CN104776865A - Electromagnetic tracking system and method based on rapid determination of vector rotation angle of maximum magnetic induction intensity - Google Patents
Electromagnetic tracking system and method based on rapid determination of vector rotation angle of maximum magnetic induction intensity Download PDFInfo
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Abstract
The invention belongs to the technical field of electromagnetic tracking, and particularly discloses an electromagnetic tracking system and method based on rapid determination of a vector rotation angle of maximum magnetic induction intensity. The electromagnetic tracking system disclosed by the invention consists of a three-axis magnetic-field sensor device, magnetic-field source devices, a controllable constant-current source device and a control processing display device; the controllable constant-current source device stimulates three coils which are wound on a magnetic core made of soft magnetic ferrite material and are mutually orthometric, and the central points of the coils are overlapped, so that one magnetic-field source device is formed; the three-axis magnetic-field sensor device is used for detecting the magnetic induction intensity of the magnetic-field source devices, and the control processing display device can control the controllable constant-current source device to stimulate the coils and can perform positioning calculation according to the magnetic induction intensity detected by the three-axis magnetic-field sensor device. Due to the adoption of the electromagnetic tracking system disclosed by the invention, positioning can be realized by only stimulating the three coils once, the searching process is avoided, the real-time performance is significantly improved, the stability is high, the calculating complexity is low, and the electromagnetic tracking system can be applied to the navigation of minimally invasive surgery and other fields, such as virtual (enhancing) reality, and three-dimension ultrasonic imaging.
Description
Technical field
The invention belongs to electromagnetic field, be specifically related to a kind of by single activation Magnetic Field Source coil Fast Measurement maximum magnetic induction Vector Rotation angle, and then the electromagnetic tracking system that the magnetic field sensor as tracking target is positioned and method.
Background technology
It is a kind of magnetic Field Coupling relation utilized between Magnetic Field Source and magnetic field sensor that electromagnetism is followed the tracks of, and obtains the method for tracking target locus, is with a wide range of applications, becomes the study hotspot of target tracking domain in Minimally Invasive Surgery navigation.Compared to other tracking modes, electromagnetism follow the tracks of have not damaged, radiationless, unobstructed problem, easy and simple to handle, accurate positioning, etc. advantage; But simultaneously the theoretical magnetic field model of Existence dependency, iterative algorithm complicated, easily the problem such as to be disturbed.For traditional magnetic tracking Problems existing, this seminar proposes a kind of electromagnetic tracking method (patent of invention number: ZL 2,010 1 0179332.2) detected based on maximum magnetic induction Vector Rotation angle, and the method does not rely on magnetic field theory model, adopts non-iterative geometric algorithm to realize location.Compared with traditional magnetic tracking, the algorithm of the method is succinct effectively, fast operation.
This electromagnetic tracking method can be realized by search maximum magnetic induction.In the process of search, according to the magnetic induction density maximal value principle in the axial direction that energization solenoid produces, two solenoids being in diverse location by step motor control are rotated, when two energization solenoid orientation of its axis sensors, sensor can detect maximum magnetic induction respectively, then according to the distance (known) between two solenoids and solenoid by the rotation angle of initial position to orientation sensor, the locus of sensor can be calculated by method of geometry.
This electromagnetic tracking method realized by search maximum magnetic induction can realize high-precision location and tracking.But its locating speed is subject to the restriction that stepper motor drives solenoid rotational speed, and the real-time of system is poor; And search procedure can only be carried out in the limited Plane of rotation of stepper motor, and search dirigibility is poor.
Summary of the invention
The object of the invention is to propose a kind of real-time performance of tracking is high, dirigibility is strong electromagnetic tracking method and system.
The electromagnetic tracking method that the present invention proposes is a kind of electromagnetic tracking method realized by Fast Measurement maximum magnetic induction Vector Rotation angle.The present invention devises and is a kind ofly wrapped on magnetic ferrite magnetic core by three, point coincides and mutually orthogonal coil composition Magnetic Field Source model, be its axis direction according to unicoil magnetic induction density maximal value direction, the characteristic of linear relationship is there is between the magnetic induction density that total magnetic induction density maximal value is synthesized by single shaft maximal value and coil energizing current intensity and coil produce of three axles synthesis, the magnetic induction density adopting the coil of same intensity current excitation to produce is multiplied by the magnetic induction density that different current coefficients produces to replace the coil of varying strength current excitation, rapid solving maximum magnetic induction Vector Rotation angle, namely the total magnetic induction density synthesized points to rotation angle during magnetic field sensor, thus tracking target (magnetic field sensor) is positioned.
