CN114073580B - Calibration method of magnetic field generator - Google Patents
Calibration method of magnetic field generator Download PDFInfo
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- CN114073580B CN114073580B CN202110723963.4A CN202110723963A CN114073580B CN 114073580 B CN114073580 B CN 114073580B CN 202110723963 A CN202110723963 A CN 202110723963A CN 114073580 B CN114073580 B CN 114073580B
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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 invention discloses a magnetic field generator calibration device and a calibration method, wherein the calibration device comprises a mounting body, at least six magnetic field sensors are fixedly mounted on the mounting body, the three-dimensional space positions and the arrangement angles of the magnetic field sensors are known, and the arrangement angles comprise pitch angles and direction angles. The invention designs a magnetic field generator calibration device, which is a three-dimensional device provided with a plurality of magnetic field sensors with known relative positions, and the calibration device is used for determining the placement positions and the placement directions of magnetic field generators, so that the problem that the existing magnetic field generators have different spatial position positioning precision can be solved, the magnetic field generators can be further optimized, and the use requirements of the medical field are met. The calibration method can be used for rapidly calibrating the magnetic field generator, and is simple and high in calibration accuracy.
Description
Technical Field
The invention relates to the medical field, in particular to a calibration method of a magnetic field generator.
Background
Medical navigation positioning systems involve the tracking and positioning of objects (also called detectors or magnetic field sensors) in three-dimensional space, electromagnetic navigation being one of the methods widely used. The electromagnetic navigation system relates to a magnetic field generator and a target object, and a device provided with the target object commonly comprises a catheter, a guide wire, an introducer (sheath), a probe and the like, and the application fields comprise cardiac interventional therapy navigation, pulmonary bronchus positioning navigation, renal artery ablation navigation and the like.
The existing magnetic field generator has the defect of different positioning precision at different positions in space, seriously influences the positioning precision of an electromagnetic navigation system and has adverse effects on the treatment process.
Disclosure of Invention
The invention aims at: aiming at the problems that the positioning accuracy of the existing magnetic field generator in different positions in space is different, the positioning accuracy of an electromagnetic navigation system is seriously influenced, and adverse effects are generated in the treatment process in the prior art, the magnetic field generator calibration device and the magnetic field generator calibration method are provided.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a magnetic field generator calibration device, includes the installation body, installation body fixed mounting has six at least magnetic field sensor, magnetic field sensor's three-dimensional space position and put the angle known, put the angle and include pitch angle (polar angle) and direction angle (azimuth angle). The magnetic field sensor is an excitation coil.
The invention designs a magnetic field generator calibration device, which is a three-dimensional device provided with a plurality of magnetic field sensors with known relative positions, and the calibration device is used for determining the placement positions and the placement directions of magnetic field generators, so that the problem that the existing magnetic field generators have different spatial position positioning precision can be solved, the magnetic field generators can be further optimized, and the use requirements of the medical field are met.
Furthermore, the installation body structure is arranged, so that the integrated installation of the magnetic field sensor is facilitated, the three-dimensional space position and the placement angle of the magnetic field sensor are conveniently obtained (the three-dimensional space position and the placement angle of the magnetic field sensor can be designed and determined when the installation body structure is manufactured, and the subsequent calibration calculation is simplified).
As a preferable mode of the present invention, the magnetic field sensor has a plurality of pitch angles and/or the magnetic field sensor has a plurality of direction angles, so that calibration accuracy can be improved.
As a preferable scheme of the invention, the number of the magnetic field sensors is more than or equal to 15, so that the calibration precision can be improved.
As a preferable scheme of the invention, the installation body is provided with a jack, the three-dimensional space position and the placement angle of the jack are known, the jack is matched with the magnetic field sensor, and the magnetic field sensor is placed in the jack. Through the design the jack, be convenient for install and get put magnetic field sensor, also be convenient for confirm magnetic field sensor's three-dimensional space position and angle of putting.
As a preferable scheme of the invention, the magnetic field sensor is fixedly adhered in the jack, so that the influence on the calibration precision caused by displacement and deformation of the magnetic field sensor is avoided.
As a preferable aspect of the present invention, the insertion hole has a plurality of pitch angles, and/or the insertion hole has a plurality of direction angles, so that the magnetic field sensor mounted therein has a plurality of pitch angles, and/or the magnetic field sensor has a plurality of direction angles, it is possible to improve calibration accuracy.
As a preferable scheme of the invention, the installation body is a polyhedron or a rotating body, so that the magnetic field sensor is convenient to integrate and install, and the three-dimensional space position and the placement angle of the magnetic field sensor are convenient to acquire. Other structures can be selected for the mounting body, so long as the three-dimensional space position and the placement angle of the magnetic field sensor mounted on the mounting body can be determined in advance.
