【摘要】 本研究以磁场方式来测定内窥镜探头在人体内的三维位置及姿态角。根据三个互相正交的圆环线圈在其周围空间任意点产生的三维磁感应强度表达式 ,以及附着于内窥镜探头上的三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信号的表达式 ,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。使用具有全局收敛特性的牛顿 拉夫森算法求解非线性方程组 ,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) ,从而实现内窥镜探头的三维定位和跟踪更多还原

【Abstract】 We described a method for measuring 3D position and orientation of endoscopic probe using magnetic field. We derived particularly three expressions of magnetic field generated respectively by three mutually orthogonal coils, and also derived three expressions of the magnetic induction signals obtained by three mutually orthogonal magnetic field sensors attached to the endoscope. Then we constructed 6D nonlinear equation group (including 3D positions and 3 attitude angles), and adopted Newton Laferson arithmetic to solve the equations. Finally, we could get the 3D position and orientation (x,y,z,a,b,c) by using original data obtained from magnetic sensors; and could thus realize 3D localization and navigation of probe during endoscopic diagnosis.更多还原