CN102813517B - Electromagnetic positioning device and method for body area network medical diagnosis or rehabilitation training - Google Patents

Electromagnetic positioning device and method for body area network medical diagnosis or rehabilitation training Download PDF

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CN102813517B
CN102813517B CN201210327446.6A CN201210327446A CN102813517B CN 102813517 B CN102813517 B CN 102813517B CN 201210327446 A CN201210327446 A CN 201210327446A CN 102813517 B CN102813517 B CN 102813517B
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electromagnetic signal
matrix
electromagnetic
emitting source
receiving sensor
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CN102813517A (en
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孙晓颖
王庆龙
陈明智
白洋
陈建
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Jilin University
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Jilin University
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Abstract

The invention relates to an electromagnetic positioning device and method for body area network medical diagnosis or rehabilitation training and belongs to a medical positioning device and method. The electromagnetic positioning device comprises an electromagnetic signal driving amplifying unit, an electromagnetic emission source, an electromagnetic signal receiving sensor, a filtering amplifying unit, an analog/digital (A/D) conversion unit, a data processing and controlling unit and an upper computer. The electromagnetic positioning device and method for the body area network medical diagnosis or rehabilitation training have the advantages that the electromagnetic positioning method can accurately detect body movement of patients; the working frequency of the electromagnetic positioning device can reach 100Hz, and the real-time performance of the electromagnetic positioning device is good; the theory precision can reach 1mm, and the positioning is accurate and free of singularity; and the electromagnetic positioning device and method can be widely applied to the process of the medical diagnosis or rehabilitation training of the patients suffered from Parkinson, epilepsy and the like.

Description

For electromagnetic locator and the method for body area network medical diagnosis or rehabilitation training
Technical field
The invention belongs to a kind of medical positioner and method, be specifically related to a kind of electromagnetic positioning system and can be for the electromagnetic location method of body area network medical diagnosis and rehabilitation training.
Background technology
World today's Aging Problem is on the rise, and how effectively to monitor in real time the health of aged population, becomes global question of common concern.Parkinson disease are the 4th modal neurodegenerative diseases in old people, and its main manifestations is that patient motion is slow, the trembling of trick or health other parts, and health loses flexibility, becomes stiff.50% ~ 80% case insidious onset, the onset symptoms normally inactive of the 4Hz ~ 8Hz of a side hand " sth. made by twisting ball sample " trembles.This tremble the most remarkable in the time that limbs are static, therefore for the monitoring of limbs of patient be diagnosis Parkinsonian important means.
Body area network, as a kind of Wireless Personal Network, is mainly used in medical health field, is especially used for continuous monitoring and record chronic disease (as diabetes, asthma and heart disease etc.) patient's health parameters, and the automatic medical control of certain mode is provided.Electromagnetic location is combined with body area network, can realize the monitoring for limbs of patient motion conditions, effectively the senile disease such as parkinson are monitored, and make diagnosis timely and medical treatment.
Electromagnetic location is the technology of a kind of six-freedom degree that utilizes electromagnetic wave to determine testee (three position freedoms and three attitude degree of freedom).Compared with the location technology such as ultrasonic type, photo-electric, the cost of electromagnetic location is low, range of activity freedom and flexibility, better portable, and its outstanding advantages is the restriction that is not subject to view obstruction, and this is that other locate mode is incomparable.In to the track and localization of limbs, because limbs can rock, stretching motion, even can be sheltered from by the other parts of health, only have electromagnetic location can realize comprehensive location, just can realize the comprehensive monitoring for limb motion.
Electromagnetic location, as a kind of good location technology, receives publicity always.Jack Kuipers has proposed a kind of electromagnetic positioning system and a kind of electromagnetic location algorithm in the United States Patent (USP) 4/742.56 that is entitled as " Method and apparatus for determining remote object orientation and position ", but its algorithm adopts the form of hypercomplex number iteration, the Rational choice of hypercomplex number initial value is very important, and the complexity of calculating is higher, be unfavorable for the real-time of system.Wang Ying, Chen Bin, the people such as solicitous utilize dsp processor to design a kind of hardware scheme and software design flow process of electromagnetic location data collecting system in the paper that is entitled as " application of DSP in six degree of freedom electromagnetic tracking system ", but its system imperfection, do not consider practical situation, do not have Electromagnetic Launching signal driver amplifying unit and electromagnetism to receive signal filtering amplifying unit, system is imperfect, does not have actual realizability.Xu Tong, Wang Yongtian, Yan Dayuan etc. have introduced definite algorithm of six degree of freedom electromagnetic tracking system position and attitude at the paper that is entitled as " for the six degree of freedom electromagnetic tracking system of virtual reality ", but its algorithm utilization is the computing of matrix, it can produce distortion near+45 ° and-45 °, and positioning precision is exerted an influence.
Summary of the invention
The invention provides a kind of electromagnetic locator for body area network medical diagnosis and rehabilitation training and method, the coarse problem existing to solve current electromagnetic locator and method.