As a preferable scheme of the invention, at least 3 jacks are arranged on each surface of the polyhedron. The more the number of jacks, the more magnetic field sensors can be installed, and the more the magnetic field sensors are installed, the higher the precision of calibration.
As a preferable mode of the invention, the mounting body is a solid structure or a frame beam structure.
The installation body is designed into a solid structure, the strength and the rigidity of the structure are high, the displacement and the deformation of the magnetic field sensor can be reduced, the calibration precision is improved, and the processing and the manufacturing are more convenient.
The installation body is designed into a frame beam structure, firstly, the structural strength and the rigidity can be improved, the displacement and the deformation of the magnetic field sensor are reduced, and the calibration precision is improved; secondly, the installation space of the magnetic field sensor is increased, so that more magnetic field sensors can be arranged on the installation body, and the calibration precision can be improved; third, a partially hollowed-out region is formed, thereby facilitating wiring.
As a preferable mode of the invention, the mounting body is a regular polyhedron or a sphere or a cylinder. The installation body is designed into a regular structure, so that the placement position and the placement angle of each magnetic field sensor can be conveniently determined, and the calculation workload is reduced.
As the preferable scheme of the invention, the installation body is a plastic structural member (such as ABS, PEEK, PVM, TPU, etc.), a wood structural member, a stone structural member, etc., and at the moment, the rigidity is larger, the influence of temperature is smaller, and the calibration precision is higher. The mounting body is made of solid materials with magnetic permeability close to that of air as much as possible, so that the interference to a magnetic field can be reduced.
The invention also discloses a magnetic field generator calibration method, which comprises the following steps:
step one: placing any one of the magnetic field generator calibration devices on one side of a magnetic field generator, wherein the distance between the magnetic field generator and the magnetic field sensor is more than 10 times of the self size of the magnetic field generator,
step two: according to the three-dimensional space position and the placement angle of the magnetic field sensor, a normalized direction vector of the i-th magnetic field sensor is obtained
In (x) i ，y i ，z i ) For the three-dimensional position of the ith magnetic field sensor (α) i ，β i ) I=1, 2,3 for pitch and direction angles of the ith magnetic field sensor, n, n is not less than 6,
step three: calculating the signal volume Vol generated by the magnetic field generator to generate a magnetic field acting on the ith magnetic field sensor i ，
Wherein (x, y, z) is the three-dimensional space position of the magnetic field generator, (alpha, beta) is the pitch angle and the direction angle of the magnetic field generator, eta is the gain coefficient,
step four: the simultaneous combination forms an overdetermined equation set,
solving to obtain the value of the unknown quantity (x, y, z, alpha, beta, eta).
The calibration method can be used for rapidly calibrating the magnetic field generator, and is simple and high in calibration accuracy.
As a preferred scheme of the invention, the LM (Levenberg-Marquardt) algorithm or the modified version thereof is adopted to solve the overdetermined equation set, and convergence can be obtained in 3-8 iterations generally.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. the invention designs a magnetic field generator calibration device, which is a three-dimensional device provided with a plurality of magnetic field sensors with known relative positions, and the calibration device is used for determining the placement positions and the placement directions of magnetic field generators, so that the problem that the existing magnetic field generators have different spatial position positioning precision can be solved, the magnetic field generators can be further optimized, and the use requirements of the medical field are met.
2. According to the invention, the installation body structure is arranged, so that the integrated installation of the magnetic field sensor is facilitated, the three-dimensional space position and the placement angle of the magnetic field sensor are conveniently obtained, and the subsequent calibration calculation is simplified.
3. The calibration method can be used for rapidly calibrating the magnetic field generator, and is simple and high in calibration accuracy.
Drawings
FIG. 1 is a schematic diagram of a magnetic field generator calibration apparatus according to the present invention.
Fig. 2 is a schematic view of a placement angle of a magnetic field sensor according to the present invention.
FIG. 3 is a schematic illustration of the present invention calibrated using a calibration device.
