摘要
为了提高电磁定位系统的定位精度、稳定性及抗干扰性,本文提出了一种基于相位差的电磁跟踪方法。在对方法的可行性进行了验证的基础上,设计实现了采用了C/S体系架构的电磁定位系统并进行了初步的测试。测试结果表明该系统的平均位置误差为0.1047±0.0006 cm,平均姿态误差为0.2687°±0.0287°。在1 kHz的激励信号下,该系统最快定位速度可达到3.5 ms。可见,基于相位差的电磁定位系统具有较高的定位速度和定位精度,同时具有较高的稳定性,经过进一步的优化可满足多种场景,包括介入式微创手术的定位需求。
This manuscript proposes an electromagnetic tracking method based on phase difference to improve the positioning accuracy,stability,anti-interference of the electromagnetic positioning system.Based on verifying the feasibility of the method,the electromagnetic positioning system using C/S architecture was designed and preliminary tests were carried out.The test results show that the system has an average position error of 0.1047±0.0006 cm,an average orientation error of 0.2687±0.0287°,and a low variance.The tracking time of this system can be less than 3.5 ms with the excitation signal of 1 kHz.It can be seen that this electromagnetic positioning system has high positioning speed and positioning accuracy,and has high stability at the same time.It has good application prospects in many respects including interventional minimally invasive surgery.
作者
黄兴曼
邬小玫
方祖祥
Huang Xingman;Wu Xiaomei;Fang Zuxiang(Department of Electronic Engineering,Fudan University,Shanghai 200433,China;Shanghai Key Laboratory of Medical Image Computing and Computer Assisted Intervention,Shanghai 200032,China;Shanghai Engineering Research Center of Assistive Devices,Shanghai 200433,China)
出处
《电子测量技术》
2020年第8期54-59,共6页
Electronic Measurement Technology
基金
国家自然科学基金资助项目(No.1171009、61801123)
中国博士后基金(2019M61367)
上海市科委重点项目(2017SHZDZX01)
上海市经信委工业强基项目(GYQJ-2018-2-05)
关键词
电磁定位
系统设计
相位差
electromagnetic positioning
system design
phase difference
作者简介
通信作者:邬小玫,工学博士,复旦大学电子工程系教授、博士生导师,主要研究方向为医学电子学、心脏起搏与心脏电生理等。E-mail:xiaomeiwu@fudan.edu.cn;黄兴曼,复旦大学电子工程系硕士研究生在读,主要研究方向为医学电子学。E-mail:xmhuang17@fudan.edu.cn