Magnetic field model that one of feature of the present invention is not rely on certain supposition sets up the coupled relation between Magnetic Field Source and magnetic field sensor, avoids due to Magnetic Field Source actual distribution and the inconsistent and positioning error that produces of desirable Magnetic Field Source; Two of feature of the present invention is to adopt non-iterative geometric algorithm, and computation complexity is low, not only can increase substantially locating speed, also avoid the system that iterative algorithm may converge to locally optimal solution or the problem such as to disperse causes unstable.Three of feature of the present invention is the coil by each Magnetic Field Source of difference single activation, magnetic induction density measured by magnetic field sensor just can the rotation angle of rapid solving maximum magnetic induction vector, effectively improves real-time and the dirigibility of tracker.
For convenience of explanation, three coordinate systems are first defined as follows:
Coordinate system 1: be the coordinate system of Magnetic Field Source 1.The axis of composition coil I, the coil II of Magnetic Field Source 1 and coil III is respectively along the X1 axle of this coordinate system, Y1 axle and Z1 axle.Central point i.e. this coordinate origin O of Magnetic Field Source 1, coordinate is
.This coordinate system is also system coordinate system XYZ.
Coordinate system 2: be the coordinate system of Magnetic Field Source 2.The axis of composition coil I, the coil II of Magnetic Field Source 2 and coil III is respectively along the X2 axle of this coordinate system, Y2 axle and Z2 axle.Central point i.e. this coordinate origin O ' of Magnetic Field Source 2, the coordinate in system coordinate system is
.Corresponding coordinate axle in each coordinate axis of this coordinate system and system coordinate system is parallel to each other, and X2 axle is contrary with X-direction, and Y2 axle, Z2 axle and Y-axis, Z-direction are identical.
Coordinate system 3: be the coordinate system of triaxial magnetic field sensor.Detection axis direction corresponding to triaxial magnetic field sensor is consistent respectively with Z3 direction of principal axis for the X3 axle of this coordinate system, Y3 axle, the point coincides of initial point and triaxial magnetic field sensor.
The rotation angle of the maximum magnetic induction vector that Magnetic Field Source produces is defined as follows:
Feathering angle: refer to from coordinate system 1(or coordinate system 2) initial point to the angle of line between the projection and X1 axle (or X2 axle) of X1Y1 plane (or X2Y2 plane) triaxial magnetic field sensor central point
(or
).
Vertical rotary angle: refer to from coordinate system 1(or coordinate system 2) initial point to the line triaxial magnetic field sensor central point and the angle of this line between the projection of X1Y1 plane (or X2Y2 plane)
(or
).
The electromagnetic tracking system that the present invention proposes, is made up of four parts: triaxial magnetic field sensor device, the Magnetic Field Source device be made up of two group of three axle quadrature coil, controllable constant-current source apparatus, a control treatment display device; System architecture as shown in Figure 2.Wherein:
Described triaxial magnetic field sensor device is attached to tracking target, for measuring the magnetic field of three orthogonal directionss in tracking target position place; Triaxial magnetic field sensor device comprises three axle component magnetic field sensors and signal condition/analog to digital (AD) modular converter; Three axle component sensors are used for detecting the magnetic induction density of position three orthogonal directionss X3, Y3 and Z3 respectively, and it exports through follow-up signal conditioning/analog to digital (AD) modular converter feeding control treatment display device.The selection gist measurement range of sensor device and the requirement of precision, can adopt magnetoresistive transducer, hall effect sensor or fluxgate sensor etc.