Icon: 1-calibration device, 11-installation body, 12-magnetic field sensor, 13-jack, 14-hollowed area, 2-magnetic field generator, 21-magnetic field generator group and 22-magnetic field generator.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, a magnetic field generator calibration device includes a mounting body 11, and in this embodiment, the mounting body 11 is a regular hexahedral body. The six faces of the mounting body 11 are provided with a plurality of jacks 13, and in this embodiment, each face is provided with 9 jacks 13. The jack 13 may be horizontally disposed, vertically disposed, or inclined at any angle, and in this embodiment, the jack 13 is disposed perpendicular to the plane where the jack is located, so as to facilitate calculation of a placement position and a placement angle of the jack 13, where the placement angle includes a pitch angle and a direction angle. Within the receptacle 13 is placed a magnetic field sensor 12, the receptacle 13 being shaped and dimensioned to substantially correspond with the magnetic field sensor 12, thereby facilitating the determination of the position of the magnetic field sensor 12 by the position of the receptacle 13. The magnetic field sensor 12 is encapsulated in the jack 13 by epoxy resin, and the number of the jack 13 and the number of the magnetic field sensor 12 are not less than 6, preferably not less than 15. The placement position and placement angle of the insertion hole 13 are known, so that the placement position and placement angle of the magnetic field sensor 12 are known, and the pitch angle and the direction angle of the magnetic field sensor 12 are as shown in fig. 2. The central axis of the magnetic field sensor 12 is taken as the X axis, and a rectangular coordinate system is constructed, so that the attitude angle of the magnetic field sensor 12 comprises a pitch angle (an included angle between the magnetic field sensor 12 and the Z axis) and two direction angles (an included angle between the magnetic field sensor 12 and the X axis and an included angle between the magnetic field sensor 12 and the Y axis), and the magnetic field sensor 12 is an excitation coil which is in a rotating body structure without considering the direction angle around the central axis (the X axis) of the rotating body structure.
Preferably, the magnetic field sensor 12 has a plurality of pitch angles and a plurality of direction angles, and the jack 13 has a plurality of pitch angles and a plurality of direction angles, so that calibration accuracy can be improved.
Further, in this embodiment, the mounting body ll is designed as a frame beam structure, and each surface is provided with a hollowed-out area 14, and in this embodiment, each surface of the mounting body 11 is provided with 4 hollowed-out areas 14. The installation body 11 is designed into a frame beam structure, firstly, the structural strength and the rigidity can be improved, the displacement and the deformation of the magnetic field sensor 12 are reduced, and the calibration precision is improved; secondly, the installation space (capable of being installed on a beam) of the magnetic field sensor 12 is increased, so that more magnetic field sensors 12 can be arranged on the installation body 11, and the calibration precision can be improved; third, a plurality of hollowed-out areas 14 are formed, thereby facilitating wiring.
Further, in this embodiment, the mounting body 11 is a plastic structural member, a wood structural member, a stone structural member, or the like, and the mounting body 11 is made of a solid material with magnetic permeability close to that of air, so that the interference to the magnetic field can be reduced.
Example 2
A method for calibrating a magnetic field generator, comprising the steps of:
step one: as shown in fig. 3, a magnetic field generator calibration device 1 as described in embodiment 1 is placed on one side of the magnetic field generator 2. In this embodiment, the calibration device 1 is placed above the magnetic field generator 2. The magnetic field generator 2 comprises 4 magnetic field generator groups 21, each magnetic field generator group 21 comprises three magnetic field generators 22, and the three magnetic field generators 22 are arranged orthogonally to each other.
The distance between the magnetic field generator 22 and the magnetic field sensor 12 is greater than 10 times the size of the magnetic field generator 22 itself, i.e. the distance between the magnetic field generator 22 and the tracking magnetic field sensor 12 is far greater than the size of the magnetic field generator 22 itself, both can be regarded as magnetic dipoles.
Step two: the positioning principle is described in detail below according to the Biot-Savart Law (Biot-Savart Law). According to the three-dimensional space position and the placement angle of the magnetic field sensor 12, a normalized i-th direction vector of the magnetic field sensor 12 is obtained
In (x) i ，y i ，z i ) For the three-dimensional spatial position of the ith magnetic field sensor 12 (α) i ，β i ) I=1, 2,3 for the pitch and direction angles of the ith magnetic field sensor 12, n, n is equal to or greater than 6,
step three: calculating the amount of signal Vol generated by the magnetic field generator 22 to generate a magnetic field acting on the ith magnetic field sensor 12 i ，
Where (x, y, z) is the three-dimensional spatial position of the magnetic field generator 22, (α, β) is the pitch and direction angles of the magnetic field generator 22, η is the gain factor,
step four: the simultaneous combination forms an overdetermined equation set,
solving to obtain the values of the unknown quantities (x, y, z, alpha, beta, eta), namely the three-dimensional space position, the placement angle and the gain coefficient of the magnetic field generator 22.
For example, in the present embodiment, 9 magnetic field sensors 12 are mounted on each surface of the calibration device 1, and 54 magnetic field sensors 12 are mounted on 6 surfaces in total, so that 54 equations containing 6 unknowns (x, y, z, α, β, η) can be obtained, and the simultaneous 54 equations constitute an overdetermined equation set.
