CN108245251B - A kind of combination frequency alternating magnetic field generating device - Google Patents
A kind of combination frequency alternating magnetic field generating device Download PDFInfo
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- CN108245251B CN108245251B CN201711380533.7A CN201711380533A CN108245251B CN 108245251 B CN108245251 B CN 108245251B CN 201711380533 A CN201711380533 A CN 201711380533A CN 108245251 B CN108245251 B CN 108245251B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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Abstract
The present invention provides a kind of combination frequency alternating magnetic field generating devices, including three axis quadrature field transmission antenna groups, exciting current, and circuit group and field frequency power control unit occurs；After the current excitation of circuit group is occurred by the exciting current for each transmitting coil of the three axis quadrature field transmission antenna group, dipole magnetic field is generated；The magnetic field that 3*3 transmitting coil generates is vector superposed in spatial point, spatially produces the magnetic field of a combination frequency；The frequency and intensity in magnetic field can continuously adjust under the control of the control signal of field frequency power control unit, and the frequency of produced resultant field is accurate；Quick locating and tracking is realized in the requirement that locating and tracking data output rate can be met.
Description
Technical field
The present invention relates to electromagnetic technology field more particularly to a kind of combination frequency alternating magnetic field generating devices.
Background technique
Continuous improvement with people to requirements such as medical operating precision, safety, visualizations, medical operating navigation exist
Neurosurgery, spinal surgery, Cardiological, laparoscope therapy, endoscopic therapy etc. have been more and more widely used.
Medical operating navigation refer to by patient is preoperative or art in medical image data and patient's physiological structure accurately correspond to,
The position of medical instrument and the three-dimensional intuitive display on medical image in real-time tracking of patients's body.Traditional surgical navigational uses X
Radial imaging mode, which can only provide the two-dimensional position information of intervention apparatus, very high to the skill requirement of operative doctor, and
Biggish radiation injury can be brought to human body, therefore be gradually eliminated.In contrast, electromagnetic have precision it is high, can 5
Freedom degree or 6DOF tracking, without sight occlusion issue, to human body radiation injury etc. advantages, it has also become medical operating navigation neck
The mainstream technology of domain locating and tracking.
Pulse direct current magnetic tracking utilizes pulsed current excitation pulsed magnetic field, carries out magnetic field survey in the plateau of electric current
Amount.Which can significantly reduce influence of the metallic object vortex to tracking performance；But its tracking performance is vulnerable to AC influence magnetic field
It influences, and receiver volume is relatively large.For medical operating navigation, the receiver of electromagnetic tracker needs and medical treatment is led
Pipe is integrated to be used, therefore has very strong constraint to the structure size of receiver, can only be using induction coil as receiver.
Alternating electromagnetic tracking at present generallys use time division multiplexing magnetic field and system occurs, and which receiver uses induction type line
Circle, can accomplish lesser volume；But system occurs for time-multiplexed magnetic field, it is necessary to generate magnetic field to all timesharing and incude
Afterwards, it just can be carried out data output, cause the not high problem of data transfer rate of output, locating and tracking is slow.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of combination frequency alternating magnetic field generating device, solves field frequency essence
Not enough, data output rate is not high, the slow problem of locating and tracking for degree.
The technical solution adopted by the present invention is as follows:
A kind of combination frequency alternating magnetic field generating device, including three axis quadrature field transmission antenna groups, exciting current occur
Circuit group and field frequency power control unit；
The three axis quadrature field transmission antenna group is made of 3 three axis quadrature field transmitting antennas, and each three axis is orthogonal
Emission of magnetic field antenna includes three groups of transmitting coils；The shared 3*3 transmitting coil of the three axis quadrature field transmission antenna group；
By the exciting current circuit group is occurred for each transmitting coil of the three axis quadrature field transmission antenna group
After current excitation, dipole magnetic field is generated；The magnetic field that 3*3 transmitting coil generates is vector superposed in spatial point, spatially
Produce the magnetic field of a combination frequency；
The exciting current occurs circuit group and is made of 9 exciting current generation circuits, and electricity occurs for each exciting current
Transmitting coil connection in Lu Yusan axis quadrature field transmission antenna group, generates magnetic field for transmitting coil and provides AC sine
Exciting current；
The field frequency power control unit occurs circuit group with exciting current and connect, and according to the instruction of host computer, produces
Raw frequency control signal and power control signal occur each exciting current in circuit group to exciting current and circuit generation occur
Exciting current frequency and power controlled, and then the magnetic field of the combination frequency of generation is controlled.
Further, each three axis quadrature field sending antenna structure is identical, including three groups of transmitting coils and coil rack；
The structure satisfaction of the coil rack can be such that three concentric fixations of transmitting coil pairwise orthogonal are wrapped in outside it
On surface；The coil rack is made of high temperature resistant nonmetallic materials.
