetic source can be used for marking and positioning different biological tissues such as skin, abdominal wall, gastrointestinal mucosa and the like in a human body model; the electromagnet magnetic source for generating alternating magnetic signals has excellent capability of resisting the interference of an environmental magnetic field, can be designed and manufactured for marking, measuring, guiding and other multifunctional requirements, and can be combined with medical instruments to form a multifunctional instrument.
As shown in fig. 2, the present invention provides an electromagnetic positioning system combining dc and ac magnetic signals, and an electromagnetic positioning method combining dc and ac magnetic signals applied to the electromagnetic positioning system, where the electromagnetic positioning system includes:
the signal generating unit is used for generating a direct current magnetic signal through a ferromagnetic magnetic source with adjustable properties and shape;
And the electromagnetic source is used for generating alternating-current magnetic signals through the electromagnetic magnetic source with the anti-magnetic field interference capability;
the signal processing unit is used for respectively acquiring direct-current magnetic signals and frequency spectrum conversion and separation to acquire alternating-current magnetic signals in the electromagnetic positioning application area through a differential extraction method;
The model construction unit is used for establishing an alternating current-direct current magnetic signal fusion model according to the acquired direct current magnetic signals and the acquired alternating current magnetic signals, and constructing an electromagnetic positioning model suitable for multi-scene electromagnetic positioning based on the alternating current-direct current magnetic signal fusion model.
The signal processing unit collects direct current magnetic signals and frequency spectrum conversion and separation by utilizing a magnetic sensor array through a differential extraction method to collect alternating current magnetic signals, and the signal processing unit comprises the following steps:
The magnetic sensor in the magnetic sensor array reads the magnetic field value at the sampling frequency f 0 =100 Hz, the first N signal points continuously collected by a magnetic sensor form a magnetic field sampling signal sequence/>，/>From a three-component sequence of magnetic field strengthsConstitution/>The expression of (2) is: ; magnetic signal sequence/>, which is generated by ferromagnetic magnetic source at mth magnetic sensor and consists of direct current magnetic signal Magnetic signal sequence/>, which is generated by electromagnet magnetic source at mth magnetic sensor and consists of alternating magnetic signalAmbient magnetic field sequence at mth magnetic sensor/>，、/>And/>And/>The relation of (2) is: /(I); In the method, in the process of the invention,Is a magnetic field noise signal sequence;
Will be Performing discrete Fourier transform DFT,/>The discrete fourier transform DFT of (a) is: /(I); In the/>Is the magnetic field sampling signal sequence acquired by the mth magnetic sensor/>Double-sided spectrum sequence after discrete Fourier transform DFT,/>From the three-component magnetic field signal spectrum sequence/>Composition;
Will be Single-sided spectral sequence/>, transformed into a magnetic field sampling signal acquired by an mth magnetic sensor，/>The expression of (2) is: /(I); In the method, in the process of the invention,Is the m-th sensor frequency/>Three component amplitudes corresponding to the sinusoidal magnetic signal; pair/>In/>Sequentially assigning 0 and 1, and respectively separating a magnetic signal sequence/>, which is obtained by sampling a ferromagnetic magnetic source at an mth magnetic sensor and is formed by direct current magnetic signalsMagnetic signal sequence/>, which is obtained by sampling the electromagnetic magnetic source at the mth magnetic sensor and consists of alternating-current magnetic signals, of the electromagnet，/>And/>The expression of (2) is: /(I); In the/>For the sequence of the ambient magnetic field at the mth magnetic sensor before electromagnetic positioning,/>Three-component amplitude values corresponding to sine magnetic signals with frequency f (0) =0 at the mth sensor respectively,/>The frequencies at the m-th sensor are respectivelyThree component amplitudes corresponding to the sinusoidal magnetic signal of (c). The method for constructing the electromagnetic positioning model by the model construction unit comprises the following steps:
the minimum electromagnetic positioning error is used as an optimization target, and 、/>、/>And/>Constructing an electromagnetic positioning objective function, wherein the electromagnetic positioning objective function is as follows: /(I); Wherein E 1 is the electromagnetic positioning optimization target of the ferromagnetic magnetic source, E 2 is the electromagnetic positioning optimization target of the electromagnet magnetic source,/>Is a ferromagnetic magnetic source at the firstMagnetic signal sequence consisting of direct-current magnetic signals generated at individual magnetic sensors,/>For electromagnet magnetic source at the first/>Magnetic signal sequence consisting of alternating magnetic signals generated at individual magnetic sensors,/>For ferromagnetic magnetic source at the/>Magnetic signal sequence consisting of direct current magnetic signals and obtained by sampling at each magnetic sensor,/>For electromagnet magnetic source at the first/>The magnetic signal sequence consisting of alternating-current magnetic signals is sampled at the magnetic sensors, M is the total number of the magnetic sensors in the magnetic sensor array, and min is a minimization operator; carrying out optimization solution on the electromagnetic