The problem of solving the overdetermined equation set is really a nonlinear model solving problem, part (more than or equal to 6) or all equations in the problem can be selected according to a certain screening criterion to be solved simultaneously, a common solving method is an LM (Levenberg-Marquardt) algorithm or an improved version thereof, and the improved version is adopted in the embodiment, so that convergence is obtained in 3-8 iterations.
And the magnetic fields generated by the plurality of magnetic field generators 22 can be distinguished by differences in frequency or on-time. For example, it may be set to be frequency orthogonal and then quadrature demodulated.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The magnetic field generator calibration method is characterized by comprising the following steps of:
step one: a magnetic field generator calibration device (1) is arranged on one side of a magnetic field generator (22), the calibration device (1) comprises a mounting body (11), at least six magnetic field sensors (12) are fixedly arranged on the mounting body (11), the three-dimensional space positions and the arrangement angles of the magnetic field sensors (12) are known, the arrangement angles comprise pitch angles and direction angles, the distance between the magnetic field generator (22) and the magnetic field sensors (12) is larger than 10 times the self size of the magnetic field generator (22),
step two: based on the three-dimensional position and the three-dimensional position of the magnetic field sensor (12)The placement angle is used for obtaining a normalized direction vector of the i-th magnetic field sensor (12)
In (x) i ，y i ，z i ) For the three-dimensional position (alpha) of the ith magnetic field sensor (12) i ，β i ) I=1, 2,3 for pitch and direction angles of the ith magnetic field sensor (12), n, n is not less than 6,
step three: calculating the amount of signal Vol generated by the magnetic field generator (22) to generate a magnetic field acting on the ith magnetic field sensor (12) i ，
Wherein (x, y, z) is the three-dimensional spatial position of the magnetic field generator (22), (alpha, beta) is the pitch angle and the direction angle of the magnetic field generator (22), eta is the gain coefficient,
step four: the simultaneous combination forms an overdetermined equation set,
solving to obtain the value of the unknown quantity (x, y, z, alpha, beta, eta).
2. A method of calibrating a magnetic field generator according to claim 1, wherein the system of overdetermined equations is solved using the LM algorithm or a modification thereof.
3. A magnetic field generator calibration method according to claim 1, characterized in that the magnetic field sensor (12) has a plurality of pitch angles and/or the magnetic field sensor (12) has a plurality of direction angles.
4. The calibration method of the magnetic field generator according to claim 1, wherein the installation body (11) is provided with a jack (13), the three-dimensional space position and the placement angle of the jack (13) are known, the jack (13) is matched with the magnetic field sensor (12), and the magnetic field sensor (12) is placed in the jack (13).
5. A magnetic field generator calibration method according to claim 4, characterized in that the magnetic field sensor (12) is adhesively secured in the receptacle (13).
6. A magnetic field generator calibration method according to claim 1, characterized in that the mounting body (11) is a polyhedron or a rotator.
7. A magnetic field generator calibration method according to claim 6, characterized in that the mounting body (11) is a regular polyhedron or a sphere or a cylinder.
8. A magnetic field generator calibration method according to claim 6, characterized in that the mounting body (11) is of solid construction or of a frame beam construction.
9. A method of calibrating a magnetic field generator according to any of claims 3-8, characterized in that the mounting body (11) is a plastic, wood or stone structure.
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| CN101361660B (en) * | 2008-05-16 | 2011-03-09 | 深圳先进技术研究院 | Multi-magnetic target positioning method and system |
| CN103424124A (en) * | 2012-05-23 | 2013-12-04 | 国家体育总局体育科学研究所 | Nonmagnetic inertial navigation unit calibration method based on image measuring technologies |
| CN103411624B (en) * | 2013-07-22 | 2017-11-17 | 复旦大学 | The magnetic field sources scaling method and system of electromagnetic tracking system based on micromotion platform |
| CN106403959A (en) * | 2016-11-22 | 2017-02-15 | 天津海运职业学院 | Electromagnetic positioning system adopting multi-sensor array |
| CN109883415B (en) * | 2019-03-01 | 2021-04-02 | 哈尔滨工业大学 | Rotating magnetic field positioning method based on trigonometric function fitting |
| CN111561924B (en) * | 2020-05-21 | 2022-08-30 | 哈尔滨工业大学 | Magnetic beacon correction method and positioning method based on rotating magnetic dipole |
| CN111773564A (en) * | 2020-08-06 | 2020-10-16 | 泉州装备制造研究所 | A real-time tumor localization method |
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