Further, the high temperature resistant value of the nonmetallic materials is not less than 300 DEG C.
Further, the coil rack outline structure is having a size of 58mm × 58mm × 58mm square, enameled wire line
Diameter is selected as 0.6mm；The wire casing for fixing three transmitting coils is provided on the outer surface of the square, the depth of wire casing is with three
After the winding of a transmitting coil, subject to the appearance of three axis quadrature field transmitting antennas is smooth.
Further, it includes DDS module, high-order lowpass filter module, programmable-gain that circuit, which occurs, for the exciting current
Amplification module, power amplifier module and series resonant capacitance network；
The DDS module is under the control for the frequency control signal that the field frequency power control unit exports, output
Frequency is the pumping signal of 10~14kHz to high-order lowpass filter module；
The high-order lowpass filter module filters out the higher hamonic wave in the pumping signal that the DDS module generates, and output is flat
Pumping signal after cunning；
The smoothed out pumping signal that the programmable automation controller module exports the high-order lowpass filter module into
Row amplification；
Programmable automation controller module output signal is carried out power amplification, output driving excitation by the power amplifier module
Signal is to series resonant capacitance network；
The series resonant capacitance network and transmitting winding group are at series resonant tank, under the driving of driving pumping signal
Transmitting coil launches the dipole magnetic field of generation.
Further, the DDS module is the AD9951 that word is adjusted with 32 bit frequencies, and output frequency minimum resolution is
0.0046566Hz；
The high-order lowpass filter module is 10 rank linear phase switching capacity low-pass filter LTC1569-6, cutoff frequency
Rate is set as 16KHz；
The programmable automation controller module is made of low-noise amplifier OP184 and numerical control potentiometer AD5292
Reversed scaling circuit；
The power amplifier module is the fixed gain reverse phase scaling circuit being made of OPA549；
The series resonant capacitance network is pF to nF rank by several capacitances, and voltage endurance capability is the COG of 600V or more
Grade ceramic capacitor composes in parallel.
Further, the numerical control potentiometer is accessed in amplifying circuit feedback loop with cascade, in the power control
Under the control of signal processed, 1024 gears potentiometric to numerical control are adjusted, and realization continuously increases smoothed out pumping signal
Benefit amplification is adjusted.
Further, the field frequency power control unit adjusts word by the way that frequency in each DDS module is respectively set,
It controls each exciting current and the frequency that circuit generates pumping signal occurs；By the way that each programmable automation controller module is respectively set
The middle potentiometric gear of numerical control controls each exciting current and the gain that circuit generates pumping signal occurs.
Further, frequency adjusts word and is set as different in each DDS module；Each potentiometric gear of numerical control is set as
Identical gear.
Further, 3 three axis quadrature field transmitting antennas, in space distribution in the shape of " pin ".
The beneficial effects of the present invention are:
Combination frequency alternating magnetic field generating device can persistently form the resultant field of multi-frequency alternation in space；It is produced multiple
The accurate continuously adjustable of frequency in magnetic field is closed, the intensity in magnetic field can be adjusted as requested；Locating and tracking data output rate can be met
Requirement, realize quick locating and tracking.
Detailed description of the invention
A kind of composition schematic diagram of combination frequency alternating magnetic field generating device of Fig. 1-；
The structural schematic diagram of Fig. 2-three axis quadrature field transmitting antenna；
Circuit mechanism block diagram occurs for Fig. 3-exciting current.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
A kind of combination frequency alternating magnetic field generating device, as shown in Figure 1, including three axis quadrature field transmission antenna groups, swashing
Encourage current occuring circuit group and field frequency power control unit
The three axis quadrature field transmission antenna group occurs circuit group with exciting current and connect, and is activated that electricity occurs for electric current
After the group current excitation of road, the combination frequency magnetic field of alternation is generated；
The dipole magnetic field that 3*3 transmitting coil of the three axis quadrature field transmission antenna group generates is sweared in spatial point
Amount superposition, produces the magnetic field of a spatially combination frequency；
The three axis quadrature field transmission antenna group is made of three three axis quadrature field transmitting antennas, is in " product " in space
Font distribution；
Each three axis quadrature field sending antenna structure is identical, as shown in Fig. 2, include three groups of transmitting coils Tx, Ty, Tz and
Coil rack；
The structure satisfaction of the coil rack can be such that three concentric fixations of transmitting coil Tx, Ty, Tz pairwise orthogonal twine
It is wound on coil rack outer surface；
The coil rack is made of high temperature resistant nonmetallic materials, and the high temperature resistant value of the nonmetallic materials is not less than
300℃；
By copper enameled wire coiling, each coil is occurred by independent exciting current by described three transmitting coils Tx, Ty, Tz
Circuit is motivated, and respective dipole magnetic field is generated；
Special, coil skeleton structure size, transmitting coil line footpath and the coiling of the three axis quadrature field transmitting antenna
The number of turns is to cut down your law according to the magnetic field strength of required generation according to Biot-sand and be calculated.