positioning objective function to obtain/>、/>、/>And/>Wherein/>Is the magnetic moment vector of a ferromagnetic magnetic source,/>Expressed from the central coordinates of the ferromagnetic source/>Pointing to the mth magnetic sensor coordinatePosition vector of/>Is the magnetic moment vector of the electromagnet magnetic source,/>Expressed from the central coordinates of the electromagnet magnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a). As shown in fig. 3, the invention provides an application example of an electromagnetic positioning method, which forms a corresponding electromagnetic positioning system, and a biological magnetic marker (ferromagnetic magnetic source) generates a direct current magnetic signal for marking an object with unknown visual space position so as to calibrate the position information of the biological magnetic marker under a magnetic sensor array coordinate system;
The magnetic detection rod (electromagnet magnetic source) 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 magnetic sensor array coordinate system, and the aim of converting target detection marked by biological magnetic markers from a real visual space to a magnetic sensor array for visual guidance is achieved;
The magnetic sensor array is constructed by a plurality of magnetic sensors, and a magnetic sensor array coordinate system is established and used for identifying and collecting direct-current magnetic signals sent by the biological magnetic marker and alternating-current magnetic signals generated by the magnetic detection rod;
the PC terminal is used for analyzing the received direct current magnetic signals and alternating current magnetic signals, carrying out different treatments according to different purposes, and the specific scene application is as follows:
the first scenario application is lesion guidance: the positioning method can continuously acquire the position vector and the magnetic moment vector of the biological magnetic mark and the built-in coil of the magnetic detection rod, realize simultaneous tracking of the biological magnetic mark and the magnetic moment vector, and calculate the linear distance between the tip of the detection rod and the magnetic mark in real time by using the position vector and the magnetic moment vector: ; wherein/> Representing the probe tip position vector,/>And/>Respectively representing the unit direction vectors of the position and magnetic moment of a cylindrical coil arranged in the detection rod, wherein the cylindrical coil adopts axial magnetization, the magnetic moment is coincided with the axis of the detection rod during installation and is directed to the tip of the detection rod, L represents the distance from the center of the coil to the tip of the detection rod,/>Representing the position vector of the magnetic mark, D represents the linear distance of the tip from the magnetic mark. The linear distance D between the tip of the detection rod and the magnetic mark is calculated and displayed in real time, so that the magnetic mark for guiding the user to find the inner wall of the intestinal canal can be simply and efficiently realized.
The second scene application is path rendering: delineation of anatomical paths of the mannequin (e.g., intestinal paths) can be achieved using magnetic probe rods. The method comprises the steps of tracking the position of the tip of a detection rod in real time by using an algorithm, enabling a user to move the tip to the position of an intestinal tract starting point to be traced, opening a path tracing switch in a program, enabling the tip to slowly move along an intestinal tract path, recording the position coordinates of the tip to pass through by the program, acquiring the spatial position information of all anatomical sites marked in a human body model, setting a distance threshold S to enable the generated path to be smoother because the calculated position of the tip is dithered by noise, and recording a new path point only when the linear distance from the position of the tip to the last recorded position is greater than S, wherein the distance threshold S is shown as the following formula: ; wherein/> Is a set of path coordinates, which represents the path coordinates traversed by the tip, N is the number of coordinates recorded by moving the tip to end-point closed path plot,/>For the recorded nth path coordinates, the program after drawing will generate a fitting curve according to the recorded path coordinates and draw the fitting curve in the coordinate system of the App.
A third scenario application is curve measurement: the path coordinates of the intestinal tract can be recorded by using the path drawing function, and the set of path coordinates is used Can calculate the approximate value/>, of the curve length of the intestinal tract。; In summary, the invention establishes the AC-DC magnetic signal fusion model to realize multi-scene applications such as focus guidance, curve measurement, path marking and the like, and realizes electromagnetic positioning in multi-scene and multi-purpose applications.
The invention utilizes the advantage of controllable performance of the direct current magnetic signal source to prepare the biocompatible magnetic source with different properties such as liquid, colloid and the like for marking the target to be positioned, effectively collects the direct current signal by a differential extraction method, develops multifunctional modules such as guiding, measuring, marking and the like by combining operation instruments and utilizing the advantage of strong anti-interference capability of the alternating current signal source, and establishes an alternating current-direct current magnetic signal fusion model to realize construction of an electromagnetic positioning model for multi-scene applications such as focus guiding, curve measuring, path marking and the like.