The technical scheme that the present invention takes is: electromagnetic signal receiving sensor is connected with control unit, electromagnetic signal drive amplification unit, electromagnetic signal emitting source sequence with filter and amplification unit, A/D converting unit, date processing, and this date processing is connected with host computer with control unit;
Described date processing with control unit structure is: processor is connected respectively SDRAM memorizer, FLASH memorizer, power circuit and USB interface, and the processor is here DSP or single-chip microcomputer or FPGA or ARM data processing chip; On the one hand for sending control signal to electromagnetic signal drive amplification unit, be connected with A/D converter on the one hand, receiving electromagnetic signals data the resolving of line position attitude coordinate of going forward side by side, on the other hand by data-interface, by the position and attitude information transmission after treatment to host computer;
Described electromagnetic signal drive amplification unit, for carrying out drive amplification by the control signal of date processing and control unit generation, to drive the work of electromagnetic signal emitting source;
Described electromagnetic signal emitting source is three orthogonal axial coils, by electromagnetic signal drive amplification unit drives, three axial coil time-sharing works, in order to space radiation electromagnetic wave, can timesharing send the sinusoidal ac signal of the low frequency of certain amplitude, also can timesharing send the DC pulse signal of certain amplitude.
Described electromagnetic signal receiving sensor is small-sized orthogonal three axial coils or magnetoresistive transducer chip, communicating by letter between sensor and filter and amplification unit can adopt wired or wireless mode, wireless mode mainly contains bluetooth, Zigbee, for receiving the electromagnetic wave signal in space, as the sensor of determining human body limb movement situation;
Described filter and amplification unit, for electromagnetism being received to the filter and amplification of signal, carries out A/D conversion to facilitate;
Described A/D converting unit, is mainly made up of A/D converter, for the signal after filter and amplification is carried out to analog digital conversion, finally imports into and in date processing and control unit, carries out resolving of position and attitude coordinate;
Described host computer is PC or mobile terminal device, for receiving the data of date processing and control unit, the motion conditions of limbs is presented in terminal, for the motion of limbs is shown with the form of coordinate or the form of three-dimensional graph, doctor or monitoring personnel carry out comprehensive monitoring by the limb motion situation to patient, realize the object of medical diagnosis and rehabilitation training.
Electromagnetic signal receiving sensor of the present invention, it can adopt multiple electromagnetic signal receiving sensors, is attached to arm or the shank of human body simultaneously, realizes the multiple spot of this device and locates simultaneously, can realize the monitoring of the motion conditions of whole health.
The present invention can adopt the source collaborative work of multiple electromagnetic signal emittings, to expand the working range of this device, realize on a large scale, multiobject motion monitoring.
The present invention, for the electromagnetic location method of body area network medical diagnosis or rehabilitation training, comprises the following steps:
First by date processing and control unit control electromagnetic signal drive amplification unit, drive the orthogonal three axial coil time-sharing works in electromagnetic signal emitting source, to space radiation electromagnetic wave;
The X, Y, Z axis coil in electromagnetic signal emitting source sends signal T x, T y, the T z of the certain amplitude of certain frequency chronologically; The electromagnetic signal emitting matrix of system is:
X = 1 0 0 0 1 0 0 0 1
Electromagnetic signal receiving sensor is three-dimensional orthogonal coil, be responsible for receiving the electromagnetic signal in space, the low frequency magnetic field of each axle transmitting in electromagnetic signal emitting source can induce induced signal R x, R y, the R z of different amplitudes in the X, Y, Z axis coil of electromagnetic signal receiving sensor;
Then this induced signal imports date processing and control unit into after filter and amplification unit and A/D converting unit; In date processing and control unit, extract the range value of each road, induced signal on each time period, and this segment signal and corresponding transmitting are carried out to phase bit comparison, if homophase range value is just got, otherwise get negatively, so just obtain the receiving matrix of system:
Y = A 11 A 12 A 13 A 21 A 22 A 23 A 31 A 32 A 33
Next in date processing and control unit, carry out solving of position and attitude coordinate;
Can be known by inference by magnetic dipole correlation theory, three rank receiving matrix Y and three rank emission matrix X have following relation:
Y = - K r 3 HMX
In formula, Y is known receiving matrix, is made up of nine measured values; X is known emission matrix; K is system constants; R is the distance in electromagnetic signal receiving sensor and electromagnetic signal emitting source; M has comprised the evolution matrix of electromagnetic signal receiving sensor with respect to the position spherical coordinates (r, α, β) in electromagnetic signal emitting source,
M = I - 3 u → u → T
Wherein
Figure BDA0000210885135
for pointing to the unit position coordinates vector of r;
H be comprised electromagnetic signal receiving sensor with respect to the attitude angle in electromagnetic signal emitting source ( , ψ, θ) posture changing matrix,
Figure BDA0000210885137
Can calculate the attitude of electromagnetic signal receiving sensor with respect to electromagnetic signal emitting source by receiving matrix Y by following formula:
H = - r 3 K YX - 1 M - 1
For calculating H matrix, need to first calculate r and M; Finally can obtain through matrixing:
K 2 r 6 M 2 = ( YX - 1 ) T YX - 1
Introduce unit position coordinates vector
Figure BDA00002108851310
:
4 K 2 r 6 u → = ( YX - 1 ) T YX - 1 u →
Wherein, unit position coordinates vector
Figure BDA00002108851312
transformation matrix A=(YX -1) tyX -1about eigenvalue characteristic vector;
From linear algebra knowledge, matrix trace equal on its leading diagonal each element and, can ask the mark of matrix A:
tra ( A ) = A 11 + A 22 + A 33 = 6 K 2 r 6
Thereby obtain:
r = ( 6 K 2 A 11 + A 22 + A 33 ) 1 / 6
So just, obtained the distance in electromagnetic signal receiving sensor and electromagnetic signal emitting source.