Described Magnetic Field Source device comprises two relative positions and the known Magnetic Field Source (i.e. Magnetic Field Source 1 and Magnetic Field Source 2) of attitude, its the Nomenclature Composition and Structure of Complexes is identical, respectively by three point coincides be wrapped on soft magnetic ferrite magnetic core and mutually orthogonal coil form.Like this, with on the equidistant sphere of Magnetic Field Source central point, the magnetic induction density maximal value of single shaft coil is the axial location of this coil, and in the axial direction, total magnetic induction density maximal value of three axial coils synthesis is synthesized by single shaft maximal value in direction.Distance between two Magnetic Field Source device central points is
, and three groups of corresponding coils are parallel to each other.Coil needs to ensure good orthogonality and symmetry, and the cross sectional shape of its coil can adopt square or circular etc.Respectively three coils are passed to the direct current of same intensity, uniaxial magnetic induction maximal value can be produced at the axis direction of each coil respectively, and three axle synthesis magnetic induction density maximal values are synthesized by three single shaft maximal values; Owing to there is linear relationship between coil energizing current intensity and its magnetic induction density produced, the magnetic induction density that the coil of same intensity current excitation can be adopted to produce is multiplied by the magnetic induction density that different current coefficients produces to replace the coil of varying strength current excitation.Therefore, the expression formula of total magnetic induction density and the current coefficient detected about magnetic field sensor can be obtained, according to the monotonicity of this expression formula, can solve total magnetic induction density maximum time current coefficient.Utilize this current coefficient, rotation angle (now the synthesizing maximum magnetic induction vectors directed magnetic field sensor) information of one group of maximum magnetic induction vector can be calculated equally, utilize two groups of rotary angle informations of two Magnetic Field Source and the relative position of two Magnetic Field Source, the position of sensor can be calculated by method of geometry, thus realize location and follow the tracks of.
Described constant-current source device is made up of constant current source and relevant control circuit, for the coil forming Magnetic Field Source provides exciting current, namely constant current source exports DC current, each coil of the electric current alternative excitation Magnetic Field Source device that control treatment display device makes constant current source export by control circuit.
Described control treatment display device is made up of control module, algorithm unit, display translation unit.Control module comprises two parts: sampling processing module and exciting current control module.Sampling processing module is used for the signal of sampling processing from triaxial magnetic field sensor device; Exciting current control module controls each coil of controllable constant-current source apparatus alternative excitation Magnetic Field Source device.Algorithm unit on the one hand calculates according to the output data of sampling processing module the magnetic induction density value that current triaxial magnetic field sensor device detects, and then calculates one group of rotation angle corresponding to maximum magnetic induction vector according to maximum magnetic induction Vector Rotation angle Fast Measurement algorithm hereinafter described; On the other hand, when the rotation angle that the maximum magnetic induction vector calculating in Magnetic Field Source device two Magnetic Field Source is corresponding, according to the locus coordinate of position algorithm calculating magnetic field sensor hereinafter described.The locating information of magnetic field sensor shows/exports by display translation unit.Wherein, control module, algorithm unit are realized by microprocessor, and display translation unit is realized by display.
The electromagnetic tracking method based on said system that the present invention proposes, its step is (the maximum magnetic induction Vector Rotation angle Fast Measurement for Magnetic Field Source 1):
(1) by control treatment display device control controllable constant-current source apparatus, three axial coils of Magnetic Field Source 1 in Magnetic Field Source device are carried out respectively to the continuous-current excitation of same current density;
(2) by the magnetic induction density value on three orthogonal directionss of its position of triaxial magnetic field sensor measurement device, control treatment display device is delivered to;
(3) control treatment display device is according to maximum magnetic induction Vector Rotation angle Fast Measurement algorithm hereinafter described, one group of rotation angle that the maximum magnetic induction vector in calculating magnetic field source 1 is corresponding.In Magnetic Field Source device, Magnetic Field Source 2 by the step similar to Magnetic Field Source 1, one group of rotation angle that the maximum magnetic induction vector in calculating magnetic field source 2 is corresponding.According to obtained two groups of rotary angle informations, the distance in combined magnetic field source apparatus between Magnetic Field Source 1 and 2 central point
, calculate the locus of trying to achieve magnetic field sensor device.