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 (8)
1. An electromagnetic positioning method combining direct current and alternating current magnetic signals is characterized by comprising the following steps:
A direct current magnetic signal is generated through a ferromagnetic magnetic source with adjustable properties and shape;
generating an alternating-current magnetic signal by an electromagnet magnetic source with anti-magnetic field interference capability;
in an electromagnetic positioning application area, respectively acquiring a direct current magnetic signal and a frequency spectrum conversion separation acquisition alternating current magnetic signal by a differential extraction method;
According to the acquired direct current magnetic signals and the acquired alternating current magnetic signals, an alternating current-direct current magnetic signal fusion model is established, and an electromagnetic positioning model suitable for multi-scene electromagnetic positioning is established based on the alternating current-direct current magnetic signal fusion model;
the magnetic sensor array collects direct current magnetic signals and spectrum transformation and separation to collect alternating current magnetic signals through a differential extraction method, and the method comprises the following steps:
The magnetic sensors in the magnetic sensor array read magnetic field values at sampling frequency f 0 =100 Hz, and the mth magnetic sensor continuously acquires N signal points to form a magnetic field sampling signal sequence ，/>From a three-component sequence of magnetic field strengthsConstitution/>The expression of (2) is:；
magnetic signal sequence composed of direct current magnetic signals generated by ferromagnetic magnetic source at mth magnetic sensor Magnetic signal sequence/>, which is generated by electromagnet magnetic source at mth magnetic sensor and consists of alternating magnetic signalAmbient magnetic field sequence at mth magnetic sensor/>，/>、/>And/>And/>The relation of (2) is:；
In the method, in the process of the invention, For a magnetic field noise signal sequence, f 0 is the sampling frequency; will bePerforming discrete Fourier transform DFT,/>The discrete fourier transform DFT of (a) is: /(I); In the method, in the process of the invention,Is the magnetic field sampling signal sequence acquired by the mth magnetic sensor,/>Double-sided spectrum sequence after discrete Fourier transform DFT,/>From the three-component magnetic field signal spectrum sequence/>Composition; will/>Single-sided spectral sequence/>, transformed into a magnetic field sampling signal acquired by an mth magnetic sensor，/>The expression of (2) is: ; in the method, in the process of the invention, Is the m-th sensor frequency/>Three component amplitudes corresponding to the sinusoidal magnetic signal;
separating magnetic signal sequences composed of direct current magnetic signals obtained by sampling the ferromagnetic magnetic source at the mth magnetic sensor Magnetic signal sequence/>, which is obtained by sampling the electromagnetic magnetic source at the mth magnetic sensor and consists of alternating-current magnetic signals, of the electromagnetSaid/>And/>The expression of (2) is: /(I); In the/>For the ambient magnetic field sequence/>, at the mth magnetic sensor before electromagnetic positioningThree-component amplitude values corresponding to sine magnetic signals with frequency f (0) =0 at the mth sensor respectively,/>The frequencies at the mth sensor are/>, respectivelyThree component amplitudes corresponding to the sinusoidal magnetic signal of (c).
2. An electromagnetic positioning method combining direct current and alternating current magnetic signals according to claim 1, wherein the electromagnetic positioning application area comprises a magnetic sensor array formed by a plurality of magnetic sensors, and the magnetic sensor array is used for collecting the direct current magnetic signals through a differential extraction method and collecting the alternating current magnetic signals through spectrum transformation separation.
3. The electromagnetic positioning method combining direct current and alternating current magnetic signals according to claim 2, wherein the method for constructing the alternating current-direct current magnetic signal fusion model comprises the following steps:
electromagnetic positioning is carried out on the electromagnet magnetic source according to an alternating current magnetic signal generated by the electromagnet magnetic source, so that a position vector and a magnetic moment vector of the electromagnet magnetic source are obtained;
And carrying out electromagnetic positioning on the ferromagnetic magnetic source according to the direct current magnetic signal generated by the ferromagnetic magnetic source to obtain the position vector and the magnetic moment vector of the ferromagnetic magnetic source.