At unit of account position coordinates vector
Figure BDA00002108851316
time, the eigenvalue of mould maximum and the alternative manner of its characteristic of correspondence vector of employing computational transformation matrix A, the key step of method is as follows:
(1) set a vectorial c, as initial vector;
(2) set a → = A c → u → = a → | | a → | |
(3)
Figure BDA00002108851319
if, | λ-τ | < ε, now finishes to calculate; If do not satisfy condition, turn to step (4);
τ is matrix A characteristic of correspondence value, for matrix A character pair vector, ε is a set-point of control system operational precision;
(4) τ=λ, , turn to step (2);
In this interative computation, eigenvalue initial value τ gets
Figure BDA00002108851322
, characteristic vector initial value c gets the tried to achieve position coordinates vector u of unit t, the ε value of control accuracy gets 0.001;
In linear interval, iteration can meet the demands for twice, in inelastic region: near 45 °, at most only need iteration 5 times, iterations is few, fast convergence rate;
Through this iterative algorithm, matrix A characteristic of correspondence value λ and characteristic vector are calculated
Figure BDA00002108851323
, characteristic vector can calculating location transform matrix M thus;
According to characteristic vector
Figure BDA00002108851324
, can be in the hope of electromagnetic signal receiving sensor the position spherical coordinates (r, α, β) with respect to electromagnetic signal emitting source
&alpha; = arctan u 2 u 1
&beta; = arctan u 3 u 1 2 + u 2 2
Then calculate electromagnetic signal receiving sensor with respect to the attitude angle in electromagnetic signal emitting source (
Figure BDA00002108851327
, ψ, θ) posture changing matrix H:
H = - r 3 K YX - 1 M - 1
And by Ο solve attitude angle (
Figure BDA00002108851329
, ψ, θ):
Figure BDA00002108851330
&psi; = arcsin ( - H 13 )
&theta; = arctan ( H 23 / H 33 )
Thus, location algorithm finishes, completed electromagnetic signal receiving sensor with respect to the position spherical coordinates (r, α, β) in electromagnetic signal emitting source and electromagnetic signal receiving sensor with respect to the attitude angle in electromagnetic signal emitting source (
Figure BDA00002108851333
, ψ, θ) resolve; Last these data are passed to host computer by date processing and control unit, realize the detection of limb motion.
This kind asks the alternative manner of individual characteristics value and characteristic vector for electromagnetic susceptibility locating and tracking system, is very effective for improving the degree of accuracy of algorithm, and theoretical precision can be determined by the value of the ε of control accuracy, and theoretical precision can reach 1mm; And can effectively avoid the singular point problem in calculating.
This kind asks the alternative manner of individual characteristics value and characteristic vector for electromagnetic sensitive system, is very effective for improving the degree of accuracy of algorithm, and theoretical precision can be determined by the value of the ε of control accuracy, and theoretical precision can reach 1mm; And can effectively avoid the singular point problem in calculating.
Tool of the present invention has the following advantages:
(1) the present invention can adopt wireless mode to depend on patient's limbs, applies more flexible.
(2) the present invention can adopt the source collaborative work of multiple electromagnetic signal emittings, broadens the scope of work, and the suitability is stronger.
(3) the present invention adopts high speed processor to carry out accurate computing and control, ensures real-time and the accuracy of system, and computing adopts high accuracy floating-point, and the every 3ms of system samples to X, Y, Z axis signal, more than system frequency can reach 100Hz.
(4) when general algorithm resolves matrix, be to utilize the knowledge of adjoint matrix can be in the hope of characteristic vector
Figure BDA00002108851334
, and then try to achieve evolution matrix M and posture changing matrix H.But for actual engineering application, can there is distortion phenomenon near the measurement in attitude and orientation in actual measurement (45 °), therefore algorithm is improved.
