基于磁场方式的内窥镜体内三维定位方法研究

3D localizing method for endoscope probe by magnetic field

介绍使用磁场方式来测定内窥镜探头在人体内三维位置及姿态角的一种方法 .根据 3个互相正交的圆环线圈在其周围空间产生的三维磁场以及附着于内窥镜探头上的 3个相互正交的磁场传感器在该磁场空间任意点以任意姿态感应磁场时所获得的信号 ,建立以空间位置 (x、y、z) ,姿态角 (a、b、c)为未知数的六元非线性方程组 .求解该非线性方程组 ,就可以由磁场传感器所获得的测量数据计算出对应的一组位置和姿态 (x ,y ,z ,a ,b ,c) 信息 ,从而实现内窥镜探头的三维定位和跟踪 .

In this paper,we describe a method for measuring 3D position and orientation of endoscope probe inserted in patient's body by magnetic field. We use three mutual orthogonal coils and three mutual orthogonal magnetic field sensors to make a localizing system,construct 6D nonlinear equation group (including 3D position and 3 attitude angles)and solve them. Then,we can get the 3D position and orientation (x, y, z, a, b, c) of endoscope probe.