In the present embodiment, coil rack outline structure is having a size of 58mm × 58mm × 58mm square, enameled wire line footpath
It is selected as 0.6mm；The wire casing for fixing three transmitting coils is provided on the outer surface of the square, the depth of wire casing is with three
After transmitting coil winding, the appearance of three axis quadrature field transmitting antennas is smooth.
The exciting current occurs circuit group and is made of 9 exciting current generation circuits, and electricity occurs for each exciting current
Transmitting coil connection in Lu Yusan axis quadrature field transmission antenna group, generates magnetic field for transmitting coil and provides AC sine
Exciting current；
Circuit occurs for each exciting current, as shown in figure 3, including DDS module, high-order lowpass filter module, can compiling
Cheng Zengyi amplification module, power amplifier module and series resonant capacitance network；
The DDS module is under the control for the excitation control signal that the field frequency power control unit exports, output
Frequency is the pumping signal of 10~14kHz to high-order lowpass filter module；The DDS module is to adjust word with 32 bit frequencies
AD9951, output frequency minimum resolution be 0.0046566Hz；
The high-order lowpass filter module filters out the higher hamonic wave in the pumping signal that the DDS module generates, and output is flat
Pumping signal after cunning；The high-order lowpass filter module is 10 rank linear phase switching capacity low-pass filter LTC1569-6,
Cutoff frequency is set as 16KHz；
The smoothed out pumping signal that the programmable automation controller module exports the high-order lowpass filter module into
Row amplification, the control for the power control signal that the programmable automation controller module is exported in the field frequency power control unit
Under system, gain adjustment is realized；The programmable automation controller module is by low-noise amplifier OP184 and numerical control potentiometer
The reversed scaling circuit of AD5292 composition；The numerical control potentiometer is accessed in amplifying circuit feedback loop with cascade,
It under the control of the power control signal, realizes and 1024 gear of numerical control potentiometer is adjusted, and then realize to pumping signal
The amplification of 1024 gear Continual Gain Actuators is adjusted；
The power amplifier module is the fixed gain reverse phase scaling circuit being made of OPA549；The power amplification
Programmable automation controller module output signal is carried out power amplification by module, drives pumping signal to by series resonant capacitance net
Network；The power amplifier module provides the alternation that peak-peak is 1A for transmitting coil and drives exciting current；
The series resonant capacitance network and the series resonant capacitance network are pF to nF rank by several capacitances,
Voltage endurance capability is that the COG grade ceramic capacitor of 600V or more composes in parallel, the series resonant tank with transmitting coil composition；
The capacitance of the series resonant capacitance networkWherein, f is resonance frequency；L is resonance frequency
Under the conditions of, transmitting antenna winding inductance quantity.
The field frequency power control unit occurs circuit group with exciting current and connect, and is controlled according to the frequency of host computer
To exciting current the frequency and power that circuit occurs for each of circuit group exciting current occur for instruction and power control instruction
It is controlled；
Specifically, making each DDS module by the frequency control word that frequency register in each DDS module is respectively set
Generate the different pumping signal of frequency values；
By the way that the gear of numerical control current potential in each programmable automation controller module is respectively set, each exciting current hair is controlled
Raw circuit generates the gain of pumping signal；Identical gear is set by the gear of each numerical control current potential, sends out each exciting current
The gain that raw circuit generates pumping signal is identical.
Therefore on the whole, the combination frequency alternating magnetic field generating device of the present embodiment can persistently form multifrequency in space
The resultant field of rate alternation；The intensity of the accurate continuously adjustable of the frequency of produced resultant field, magnetic field can be adjusted as requested；
Quick locating and tracking is realized in the requirement that locating and tracking data output rate can be met.
Above-mentioned specific embodiment is only used for explanation and illustration technical solution of the present invention, but can not constitute and want to right
The restriction for the protection scope asked.It will be apparent to those skilled in the art that doing based on the technical solution of the present invention any simple
Deformation and replacement obtained from new technical solution, will fall under the scope of the present invention.