The data that the present invention adopts the alternative manner of asking individual characteristics value and characteristic vector to receive system are carried out resolving of position and attitude, can effectively solve singular point problem, and can improve the degree of accuracy of algorithm, and theoretical precision can reach 1mm.
(5) electromagnetic locator of the present invention and method, without singular point, comprehensive, precision is high, the inactive " sth. made by twisting ball sample " that can effectively monitor the 4Hz ~ 8Hz of hand trembles, be particularly suitable for the application to human posture and abnormal gait monitoring, can be used in the diagnosis of the nervous system diseasies such as parkinson, epilepsy, essential tremor, spasmodic torticollis and multiple system atrophy, also can extensive use in the rehabilitation training of limb motion damage.
Brief description of the drawings
Fig. 1 is theory diagram of the present invention;
Fig. 2 is the DSP structure chart of date processing of the present invention and control unit;
Fig. 3 is electromagnetic signal drive amplification element circuit schematic diagram of the present invention;
Fig. 4 is the structural representation in electromagnetic signal emitting of the present invention source;
Fig. 5 A is the AC signal form figure of electromagnetic signal drive amplification of the present invention unit output;
Fig. 5 B is the direct current signal form figure of electromagnetic signal drive amplification of the present invention unit output;
Fig. 6 is the structural representation of electromagnetic signal receiving sensor of the present invention;
Fig. 7 is the circuit theory diagrams of filter and amplification of the present invention unit;
Fig. 8 is the circuit theory diagrams of A/D converting unit of the present invention;
Fig. 9 is a kind of wireless sensing positioning principle of the present invention block diagram;
Figure 10 is the theory diagram of wireless sensing positioning unit of the present invention.
Detailed description of the invention
Electromagnetic signal receiving sensor 5 is linked in sequence with filter and amplification unit 6, A/D converting unit 1, date processing and control unit 2, electromagnetic signal drive amplification unit 3, electromagnetic signal emitting source 4, and this date processing is connected with host computer 7 with control unit 2;
Described date processing and control unit 2, structure is: processor 201 connects respectively SDRAM memorizer 202, FLASH memorizer 203, power circuit 204 and USB interface 205, and the processor is here DSP or single-chip microcomputer or FPGA or ARM data processing chip; On the one hand for sending control signal to electromagnetic signal drive amplification unit, be connected with A/D converter on the one hand, receiving electromagnetic signals data the resolving of line position attitude coordinate of going forward side by side, on the other hand by data-interface, by the position and attitude information transmission after treatment to host computer;
Described electromagnetic signal drive amplification unit 3, for carrying out drive amplification by the control signal of date processing and control unit generation, to drive the work of electromagnetic signal emitting source;
Described electromagnetic signal emitting source 4 is three orthogonal axial coils, by electromagnetic signal drive amplification unit drives, three axial coil time-sharing works, in order to space radiation electromagnetic wave, can timesharing send the sinusoidal ac signal of the low frequency of certain amplitude, also can timesharing send the DC pulse signal of certain amplitude;
Described electromagnetic signal receiving sensor 5 is small-sized orthogonal three axial coils or magnetoresistive transducer chip, communicating by letter between sensor and filter and amplification unit can adopt wired or wireless mode, wireless mode mainly contains bluetooth, Zigbee, for receiving the electromagnetic wave signal in space, as the sensor of determining human body limb movement situation;
Described filter and amplification unit 6, for electromagnetism being received to the filter and amplification of signal, carries out A/D conversion to facilitate;
Described A/D converting unit 1, is mainly made up of A/D converter, for the signal after filter and amplification is carried out to analog digital conversion, finally imports into and in date processing and control unit, carries out resolving of position and attitude coordinate;
Described host computer 7 is PC or mobile terminal device, for receiving the data of date processing and control unit, the motion conditions of limbs is presented in terminal, for the motion of limbs is shown with the form of coordinate or the form of three-dimensional graph, doctor or monitoring personnel carry out comprehensive monitoring by the limb motion situation to patient, realize the object of medical diagnosis and rehabilitation training.
Electromagnetic signal receiving sensor 5 of the present invention, it can adopt multiple electromagnetic signal receiving sensors, is attached to arm or the shank of human body simultaneously, realizes the multiple spot of this device and locates simultaneously, can realize the monitoring of the motion conditions of whole health.
The present invention can adopt 4 collaborative works of multiple electromagnetic signal emittings source, with the working range of expansion instrument.