The maximum magnetic induction Vector Rotation angle Fast Measurement algorithm that the present invention proposes, only needs once just can calculate two groups of rotation angle to each coil stimulating of composition Magnetic Field Source device respectively
with
, the feathering angle that namely the maximum magnetic induction vector of Magnetic Field Source 1 and Magnetic Field Source 2 is corresponding and vertical rotary angle.
Maximum magnetic induction Vector Rotation angle is specifically introduced below for Magnetic Field Source 1
calculating (as shown in Figure 5), the coordinate of Magnetic Field Source 1 is coordinate system 1, and its coil I, II and III are respectively along the axis direction of X1 axle, Y1 axle and Z1 axle.Suppose sensor
coordinate be
, be respectively in the projection of X1OY1, Y1OZ1 and Z1OX1 plane
,
with
,
,
with
with the angle of X1 axle, Y1 axle and Z1 axle be respectively
,
with
, wherein,
the i.e. feathering angle of Magnetic Field Source 1 maximum magnetic induction vector
.
,
with
represent when coil I, II and III are respectively with electric current
during excitation, the magnetic induction density that triaxial magnetic field sensor measures.Can be expressed as:
（1）
If coil energizing current is
time produce magnetic induction density be
, then when the electric current of drive coil I and coil II is respectively
with
, namely current coefficient is respectively
with
, the magnetic induction density of generation is then respectively
with
.
be the resultant vector of magnetic induction density and the angle of X1 axle of coil I and coil II generation, variation range is
.When the magnetic induction density resultant vector measured by sensor reaches maximal value, this magnetic induction density resultant vector is by the projection of orientation sensor in X1OY1 plane.Now,
the projection of sensor in X1OY1 plane and the angle of X1 axle
, be also the feathering angle of Magnetic Field Source 1 maximum magnetic induction vector simultaneously
.
The magnetic induction density resultant vector of the coil I that sensor detects and coil II can be expressed as:
（2）
Wherein,
.
The mould of total magnetic induction density can be written as:
（3）
Namely
（4）
Wherein,
.
Suppose
,
, wherein,
, meet
.Then
（5）
When
time,
reach maximal value, can be expressed as:
（6）
Can obtain
（7）
The i.e. feathering angle of Magnetic Field Source 1 maximum magnetic induction vector
, the namely projection of sensor in X1OY1 plane and the angle of X1 axle
.
When coil III is energized, combine with coil II or coil I, can use the same method the projection of calculating sensor in Y1OZ1 plane and the angle of Y1 axle
with the projection of sensor in Z1OX1 plane and the angle of Z1 axle
.
Due to
,
with
can be expressed as:
（8）
The vertical rotary angle of Magnetic Field Source 1 maximum magnetic induction vector
can be expressed as:
（9）
Namely
（10）
For improving the accuracy calculated, the feathering angle of Magnetic Field Source 1 maximum magnetic induction vector
with vertical rotary angle
can be written as:
（11）
（12）
Namely
（13）
（14）
The rotation angle of Magnetic Field Source 1 maximum magnetic induction vector can be calculated according to above-mentioned algorithm
.
The rotation angle of Magnetic Field Source 2 maximum magnetic induction vector
in its coordinate system 2 (as shown in Figure 6), can calculate according to the method same with Magnetic Field Source 1,
formula as follows:
（15）
（16）
According to Fig. 6,
,
with
be defined as follows:
the projection of sensor in X2O ' Y2 plane and the angle of X2 axle,
the projection of sensor in Y2O ' Z2 plane and the angle of Y2 axle,
the projection of sensor in Z2O ' X2 plane and the angle of Z2 axle.
According to the relative position between Magnetic Field Source 1 and Magnetic Field Source 2 and two groups of rotation angle
with
, the locus of triaxial magnetic field sensor can be obtained by geometric algorithm.