Claims (10)
1. a kind of combination frequency alternating magnetic field generating device, which is characterized in that including three axis quadrature field transmission antenna groups, excitation
Current occuring circuit group and field frequency power control unit；
The three axis quadrature field transmission antenna group is made of 3 three axis quadrature field transmitting antennas, each three axis quadrature field
Transmitting antenna includes three groups of transmitting coils；
The electric current of circuit group is occurred by the exciting current for each transmitting coil of the three axis quadrature field transmission antenna group
After excitation, dipole magnetic field is generated；The magnetic field superposition that all transmitting coils generate, generates the magnetic field of a combination frequency；
The exciting current occurs circuit group and is made of 9 exciting currents generation circuits, and circuit and three occurs for each exciting current
Transmitting coil connection in axis quadrature field transmission antenna group generates magnetic field for transmitting coil and provides AC sine excitation electricity
Stream；
The field frequency power control unit occurs circuit group with exciting current and connect, and according to the instruction of host computer, generates frequency
Rate controls signal and power control signal, each exciting current in circuit group occurs to exciting current, swashing for circuit generation occurs
The frequency and power for encouraging electric current are controlled, and then are controlled the magnetic field of the combination frequency of generation.
2. field generator for magnetic according to claim 1, which is characterized in that each three axis quadrature field sending antenna structure
It is identical, including three transmitting coils and coil rack；
Three concentric fixations of transmitting coil pairwise orthogonal are wrapped on the outer surface of coil rack；The coil rack is using resistance to
High temperature non-metallic material is made.
3. field generator for magnetic according to claim 2, which is characterized in that the high temperature resistant value of the nonmetallic materials is not low
In 300 DEG C.
4. field generator for magnetic according to claim 2 or 3, which is characterized in that the coil rack outline structure size
For square；The wire casing for fixing three transmitting coils is provided on the outer surface of the square, the depth of wire casing is sent out with three
After the winding of ray circle, subject to the appearance of three axis quadrature field transmitting antennas is smooth.
5. field generator for magnetic according to claim 1, which is characterized in that it includes DDS that circuit, which occurs, for the exciting current
Module, high-order lowpass filter module, programmable automation controller module, power amplifier module and series resonant capacitance network；
The DDS module is under the control for the frequency control signal that the field frequency power control unit exports, output drive
Signal is to high-order lowpass filter module；
The high-order lowpass filter module filters out the higher hamonic wave in the pumping signal that the DDS module generates, after output smoothing
Pumping signal；
The smoothed out pumping signal that the programmable automation controller module exports the high-order lowpass filter module is put
Greatly；
Programmable automation controller module output signal is carried out power amplification, output driving pumping signal by the power amplifier module
To series resonant capacitance network；
The series resonant capacitance network and transmitting winding group emit under the driving of driving pumping signal at series resonant tank
Coil launches the dipole magnetic field of generation.
6. field generator for magnetic according to claim 5, which is characterized in that
The DDS module is AD9951；
The high-order lowpass filter module is low-pass filter LTC1569-6；
The programmable automation controller module is the reversed ratio being made of low-noise amplifier OP184 and numerical control potentiometer AD5292
Example amplifying circuit；
The power amplifier module is the fixed gain reverse phase scaling circuit being made of OPA549；
The series resonant capacitance network is pF to nF rank by several capacitances, and voltage endurance capability is the COG grade of 600V or more
Ceramic capacitor composes in parallel.
7. field generator for magnetic according to claim 6, which is characterized in that
The numerical control potentiometer is accessed in amplifying circuit feedback loop with cascade, in the control of the power control signal
Under, 1024 gears potentiometric to numerical control are adjusted, and realize and amplify adjusting to smoothed out pumping signal Continual Gain Actuator.
8. field generator for magnetic according to claim 6 or 7, which is characterized in that
The field frequency power control unit adjusts word by the way that frequency in each DDS module is respectively set, and controls each excitation
The frequency of current occuring circuit generation pumping signal；By the way that numerical control potentiometer in each programmable automation controller module is respectively set
Gear, control each exciting current and the gain that circuit generates pumping signal occur.
9. field generator for magnetic according to claim 8, which is characterized in that
Frequency adjusts word and is set as different in each DDS module；Each potentiometric gear of numerical control is set as identical gear.
10. according to claim 1, any field generator for magnetic in 2,3,5,6,7 or 9, which is characterized in that described 3 three
Axis quadrature field transmitting antenna, in space distribution in the shape of " pin ".
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| CN109375161B (en) * | 2018-10-15 | 2022-12-20 | 东北大学 | An enhanced ultra-low frequency electromagnetic wave positioning transceiver device |
| CN112837887B (en) * | 2019-11-25 | 2022-09-09 | 北京华航无线电测量研究所 | Local alternating magnetic field generating device of time division multiplexing system |
| CN112445267B (en) * | 2020-11-25 | 2022-05-17 | 北京华航无线电测量研究所 | Alternating magnetic field-based attitude recognition system |
| CN112904127A (en) * | 2021-01-26 | 2021-06-04 | 浙江亚太机电股份有限公司 | Low-frequency magnetic field interference generating device |
| CN114900207B (en) * | 2022-05-12 | 2024-10-18 | 烟台艾睿光电科技有限公司 | Non-contact communication method and scanning device capable of realizing non-contact communication |
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