The present invention, for the electromagnetic location method of body area network medical diagnosis or rehabilitation training, comprises the following steps:
First control electromagnetic signal drive amplification unit 3 by date processing and control unit 2, drive the orthogonal three axial coil time-sharing works in electromagnetic signal emitting source 4, to space radiation electromagnetic wave;
The X, Y, Z axis coil in electromagnetic signal emitting source 4 sends signal T x, T y, the T z of the certain amplitude of certain frequency chronologically; The electromagnetic signal emitting matrix of system is:
X = 1 0 0 0 1 0 0 0 1
Electromagnetic signal receiving sensor 5 is three-dimensional orthogonal coil, be responsible for receiving the electromagnetic signal in space, the low frequency magnetic field of each axle transmitting in electromagnetic signal emitting source 4 can induce induced signal R x, R y, the R z of different amplitudes in the X, Y, Z axis coil of electromagnetic signal receiving sensor 5;
Then this induced signal imports date processing and control unit 2 into after filter and amplification unit 6 and A/D converting unit 1; In date processing and control unit 2, extract the range value of each road, induced signal on each time period, and this segment signal and corresponding transmitting are carried out to phase bit comparison, if homophase range value is just got, otherwise get negatively, so just obtain the receiving matrix of system:
Y = A 11 A 12 A 13 A 21 A 22 A 23 A 31 A 32 A 33
Next in date processing and control unit 2, carry out solving of position and attitude coordinate;
Can be known by inference by magnetic dipole correlation theory, three rank receiving matrix Y and three rank emission matrix X have following relation:
Y = - K r 3 HMX
In formula, Y is known receiving matrix, is made up of nine measured values; X is known emission matrix; K is system constants; R is the distance in electromagnetic signal receiving sensor 5 and electromagnetic signal emitting source 4; M has comprised the evolution matrix of electromagnetic signal receiving sensor with respect to the position spherical coordinates (r, α, β) in electromagnetic signal emitting source,
M = I - 3 u &RightArrow; u &RightArrow; T
Wherein
Figure BDA00002108851339
for pointing to the unit position coordinates vector of r;
H be comprised electromagnetic signal receiving sensor 5 with respect to the attitude angle in electromagnetic signal emitting source 4 ( , ψ, θ) posture changing matrix,
Figure BDA00002108851341
Can calculate the attitude of electromagnetic signal receiving sensor 5 with respect to electromagnetic signal emitting source 4 by receiving matrix Y by following formula
H = - r 3 K YX - 1 M - 1
For calculating H matrix, need to first calculate r and M; Finally can obtain through matrixing:
K 2 r 6 M 2 = ( YX - 1 ) T YX - 1
Introduce unit position coordinates vector
Figure BDA00002108851344
:
4 K 2 r 6 u &RightArrow; = ( YX - 1 ) T YX - 1 u &RightArrow;
Wherein, unit position coordinates vector
Figure BDA00002108851346
transformation matrix A=(YX -1) tyX -1about eigenvalue
Figure BDA00002108851347
characteristic vector;
From linear algebra knowledge, matrix trace equal on its leading diagonal each element and, can ask the mark of matrix A:
tra ( A ) = A 11 + A 22 + A 33 = 6 K 2 r 6
Thereby obtain:
r = ( 6 K 2 A 11 + A 22 + A 33 ) 1 / 6
So just, obtained the distance of electromagnetic signal receiving sensor 5 with electromagnetic signal emitting source 4.
At unit of account position coordinates vector time, the eigenvalue of mould maximum and the alternative manner of its characteristic of correspondence vector of employing computational transformation matrix A, the key step of method is as follows:
(5) set a vectorial c, as initial vector;
(6) set a &RightArrow; = A c &RightArrow; u &RightArrow; = a &RightArrow; | | a &RightArrow; | |
(7)
Figure BDA00002108851353
if, | λ-τ |>=ε, now finishes to calculate; If do not satisfy condition, turn to step (4);
τ is matrix A characteristic of correspondence value,
Figure BDA00002108851354
for matrix A character pair vector, ε is a set-point of control system operational precision;
(8) τ=λ,
Figure BDA00002108851355
, turn to step (2);
In this interative computation, eigenvalue initial value τ gets
Figure BDA00002108851356
, characteristic vector initial value c gets the tried to achieve position coordinates vector u of unit t, the ε value of control accuracy gets 0.001;
In linear interval, iteration can meet the demands for twice, in inelastic region: near 45 °, at most only need iteration 5 times, iterations is few, fast convergence rate;
Through this iterative algorithm, matrix A characteristic of correspondence value λ and characteristic vector are calculated
Figure BDA00002108851357
, characteristic vector can calculating location transform matrix M thus;
According to characteristic vector
Figure BDA00002108851358
, can be in the hope of electromagnetic signal receiving sensor 5 the position spherical coordinates (r, α, β) with respect to electromagnetic signal emitting source 4
A v = 2 &times; R 5 R 6
&beta; = arctan u 3 u 1 2 + u 2 2
Then calculate electromagnetic signal receiving sensor 5 with respect to the attitude angle in electromagnetic signal emitting source 4 (
Figure BDA00002108851361
, ψ, θ) posture changing matrix H:
H = - r 3 K YX - 1 M - 1
And by H solve attitude angle (
Figure BDA00002108851363
, ψ, θ):
Figure BDA00002108851364
&psi; = arcsin ( - H 13 )
&theta; = arctan ( H 23 / H 33 )
Thus, location algorithm finishes, completed electromagnetic signal receiving sensor 5 with respect to the position spherical coordinates (r, α, β) in electromagnetic signal emitting source 4 and electromagnetic signal receiving sensor 5 with respect to the attitude angle in electromagnetic signal emitting source 4 (
Figure BDA00002108851367
, ψ, θ) resolve; Last these data are passed to host computer 7 by date processing and control unit 2, realize the detection of limb motion.