Position algorithm referenced patents ZL 2,010 1 0179332.2 of the present invention, utilizes and encourages the magnetic induction density of each coil gained of above-mentioned Magnetic Field Source device respectively, can rotation angle corresponding to the maximum magnetic induction vector of calculating magnetic field source 1 and Magnetic Field Source 2:
with
, according to the distance between rotary angle information and two Magnetic Field Source central points
, through type (the 17) ~ position coordinates of (19) calculating sensor in system coordinate system
as follows:
（17）
（18）
（19）
Because this method is a kind of according to the magnetic induction density under identical three axle exciting currents, magnetic induction density under theory deduction arbitrary excitation electric current, thus the electromagnetic tracking method at Fast Measurement maximum magnetic induction Vector Rotation angle, only need once just can realize location to three axial coil excitations respectively, avoid search procedure, significantly improve the real-time of system.The present invention does not rely on magnetic field model or the iterative algorithm of certain supposition, and fast effectively, stability is high, and computation complexity is low, can be applicable to the navigation of Minimally Invasive Surgery, also can apply to the fields such as virtual (enhancing) reality, 3-D supersonic imaging.
Accompanying drawing explanation
Fig. 1 is the view of the device section according to embodiments of the invention.
Fig. 2 is the details block diagram of the device in Fig. 1.
Fig. 3 is the Magnetic Field Source device three-view diagram of embodiments of the invention.
Fig. 4 is the working-flow block diagram of embodiments of the invention.
Fig. 5 is the Magnetic Field Source 1 maximum magnetic induction Vector Rotation angle Fast Measurement algorithm schematic diagram of embodiments of the invention.
Fig. 6 is the Magnetic Field Source 2 maximum magnetic induction Vector Rotation angle Fast Measurement algorithm schematic diagram of embodiments of the invention.
Fig. 7 is the object under test position algorithm schematic diagram of embodiments of the invention.
Number in the figure: 1 is electromagnetic tracking system, 2 is triaxial magnetic field sensor device, and 3 is Magnetic Field Source device, and 4 is control treatment display device, and 5 is controllable constant-current source apparatus.6,7, the 8 three axle component sensors being respectively triaxial magnetic field sensor device, 9 is signal condition and analog-to-digital conversion module; 10,11 three axial coils that two Magnetic Field Source device Magnetic Field Source 1 and Magnetic Field Source 2,12,13,14 are respectively Magnetic Field Source device 10 are respectively, 15,16,17 three axial coils being respectively Magnetic Field Source device 11; 18 is control module, and 19 is algorithm unit, and 20 is display translation unit, and 21 is sampling processing module, and 22 is exciting current control module; 23 is constant current source, and 24 is control circuit; 25 is magnetic induction density data, and 26 is maximum magnetic induction Vector Rotation angular data; 27 is initialization procedure module, and 28 is measuring process module, and 29 is computation process module, and 30 is maximum magnetic induction Vector Rotation angle computation process module, and 31 is position location computation module, and 32 is display translation procedure module.
Embodiment
Below in conjunction with specific embodiment and with reference to accompanying drawing, system composition and the course of work are described.Coordinate system involved by this specific embodiment defines with table 1, as shown in Figure 7; Involved feathering angle and vertical rotary angle define same summary of the invention.
This specific embodiment devises the electromagnetic tracking system 1 shown in Fig. 1, comprises four parts: triaxial magnetic field sensor device 2, Magnetic Field Source device 3, control treatment display device 4, controllable constant-current source apparatus 5.Triaxial magnetic field sensor device 2 is attached in tracking target.Magnetic Field Source device 3 comprises Magnetic Field Source 1 and Magnetic Field Source 2 described in the corresponding summary of the invention of two Magnetic Field Source 10 and 11(and claims), be wrapped on the magnetic core made by soft magnetic ferrite, point coincides by three respectively and mutually orthogonal coil forms; Distance between two Magnetic Field Source central points is
, and the coil of correspondence is parallel to each other.Control treatment display device 4 controls the exciting current that each coil that controllable constant-current source apparatus 5 is respectively Magnetic Field Source device 3 provides same intensity.In addition, control treatment display device 4 also gathers the output of triaxial magnetic field sensor device 2, the rotation angle that the maximum magnetic induction vector in calculating magnetic field source 10 and 11 is corresponding respectively and the locus of triaxial magnetic field sensor device 2, and export or display positioning result.
Be illustrated in figure 2 the exploded block diagram of system components.