4. The electromagnetic positioning method combining direct current and alternating current magnetic signals according to claim 3, wherein the electromagnetic positioning of the electromagnet magnetic source according to the alternating current magnetic signal generated by the electromagnet magnetic source to obtain a position vector and a magnetic moment vector of the electromagnet magnetic source comprises the following steps:
magnetic signal sequence consisting of alternating magnetic signals generated at the mth magnetic sensor using an electromagnet magnetic source And solving the association relation between the position vector and the magnetic moment vector of the electromagnet magnetic source, wherein the/>The association relation with the electromagnet magnetic source is as follows: ; wherein, ，/>Is the relative permeability of the medium where the electromagnet magnetic source is located,/>Is the magnetic permeability of the vacuum and is equal to the magnetic permeability of the vacuum,For magnetization/>For the electromagnet magnetic source to produce three components of magnetic field strength at the mth sensor, m=1, 2,3, …, M is the total number of magnetic sensors on the magnetic sensor array; the position vector and the magnetic moment vector of the electromagnet magnetic source are as follows: /(I)；
In the method, in the process of the invention,Is the magnetic moment vector of the electromagnet magnetic source, wherein/>Respectively utilize/>, under the coordinate systemTwo parametric representations, and/>, in rectangular coordinatesThree parameters represent,/>Expressed from the central coordinates of the electromagnet magnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a).
5. The method for electromagnetic positioning by combining direct current and alternating current magnetic signals according to claim 4, wherein the electromagnetic positioning of the ferromagnetic source according to the direct current magnetic signal generated by the ferromagnetic source to obtain a position vector and a magnetic moment vector of the ferromagnetic source comprises:
magnetic signal sequence consisting of direct current magnetic signals generated at the mth magnetic sensor using a ferromagnetic magnetic source And solving the association relation between the position vector and the magnetic moment vector of the ferromagnetic magnetic source, wherein the/>The association relation with the ferromagnetic magnetic source is: ; wherein, ，/>Is the relative permeability of the medium where the electromagnet magnetic source is located,/>Is the magnetic permeability of the vacuum and is equal to the magnetic permeability of the vacuum,For magnetization/>For the electromagnet magnetic source to produce three components of magnetic field strength at the mth sensor, m=1, 2,3, …, M is the total number of magnetic sensors on the magnetic sensor array;
The ferromagnetic source has a position vector and a magnetic moment vector of: ; in the/> Is the magnetic moment vector of a ferromagnetic magnetic source, wherein/>Respectively utilize/>, under the coordinate systemTwo parametric representations, and/>, in rectangular coordinatesThree parameters represent,/>Expressed from the central coordinates of the ferromagnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a).
6. The electromagnetic positioning method combining direct current and alternating current magnetic signals according to claim 5, wherein the electromagnetic positioning model construction method comprises the following steps:
the minimum electromagnetic positioning error is used as an optimization target, and 、/>、/>And/>Constructing an electromagnetic positioning objective function, wherein the electromagnetic positioning objective function is as follows: /(I); Wherein E 1 is the electromagnetic positioning optimization target of the ferromagnetic magnetic source, E 2 is the electromagnetic positioning optimization target of the electromagnet magnetic source,/>Magnetic signal sequence consisting of direct-current magnetic signals generated at the mth magnetic sensor for a ferromagnetic magnetic source,/>Magnetic signal sequence consisting of alternating magnetic signals generated at the mth magnetic sensor for an electromagnet magnetic source,/>Magnetic signal sequence consisting of direct current magnetic signals generated by ferromagnetic magnetic source and obtained by sampling mth magnetic sensor,/>A magnetic signal sequence which is obtained by sampling an mth magnetic sensor and is composed of alternating-current magnetic signals generated by an electromagnet magnetic source, wherein M is the total number of the magnetic sensors in the magnetic sensor array, and min is a minimization operator; carrying out optimization solution on the electromagnetic positioning objective function to obtain/>、/>、/>And/>Wherein/>Is the magnetic moment vector of a ferromagnetic magnetic source,/>Expressed from the central coordinates of the ferromagnetic source/>Pointing to mth magnetic sensor coordinate/>Position vector of/>Is the magnetic moment vector of the electromagnet magnetic source,/>Expressed from the central coordinates of the electromagnet magnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a).