Below in conjunction with accompanying drawing, the invention will be further described:
Fig. 1 is the entire block diagram that a kind of electromagnetic locator for body area network medical diagnosis and rehabilitation training of the present invention is shown, comprising: electromagnetic signal drive amplification unit 3, electromagnetic signal emitting source 4, electromagnetic signal receiving sensor 5, filter and amplification unit 6, A/D converting unit 1, date processing and control unit 2 and host computer 7.
One or more electromagnetic signal receiving sensors 5 can be attached to arm or the shank of human body, for detection of the motion conditions of patient limb, the workflow of whole system is first to be controlled the orthogonal three axial coil time-sharing works of electromagnetic signal emitting unit 3 by date processing and control unit 2, to space radiation electromagnetic wave.Electromagnetic signal receiving sensor 5 receives the electromagnetic signal in space, then after filter and amplification unit 6 and A/D converting unit 1, imports date processing and control unit 2 into, and the position and attitude information that calculates limbs through location algorithm is passed to host computer 7.
Fig. 2 is a kind of DSP way of realization of date processing of the present invention and control unit 2.This DSP is the TMS320VC6000 series DSP floating-point operation processor 201 of TI company, float-point DSP processor is calculated accurately, and dynamic range is large, and processing speed is higher than fixed DSP, be suitable for the data of large amount of complex to calculate and process, and can ensure the real-time of system; Its peripheral circuit comprises SDRAM memorizer 202, FLASH memorizer 203, power circuit 204, USB interface.
TMS320VC6000 series DSP floating-point operation processor 201 will be controlled electromagnetic signal drive amplification unit 3 on the one hand; Be connected with A/D converting unit 1 on the other hand, receive the acquired electromagnetic data after AD conversion and carry out resolving of position and attitude coordinate according to electromagnetic location algorithm; Again on the one hand by data-interfaces such as USB interface 205 or serial ports, by the position and attitude information transmission after treatment to host computer 7 and show.
Fig. 3 is electromagnetic signal drive amplification of the present invention unit 3, for ensureing output, adopts two-stage to amplify: the first order adopts common integrated operational amplifier to do filter and amplification, and the second level adopts power-type amplifier to do drive amplification; First the control signal that TMS320VC6000 series DSP floating-point operation processor 201 sends is after the signal filtering amplifying circuit being made up of integrated transporting discharging 301, the power amplification circuit being made up of power amplifier 302 again carries out power amplification, to drive three axial coil time-sharing works; Owing to being three axial coils, so need No. three amplifying circuits, Fig. 3 only shows the wherein amplifying circuit on a road.The integrated transporting discharging 301 of this circuit can be the chips such as LM833, LF353, CA3240; The power amplifier 302 of this circuit can be the chips such as SSM2211, LM384, LM1875.
The amplification of the power amplifier 302 of this circuit can regulate by resistance R 5 and resistance R 6, and its amplification is:
A v = 2 &times; R 5 R 6
Meanwhile, in this circuit, R5 and C6 have formed high pass filter, and its cut-off frequency can regulate by R5 and C6, and its cut-off frequency is:
f HP = 1 2 &pi; R 5 &times; C 6
Fig. 4 is the structure that electromagnetic signal emitting of the present invention source 4 is shown, is three orthogonal axial coils, is formed by three axle cubes 401 and copper conductor 402 coilings, is subject to the signal controlling of electromagnetic signal drive amplification unit, and three axial coil time-sharing works, to space radiation electromagnetic field; Electromagnetic signal emitting source 4 is of a size of 10cm*10cm*10cm.
Fig. 5 A and Fig. 5 B are the signal forms of electromagnetic signal drive amplification of the present invention unit output, three orthogonal axial coil time-sharing works, drive current in addition chronologically in X, Y, Z axis, according to the kind difference of drive current, can be divided into two classes: alternating electromagnetic location and direct solenoid location, wherein:
Fig. 5 A is the AC signal form of electromagnetic signal drive amplification of the present invention unit output, the drive current of alternating electromagnetic navigation system is the sinusoidal current signal of the lower frequency of certain amplitude, provide phase reference signal to receiving circuit, the frequency of sinusoidal signal can be 20KHz to 50KHz simultaneously.The major advantage of alternating electromagnetic navigation system is the distant of location, and in the situation that there is no external interference, positioning precision is higher.Its shortcoming is mainly the interference that is subject to metal object in surrounding, and reason is that the electromagnetic field of alternation can produce on the surface of metal object eddy current effect, thus distortion target object magnetic field around, produce error for measuring.And the frequency of sinusoidal signal is higher, and eddy current effect is more obvious, thereby frequency is unsuitable too high.