Triaxial magnetic field sensor device 2 comprises three axle component sensors 6,7,8, is used for the magnetic induction density of detection three orthogonal directionss X3, Y3 and Z3 respectively.Three axle magnetoresistive transducers selected by magnetic field sensor in the present embodiment.The output of sensor sends into control treatment display device 4 through follow-up signal condition and analog to digital (AD) modular converter 9.
Magnetic Field Source device 3 is made up of Magnetic Field Source device 10 and 11, and Magnetic Field Source device 10 is wrapped in cross section by three and is point coincides on circular bar magnet and mutually orthogonal coil 12,13 and 14 forms; Magnetic Field Source device 11 is wrapped in cross section by three and is point coincides on circular bar magnet and mutually orthogonal coil 15,16 and 17 forms.In system, the bar magnet length forming Magnetic Field Source is 10cm, and circular cross section diameter is 1cm, and each coil turn is 800 circles, and three axle exciting currents are 1A.The core structure of Magnetic Field Source device 10 and 11 is just the same, and its three-view diagram as shown in Figure 3.
Control treatment display device 4 is made up of DSP and PC, comprises control module 18, algorithm unit 19, display translation unit 20 3 parts.Control module 18 comprises sampling processing module 21 and exciting current control module 22.Control treatment display device 4 realizes control to other assemblies, the acquisition and processing of data, the display translation etc. of tracking results.
Controllable constant-current source apparatus 5 is made up of constant current source 23 and control circuit 24.Control circuit 24 is controlled by the exciting current control module 22 of control treatment display device 4, the DC current that constant current source 23 is exported provides exciting current for each coil in Magnetic Field Source device 3, realizes the alternative excitation of the two groups of coils 12,13,14 and 15,16,17 to formation two Magnetic Field Source devices 10 and 11.
Figure 4 shows that the workflow block diagram of system.After start, first system carries out initialization.The course of work afterwards can be divided into measuring process 28 and computation process 29.Wherein measuring process is that each coil that control treatment display device 4 controls controllable constant-current source apparatus 5 pairs of Magnetic Field Source devices 3 provides identical exciting current respectively, the magnetic induction density produced when each coil that triaxial magnetic field sensor device 2 measures Magnetic Field Source device 3 is respectively energized, then namely system enters computation process 29.Computation process 29 comprises maximum magnetic induction Vector Rotation angle computation process 30 and position location computation 31, the two carries out successively, the maximum magnetic induction Vector Rotation angle of calculating magnetic field source apparatus 10 and 11 and the position of magnetic field sensor respectively, wherein position calculation algorithm is the result of calculation depending on maximum magnetic induction Vector Rotation angle.When each calculating completes, perform display translation process 32, real-time update tracking results.
Figure 5 shows that the schematic diagram of Magnetic Field Source 1 maximum magnetic induction Vector Rotation angle Fast Measurement algorithm.Magnetic induction density when utilizing the coil I of Magnetic Field Source 1 and coil II to be energized, through type (1) ~ (7) can calculate magnetic induction density resultant vector when reaching maximal value, namely when this magnetic induction density resultant vector is by the projection of orientation sensor in X1OY1 plane, the resultant vector of this magnetic induction density and the angle of X1 axle
, i.e. the projection of sensor in X1OY1 plane and the angle of X1 axle
, be also the feathering angle of Magnetic Field Source 1 maximum magnetic induction vector simultaneously
.Magnetic induction density when utilizing coil II and coil III, coil I and coil III to be energized respectively, can use the same method the projection of calculating sensor in Y1OZ1 plane and the angle of Y1 axle
with the projection of sensor in Z1OX1 plane and the angle of Z1 axle
.According to
,
with
spatial relation, through type (8) ~ (10) can calculate the vertical rotary angle of Magnetic Field Source 1 maximum magnetic induction vector
.For improving the accuracy calculated, the rotation angle of Magnetic Field Source 1 maximum magnetic induction vector
calculate by formula (11) ~ (14).
Figure 6 shows that the schematic diagram of Magnetic Field Source 2 maximum magnetic induction Vector Rotation angle Fast Measurement algorithm.The rotation angle of Magnetic Field Source 2 maximum magnetic induction vector
in its coordinate system 2, according to the step identical with formula (1) ~ (7), can calculate
,
with
basis on, through type (15) ~ (16) calculate.
