WO2020011298A1 - Procédé et dispositif de détermination d'une orientation 3d et d'une position 3d sur la base d'une bobine à un axe d'un capteur marg - Google Patents

Procédé et dispositif de détermination d'une orientation 3d et d'une position 3d sur la base d'une bobine à un axe d'un capteur marg Download PDF

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Publication number
WO2020011298A1
WO2020011298A1 PCT/DE2019/000187 DE2019000187W WO2020011298A1 WO 2020011298 A1 WO2020011298 A1 WO 2020011298A1 DE 2019000187 W DE2019000187 W DE 2019000187W WO 2020011298 A1 WO2020011298 A1 WO 2020011298A1
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WO
WIPO (PCT)
Prior art keywords
signal
sensor
module
coil
magnetic field
Prior art date
Application number
PCT/DE2019/000187
Other languages
German (de)
English (en)
Inventor
Puian TADAYON
Thomas FELDERHOFF
Gerhard STAUDE
Original Assignee
Fachhochschule Dortmund
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fachhochschule Dortmund filed Critical Fachhochschule Dortmund
Publication of WO2020011298A1 publication Critical patent/WO2020011298A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114—Tracking parts of the body
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Physiology (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

L'invention concerne un procédé de détermination d'une orientation 3D et d'une position 3D d'objets, au moyen d'un dispositif présentant un module de référence muni d'une bobine à un axe et d'un capteur MARG, la bobine étant soumise à un courant d'excitation modulé par modulation sinusoïdale pour la génération d'un signal harmonique de champ magnétique présentant une fréquence constante, et un module de détection muni d'un capteur MARG, le module de référence servant de référence spatiale pour la détermination de l'orientation et de la position du module de détection, et l'orientation 3D de chaque module étant déterminée cycliquement par algorithme à partir des données des capteurs MARG du module de référence et du module de détection. Le capteur MARG du module de détection détecte un signal mélangé qui est composé du champ magnétique harmonique généré par la bobine du module de référence et de tous les autres champs magnétiques présents dans l'environnement du dispositif. On utilise pour extraire le signal de bobine à partir du signal mélangé déterminé par le capteur MARG du module de détection non seulement l'information relative à la valeur mais également l'information relative à la phase du signal de bobine, de sorte que les amplitudes des composantes de champ magnétique du signal de bobine sont déterminées de manière appropriée au signe, et la position univoque dans l'espace du module de détection par rapport au module de référence est déterminée cycliquement à partir des amplitudes déterminées sur la base des seules données de mesure du capteur MARG du module de détection.
PCT/DE2019/000187 2018-07-13 2019-07-12 Procédé et dispositif de détermination d'une orientation 3d et d'une position 3d sur la base d'une bobine à un axe d'un capteur marg WO2020011298A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018005649.0 2018-07-13
DE102018005649.0A DE102018005649A1 (de) 2018-07-13 2018-07-13 Verfahren und Einrichtung zur 3D-Orientierungs- und 3D-Positionsbestimmung auf Basis einer einachsigen Spule und eines MARG-Sensors

Publications (1)

Publication Number Publication Date
WO2020011298A1 true WO2020011298A1 (fr) 2020-01-16

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Family Applications (1)

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PCT/DE2019/000187 WO2020011298A1 (fr) 2018-07-13 2019-07-12 Procédé et dispositif de détermination d'une orientation 3d et d'une position 3d sur la base d'une bobine à un axe d'un capteur marg

Country Status (2)

Country Link
DE (1) DE102018005649A1 (fr)
WO (1) WO2020011298A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112857361A (zh) * 2021-01-06 2021-05-28 哈尔滨工业大学（深圳） 多螺线管磁场信号的分离方法、装置、设备及可读存储介质

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US8718193B2 (en) * 2006-11-20 2014-05-06 Proteus Digital Health, Inc. Active signal processing personal health signal receivers
US10378921B2 (en) * 2014-07-11 2019-08-13 Sixense Enterprises Inc. Method and apparatus for correcting magnetic tracking error with inertial measurement
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US7835785B2 (en) 2005-10-04 2010-11-16 Ascension Technology Corporation DC magnetic-based position and orientation monitoring system for tracking medical instruments
US20090278791A1 (en) 2005-11-16 2009-11-12 Xsens Technologies B.V. Motion tracking system
US8450997B2 (en) 2009-04-28 2013-05-28 Brown University Electromagnetic position and orientation sensing system
US8786680B2 (en) 2011-06-21 2014-07-22 Disney Enterprises, Inc. Motion capture from body mounted cameras
US20140002063A1 (en) 2012-06-27 2014-01-02 Ascension Technology Corporation System and method for magnetic position tracking
WO2018017000A1 (fr) * 2016-07-18 2018-01-25 Общество С Ограниченной Ответственностью "Настэк" Dispositif pour déterminer la position d'un objet dans l'espace
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112857361A (zh) * 2021-01-06 2021-05-28 哈尔滨工业大学（深圳） 多螺线管磁场信号的分离方法、装置、设备及可读存储介质
CN112857361B (zh) * 2021-01-06 2023-03-07 哈尔滨工业大学（深圳） 多螺线管磁场信号的分离方法、装置、设备及可读存储介质

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