Fig. 5 B is the direct current signal form of electromagnetic signal drive amplification of the present invention unit output.The drive current of single flow electromagnetic positioning system is the DC pulse signal of certain amplitude.The metal object of the surrounding of navigation system only can produce eddy current effect at the trailing edge of DC pulse signal and rising edge, and can not produce eddy current effect at the plateau of electric current, therefore can effectively eliminate the impact that eddy current effect produces system, so that single flow electromagnetic positioning system is compared AC system to the anti-interference of metal object is more better.But owing to adopting DC pulse, the close together of location.
The present invention is the working range of guarantee system, and suitably suppresses eddy current effect, thereby has adopted the alternating electromagnetic navigation system that signal frequency is 30KHz.
Fig. 6 is the structure of electromagnetic signal receiving sensor 5 of the present invention, for three orthogonal axial coils, formed by ferromagnetic cube 601 and copper conductor 602 coilings, its detectable electromagnetic signal strength is also exported corresponding voltage, measures thereby reach the object that transmitting coil magnetic field intensity positions.Electromagnetic signal receives sensing 5 and is of a size of 10mm*10mm*10mm.
Fig. 7 is the circuit structure of filter and amplification of the present invention unit 6, and because electromagnetic signal is faint especially, so adopt instrument amplifier 701 here, it is accurate differential voltage amplifier, and performance is better than operational amplifier.The structure of instrument amplifier makes it have the characteristic of high cmrr, high input impedance, low noise, low linearity error, low offset drift, thereby is particularly suitable for the filter and amplification of faint electromagnetic signal.Instrument amplifier 701 can be the chips such as LM741, INA163UA, OP07, LM324, AD620.Fig. 7 shows taking the instrument amplifier circuit that wherein a kind of chip forms as core.
The gain of this instrument amplifier can be by changing resistance R between pin 3 and pin 12 g702 resistance regulates; Its gain can be calculated by following formula:
G = 1 + 6000 R G
Its gain can be controlled by date processing and control unit 2, with adapt to when electromagnetic signal receiving sensor 5 apart from electromagnetic signal emitting source 4 far and all can accurately carry out filter and amplification to signal when nearer, ensure the stability of system.
Fig. 8 is the circuit structure of A/D converting unit 1 of the present invention, the AD conversion chip adopting is the 24 Bits Serial analog-digital converters with single-ended input, more than sample frequency can reach 96KHz, and there is digital frequency overlapped-resistable filter on sheet, and can eliminate direct current offset by digital high-pass filter, be applicable to 20KHz to the 50KHz sinusoidal signal of alternating electromagnetic navigation system transmitting to carry out analog digital conversion.And chip can have multichannel, can process multichannel circuit-switched data, realize multipoint positioning simultaneously.Adopting the height sampling AD conversion chip of 24 is mainly the precision in order to ensure conversion, to guarantee the accuracy of track and localization.The A/D conversion chip here can be the chip such as ADC24, AK 5353VT, CS5361.
Fig. 9 is a kind of wireless sensing locate mode of the present invention.This wireless location mode is mainly made up of wireless sensing positioning unit 9, wireless receiving module 10, date processing and control unit 2, electromagnetic signal drive amplification unit 3, electromagnetic signal emitting source 4 and host computer 7.Wherein wireless sensing positioning unit 9 can depend on human body, be responsible for gathering the movable information that receives limbs, then wireless signal emission, is responsible for receiving data by wireless receiving module 10, and imported into date processing and control unit 2, data are carried out to resolving of position and attitude coordinate.
Figure 10 is the structure of wireless sensing positioning unit 9 of the present invention.Electromagnetic signal receiving sensor 5 can combine with filter and amplification unit 6, A/D converting unit 1, wireless transport module 901 and power pack 902, composition wireless sensing positioning unit 9.Transfer data to date processing and control unit 2 by the mode of wireless transmission.Finally by date processing and control unit 2, data are processed to computing and are obtained the position and attitude information of limbs.Wireless transport module 901 herein can be 2.4Ghz NRF2401 wireless module, Bluetooth wireless transmission module and Zigbee wireless transport module etc.