Figure 7 shows that the schematic diagram of position algorithm.Two groups of rotation angle can be obtained by maximum magnetic induction Vector Rotation angle Fast Measurement algorithm
with
, the distance between two Magnetic Field Source central points
known, then by formula (the 17) ~ position coordinates of (19) calculating sensor in system coordinate system
.
Above, be only preferred embodiment of the present invention, but protection scope of the present invention is not limited thereto.Anyly be familiar with those skilled in the art in the technical scope that the present invention discloses, the change that can expect easily or replacement, within the protection domain that all should be encompassed in invention.Therefore, with claims, protection scope of the present invention should require that the protection domain defined is as the criterion.
Claims (5)
1. based on an electromagnetic tracking system for maximum magnetic induction Vector Rotation angle Fast Measurement, it is characterized in that being made up of following four parts: triaxial magnetic field sensor device, the Magnetic Field Source device be made up of two group of three axle quadrature coil, controllable constant-current source apparatus, a control treatment display device; Wherein:
Described triaxial magnetic field sensor device is attached to tracking target, for measuring the magnetic field of three orthogonal directionss in tracking target position place; Triaxial magnetic field sensor device comprises three axle component magnetic field sensors and a signal condition/analog-digital conversion module; Three axle component sensors are used for detecting the magnetic induction density of position three orthogonal directionss respectively, and it exports through follow-up signal conditioning/analog-digital conversion module feeding control treatment display device;
Described Magnetic Field Source device comprises two relative positions and the known Magnetic Field Source of attitude, i.e. Magnetic Field Source 1 and Magnetic Field Source 2, and its Nomenclature Composition and Structure of Complexes is identical, respectively by three point coincides be wrapped on soft magnetic ferrite magnetic core and mutually orthogonal coil form; Like this, with on the equidistant sphere of Magnetic Field Source central point, the magnetic induction density maximal value of single shaft coil is the axial location of this coil, and in the axial direction, total magnetic induction density maximal value of three axial coils synthesis is synthesized by single shaft maximal value in direction; Distance between two Magnetic Field Source device central points is
, and three groups of corresponding coils are parallel to each other;
Described constant-current source device is made up of constant current source and relevant control circuit, for the coil forming Magnetic Field Source provides exciting current, namely constant current source exports DC current, each coil of the electric current alternative excitation Magnetic Field Source device that control treatment display device makes constant current source export by control circuit;
Described control treatment display device is made up of control module, algorithm unit, display translation unit; Control module comprises two parts: sampling processing module and exciting current control module, sampling processing module is used for the signal of sampling processing from triaxial magnetic field sensor device, and exciting current control module controls each coil of controllable constant-current source apparatus alternative excitation Magnetic Field Source device; Algorithm unit on the one hand calculates according to the output data of sampling processing module the magnetic induction density value that current triaxial magnetic field sensor device detects, and then calculates one group of rotation angle corresponding to maximum magnetic induction vector according to maximum magnetic induction Vector Rotation angle Fast Measurement algorithm; On the other hand, when the rotation angle that the maximum magnetic induction vector calculating in Magnetic Field Source device two Magnetic Field Source is corresponding, according to the locus coordinate of position algorithm calculating magnetic field sensor; The locating information of magnetic field sensor shows/exports by display translation unit.