7. An electromagnetic positioning system combining direct current and alternating current magnetic signals, characterized in that it is applied to an electromagnetic positioning method combining direct current and alternating current magnetic signals as claimed in any one of claims 1 to 6, and the electromagnetic positioning system comprises:
the signal generating unit is used for generating a direct current magnetic signal through a ferromagnetic magnetic source with adjustable properties and shape;
And the electromagnetic source is used for generating alternating-current magnetic signals through the electromagnetic magnetic source with the anti-magnetic field interference capability;
the signal processing unit is used for respectively acquiring direct-current magnetic signals and frequency spectrum conversion and separation to acquire alternating-current magnetic signals in the electromagnetic positioning application area through a differential extraction method;
the model construction unit is used for establishing an alternating current-direct current magnetic signal fusion model according to the acquired direct current magnetic signals and the acquired alternating current magnetic signals, and constructing an electromagnetic positioning model suitable for multi-scene electromagnetic positioning based on the alternating current-direct current magnetic signal fusion model;
the signal processing unit collects direct current magnetic signals and frequency spectrum conversion and separation by utilizing a magnetic sensor array through a differential extraction method to collect alternating current magnetic signals, and the signal processing unit comprises the following steps:
The magnetic sensors in the magnetic sensor array read magnetic field values at sampling frequency f 0 =100 Hz, and the mth magnetic sensor continuously acquires N signal points to form a magnetic field sampling signal sequence ，/>From a three-component sequence of magnetic field strengthsConstitution/>The expression of (2) is:；
magnetic signal sequence composed of direct current magnetic signals generated by ferromagnetic magnetic source at mth magnetic sensor Magnetic signal sequence/>, which is generated by electromagnet magnetic source at mth magnetic sensor and consists of alternating magnetic signalAmbient magnetic field sequence at mth magnetic sensor/>，/>、/>And/>And/>The relation of (2) is:；
In the method, in the process of the invention, For a magnetic field noise signal sequence, f 0 is the sampling frequency; will bePerforming discrete Fourier transform DFT,/>The discrete fourier transform DFT of (a) is: /(I); In the method, in the process of the invention,Is the magnetic field sampling signal sequence acquired by the mth magnetic sensor,/>Double-sided spectrum sequence after discrete Fourier transform DFT,/>From a spectral sequence of three-component magnetic field signalsComposition;
Will be Single-sided spectral sequence/>, transformed into a magnetic field sampling signal acquired by an mth magnetic sensor，/>The expression of (2) is: ; in the method, in the process of the invention, Is the m-th sensor frequency/>Three component amplitudes corresponding to the sinusoidal magnetic signal; magnetic signal sequences/>, which are obtained by sampling the m-th magnetic sensor and are formed by direct-current magnetic signals, of the ferromagnetic magnetic source are respectively separatedMagnetic signal sequence/>, which is obtained by sampling the electromagnetic magnetic source at the mth magnetic sensor and consists of alternating-current magnetic signals, of the electromagnetSaid/>And/>The expression of (2) is: /(I); In the method, in the process of the invention,For the sequence of the ambient magnetic field at the mth magnetic sensor before electromagnetic positioning,/>Three component amplitudes corresponding to the sinusoidal magnetic signal with frequency f (0) =0 at the mth sensor,The frequencies at the mth sensor are/>, respectivelyThree component amplitudes corresponding to the sinusoidal magnetic signal of (c).
8. An electromagnetic positioning system combining direct current and alternating current magnetic signals according to claim 7, wherein said method of constructing an electromagnetic positioning model by said model construction unit comprises:
the minimum electromagnetic positioning error is used as an optimization target, and 、/>、/>And/>Constructing an electromagnetic positioning objective function, wherein the electromagnetic positioning objective function is as follows: /(I); Wherein E 1 is the electromagnetic positioning optimization target of the ferromagnetic magnetic source, E 2 is the electromagnetic positioning optimization target of the electromagnet magnetic source,/>Is a ferromagnetic magnetic source at the firstMagnetic signal sequence consisting of direct-current magnetic signals generated at individual magnetic sensors,/>For electromagnet magnetic source at the first/>Magnetic signal sequence consisting of alternating magnetic signals generated at individual magnetic sensors,/>Magnetic signal sequence consisting of direct current magnetic signals generated by ferromagnetic magnetic source and obtained by sampling mth magnetic sensor,/>A magnetic signal sequence which is obtained by sampling an mth magnetic sensor and is composed of alternating-current magnetic signals generated by an electromagnet magnetic source, wherein M is the total number of the magnetic sensors in the magnetic sensor array, and min is a minimization operator;
carrying out optimization solution on the electromagnetic positioning objective function to obtain 、/>、/>And/>Wherein/>Is the magnetic moment vector of a ferromagnetic magnetic source,/>Expressed from the central coordinates of the ferromagnetic source/>Pointing to the mth magnetic sensor coordinatePosition vector of/>Is the magnetic moment vector of the electromagnet magnetic source,/>Expressed from the central coordinates of the electromagnet magnetic source/>Pointing to mth magnetic sensor coordinate/>Is a position vector of (a).
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