内窥镜导管电磁定位跟踪系统

发布时间：2018-04-17 18:56

本文选题：导管内窥镜 + 电磁定位　；参考：《太原科技大学》2015年硕士论文

【摘要】：导管式内窥镜在工业及医疗界有广泛的应用。由于内窥镜导管在物体内的操作过程人眼无法直接观察到,其导管的位置形态不能估测,从而影响操作人员对内窥镜的操作。如医生在临床使用内窥镜时,不能够观测到内窥镜导管在人体内的位置与形态变化,造成进退操作困难,会增加病人的痛苦,也可能造成医疗事故。所以,需要有一种实时的检测装置将导管的形状进行测量并完整的显示出来提供给操作者进行观测,以提升对导管的操作精度和质量。目前常用的观测内窥镜导管的方法是采用X光成像技术,但是该技术会给操作者和操作对象带来辐射,影响健康;而且设备大、价格昂贵、使用不方便。因此,本文提出电磁定位跟踪技术。该技术具有高精度,无辐射,无遮挡问题的优点。使用该技术实现对内窥镜导管及镜头的运动变化的实时定位跟踪,并在显示器中给操作者显示导管的完整形态,从而提高操作者对导管内窥镜的操控能力,提升操作质量。基于电磁定位的基本原理,本文提出了硬件系统方案,制作了电磁激励线圈与传感感应线圈,设计了正弦信号发生电路和信号放大滤波接收电路,实现了激励线圈与感应线圈的高效耦合。依据电磁感应原理,系统在物体外设置了三轴激励线圈,并在导管上设置多个三轴感应线圈。通过软件即最小二乘拟合算法的计算,提取了接收信号的幅值与相位参数;本文首次提出对带噪声的饱和畸变正弦信号进行拟合重建,并提取准确的耦合正弦信号,大大提升了定位量程。进一步根据磁偶极子模型,通过解析计算的方法对导管上多个感应线圈的磁场强度与空间位置、方向进行了计算,得到了它们的三维位置参数和三维方向参数;根据这些位置方向参数可以重建出导管的完整形态。
[Abstract]:Catheter endoscopy is widely used in industry and medical field.Because the operation of endoscope catheter in the object can not be directly observed by the human eye, the location and shape of the catheter can not be estimated, thus affecting the operator's operation of the endoscope.If the doctor can not observe the change of position and shape of endoscope catheter in human body when using endoscope clinically, it will cause difficulty in moving forward and backward, will increase the pain of patients, and may also cause medical malpractice.Therefore, it is necessary to have a real-time detection device to measure the shape of the catheter and provide the complete display to the operator for observation, in order to improve the operation accuracy and quality of the catheter.At present, X-ray imaging technology is commonly used to observe endoscope catheter, but this technique will bring radiation to operator and operation object, and it will affect health, and the equipment is large, the price is expensive, and it is not convenient to use.Therefore, electromagnetic positioning and tracking technology is proposed in this paper.This technique has the advantages of high accuracy, no radiation and no occlusion.The technique is used to realize the real-time positioning and tracking of the changes in the movement of the endoscope catheter and lens, and to display the complete shape of the catheter to the operator in the display, so as to improve the operator's ability to manipulate the catheter and improve the quality of the operation.Based on the basic principle of electromagnetic positioning, this paper proposes a hardware system scheme, makes electromagnetic excitation coil and sensing induction coil, designs sinusoidal signal generating circuit and signal amplifying filter receiving circuit.The high efficiency coupling of excitation coil and induction coil is realized.According to the principle of electromagnetic induction, a three-axis excitation coil is arranged outside the object, and a plurality of three-axis induction coils are arranged on the catheter.The amplitude and phase parameters of the received signal are extracted by the calculation of the least square fitting algorithm, and the fitting and reconstruction of the saturated distorted sinusoidal signal with noise is proposed for the first time, and the accurate coupled sinusoidal signal is extracted.Greatly improved positioning range.Further, according to the magnetic dipole model, the magnetic field intensity and spatial position and direction of several inductive coils on the catheter are calculated by analytical calculation method, and their three-dimensional position parameters and three-dimensional directional parameters are obtained.According to these position direction parameters, the complete shape of the catheter can be reconstructed.
【学位授予单位】：太原科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH776.1

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