2. electromagnetic tracking system according to claim 1, is characterized in that, is defined as follows three coordinate systems:
Coordinate system 1: be the coordinate system of Magnetic Field Source 1; The axis of composition coil I, the coil II of Magnetic Field Source 1 and coil III is respectively along the X1 axle of this coordinate system, Y1 axle and Z1 axle, and central point i.e. this coordinate origin O of Magnetic Field Source 1, coordinate is
; This coordinate system is also system coordinate system XYZ;
Coordinate system 2: be the coordinate system of Magnetic Field Source 2; The axis of composition coil I, the coil II of Magnetic Field Source 2 and coil III is respectively along the X2 axle of this coordinate system, Y2 axle and Z2 axle, and central point i.e. this coordinate origin O ' of Magnetic Field Source 2, the coordinate in system coordinate system is
; Corresponding coordinate axle in each coordinate axis of this coordinate system and system coordinate system is parallel to each other, and X2 axle is contrary with X-direction, and Y2 axle, Z2 axle and Y-axis, Z-direction are identical;
Coordinate system 3: be the coordinate system of triaxial magnetic field sensor; Detection axis direction corresponding to triaxial magnetic field sensor is consistent respectively with Z3 direction of principal axis for the X3 axle of this coordinate system, Y3 axle, the point coincides of initial point and triaxial magnetic field sensor;
The rotation angle of the maximum magnetic induction vector that Magnetic Field Source produces is defined as follows:
Feathering angle: the angle of line between the projection and X1 axle of X1Y1 plane referring to from the initial point of coordinate system 1 to triaxial magnetic field sensor central point
; Or refer to the angle of the line between the initial point of coordinate system 2 to triaxial magnetic field sensor central point between the projection and X2 axle of X2Y2 plane
;
Vertical rotary angle: the line referring to from the initial point of coordinate system 1 to triaxial magnetic field sensor central point and the angle of this line between the projection of X1Y1 plane
; Or line referring to from the initial point of coordinate system 2 to triaxial magnetic field sensor central point and the angle of this line between the projection of X2Y2 plane
.
3. electromagnetic tracking system according to claim 2, is characterized in that, in described algorithm unit, the formula calculating one group of rotation angle corresponding to maximum magnetic induction vector according to maximum magnetic induction Vector Rotation angle Fast Measurement algorithm is:
For Magnetic Field Source 1, maximum magnetic induction Vector Rotation angle
formula as follows:
Wherein,
the projection of sensor in X1OY1 plane and the angle of X1 axle,
the projection of sensor in Y1OZ1 plane and the angle of Y1 axle,
the projection of sensor in Z1OX1 plane and the angle of Z1 axle;
To Magnetic Field Source 2, the rotation angle of maximum magnetic induction vector
formula as follows:
Wherein,
the projection of sensor in X2O ' Y2 plane and the angle of X2 axle,
the projection of sensor in Y2O ' Z2 plane and the angle of Y2 axle,
the projection of sensor in Z2O ' X2 plane and the angle of Z2 axle.
4. electromagnetic tracking method according to claim 3 and system, is characterized in that in described algorithm unit, the rotation angle corresponding according to the maximum magnetic induction vector of Magnetic Field Source 1 and Magnetic Field Source 2:
,
, and the distance between two Magnetic Field Source central points
, the position coordinates of sensor in system coordinate system
formula is as follows:
。
5., based on the electromagnetic tracking method of the electromagnetic tracking system one of claim 1-4 Suo Shu, it is characterized in that concrete steps are:
(1) by control treatment display device control controllable constant-current source apparatus, three axial coils of Magnetic Field Source in Magnetic Field Source device are carried out respectively to the continuous-current excitation of same current density;
(2) by the magnetic induction density value on three orthogonal directionss of its position of triaxial magnetic field sensor measurement device, control treatment display device is delivered to;
(3) control treatment display device is according to maximum magnetic induction Vector Rotation angle Fast Measurement algorithm, two groups of rotation angle that the maximum magnetic induction vector of calculating magnetic field source 1 and Magnetic Field Source 2 is corresponding
with
; According to obtained two groups of rotary angle informations, the distance in combined magnetic field source apparatus between Magnetic Field Source 1 and Magnetic Field Source 2 central point
, calculate the locus of trying to achieve magnetic field sensor device.
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| US11762333B2 (en) | 2020-09-17 | 2023-09-19 | Pacific Light & Hologram, Inc. | Reconstructing objects with display zero order light suppression |
| CN114440938A (en) * | 2020-11-04 | 2022-05-06 | 海智芯株式会社 | Non-contact magnetic induction system and induction method |
| CN114200360A (en) * | 2021-11-10 | 2022-03-18 | 北京自动化控制设备研究所 | Three-dimensional coil magnetic field uniformity testing method and system |
| CN114200360B (en) * | 2021-11-10 | 2023-08-15 | 北京自动化控制设备研究所 | Three-dimensional coil magnetic field uniformity testing method and system |
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