Claims (1)

1. for an electromagnetic location method for body area network medical diagnosis and rehabilitation training, it is characterized in that comprising the following steps:
First by date processing and control unit control electromagnetic signal drive amplification unit, drive the orthogonal three axial coil time-sharing works in electromagnetic signal emitting source, to space radiation electromagnetic wave;
The X, Y, Z axis coil in electromagnetic signal emitting source sends signal T x, T y, the T z of the certain amplitude of certain frequency chronologically; The electromagnetic signal emitting matrix of system is:
X = 1 0 0 0 1 0 0 0 1
Electromagnetic signal receiving sensor is three-dimensional orthogonal coil, be responsible for receiving the electromagnetic signal in space, the low frequency magnetic field of each axle transmitting in electromagnetic signal emitting source can induce induced signal R x, R y, the R z of different amplitudes in the X, Y, Z axis coil of electromagnetic signal receiving sensor;
Then this induced signal imports date processing and control unit into after filter and amplification unit and A/D converting unit; In date processing and control unit, extract the range value of each road, induced signal on each time period, and this segment signal and corresponding transmitting are carried out to phase bit comparison, if homophase range value is just got, otherwise get negatively, so just obtain the receiving matrix of system:
Y = A 11 A 12 A 13 A 21 A 22 A 23 A 31 A 32 A 33
Next in date processing and control unit, carry out solving of position and attitude coordinate;
Can be known by inference by magnetic dipole correlation theory, three rank receiving matrix Y and three rank emission matrix X have following relation:
Y = - K r 3 HMX
In formula, Y is known receiving matrix, is made up of nine measured values; X is known emission matrix; K is system constants; R is the distance in electromagnetic signal receiving sensor and electromagnetic signal emitting source; M has comprised the evolution matrix of electromagnetic signal receiving sensor with respect to the position spherical coordinates (r, α, β) in electromagnetic signal emitting source,
M = I - 3 u &RightArrow; u &RightArrow; T
Wherein
Figure FDA0000458547320000015
for pointing to the unit position coordinates vector of r;
H has comprised the attitude angle of electromagnetic signal receiving sensor with respect to electromagnetic signal emitting source
Figure FDA0000458547320000016
posture changing matrix,
Can calculate the attitude of electromagnetic signal receiving sensor with respect to electromagnetic signal emitting source by receiving matrix Y by following formula:
H = - r 3 K YX - 1 M - 1
For calculating H matrix, need to first calculate r and M; Finally can obtain through matrixing:
K 2 r 6 M 2 = ( Y X - 1 ) T YX - 1
Introduce unit position coordinates vector
Figure FDA0000458547320000023
:
4 K 2 r 6 u &RightArrow; = ( YX - 1 ) T YX - 1 u &RightArrow;
Wherein, unit position coordinates vector
Figure FDA0000458547320000025
transformation matrix A=(YX -1) tyX -1about eigenvalue characteristic vector;
From linear algebra knowledge, matrix trace equal on its leading diagonal each element and, can ask the mark of matrix A:
tra ( A ) = A 11 + A 22 + A 33 = 6 K 2 r 6
Thereby obtain:
r = ( 6 K 2 A 11 + A 22 + A 33 ) 1 / 6
So just, obtained the distance in electromagnetic signal receiving sensor and electromagnetic signal emitting source;
At unit of account position coordinates vector
Figure FDA0000458547320000029
time, the eigenvalue of mould maximum and the alternative manner of its characteristic of correspondence vector of employing computational transformation matrix A, the key step of method is as follows:
(1) set a vectorial c, as initial vector;
(2) set a &RightArrow; = A c &RightArrow; , u &RightArrow; = a &RightArrow; | | a &RightArrow; | | ;
(3) if | λ-τ | < ε, now finishes to calculate; If do not satisfy condition, turn to step (4); τ is matrix A characteristic of correspondence value, for matrix A character pair vector, ε is a set-point of control system operational precision;
(4) τ=λ,
Figure FDA00004585473200000213
turn to step (2);
In this interative computation, eigenvalue initial value τ gets
Figure FDA00004585473200000214
characteristic vector initial value c gets the tried to achieve position coordinates vector u of unit t, the ε value of control accuracy gets 0.001;
In linear interval, iteration can meet the demands for twice, in inelastic region: near 45 °, at most only need iteration 5 times, iterations is few, fast convergence rate;
Through this iterative algorithm, matrix A characteristic of correspondence value λ and characteristic vector are calculated
Figure FDA0000458547320000031
characteristic vector can calculating location transform matrix M thus;
According to characteristic vector can be in the hope of electromagnetic signal receiving sensor the position spherical coordinates (r, α, β) with respect to electromagnetic signal emitting source
&alpha; = arctan u 2 u 1
&beta; = arctan u 3 u 1 2 + u 2 2
Then calculate the attitude angle of electromagnetic signal receiving sensor with respect to electromagnetic signal emitting source
Figure FDA0000458547320000035
posture changing matrix H:
H = - r 3 K YX - 1 M - 1
And solve attitude angle by H
Figure FDA0000458547320000037
Figure FDA0000458547320000038
ψ=arcsin(-H 13)
θ=arctan(H 23/H 33)
Thus, location algorithm finishes, completed electromagnetic signal receiving sensor with respect to the position spherical coordinates (r, α, β) in electromagnetic signal emitting source and electromagnetic signal receiving sensor the attitude angle with respect to electromagnetic signal emitting source
Figure FDA0000458547320000039
resolve; Last these data are passed to host computer by date processing and control unit, realize the detection of limb motion.
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