数字人虚拟定位系统的研究

发布时间：2018-03-28 12:24

本文选题：数字人　切入点：磁场定位　出处：《天津大学》2012年硕士论文

【摘要】：在现代医学中,内窥镜已经被广泛用于疾病诊断,内窥镜可以为医生提供人体内脏组织图像用于疾病的诊断。由于检查时内窥镜探头位于人体体内,其在人体内的位置和角度均不可见,医生只能依据其采集到的图像,凭借经验判断与图像对应的人体组织,这不仅造成了图像识别的不便,而且容易产生误判,因此,需要一种有效的内窥镜体内实时定位技术。数字人虚拟定位系统是将医学人体数据库技术与内窥镜定位技术相结合的医疗辅助系统。该系统采用磁场定位原理,分别利用磁场传感器和加速度传感器采集磁场和重力场信息,经过信号处理,得到内窥镜探头在人体内部的位置和角度,并利用PC机将内窥镜探头的虚拟图像在数字人内部再现,从而实时地显示内窥镜在人体内的位置和探测角度。本文详细阐述了系统的定位原理和方案设计,介绍了系统的软硬件设计,对在实验室条件下的定位实验结果进行了详细的分析。本文主要工作总结如下: 1.设计了数字人虚拟定位系统的整体方案和定位原理,系统采用磁场定位方式。在学习国内外现有的磁场定位系统的基础上,设计了角度定位和位置定位相互分离的定位方式和定位算法,大大降低了磁场定位算法的复杂性,提高了定位系统的实时性。相对于国内外其他磁场定位方式,该定位系统具有结构设计和定位原理上的独创性,相关技术已申请国家发明专利; 2.设计并制作了系统定位实验所需的坐标平台,为实验室条件下进行定位实验,提供了机械结构方面的测量和定位装置。制作了系统硬件电路,包括传感器电路板、微处理器电路板、串口、I2 C接口等,利用VC语言编写了具有人机交互界面的系统应用程序,实现了系统定位算法; 3.深入研究了励磁线圈的磁场分布规律,在励磁线圈磁场的理论分析、软件仿真、实物制作等方面做了大量的工作,制作出满足系统定位要求的励磁线圈; 4.深入学习OpenGL计算机开源图形函数库,在此基础上,在应用程序中创建了内窥镜虚拟图像,利用三维图像直观显示内窥镜角度、位置信息。同时初步完成了人体虚拟图像的创建; 5.在实验室条件下,成功地利用定位系统的软硬件资源进行了内窥镜角度和位置定位实验,系统定位精度和频率均达到设计要求。
[Abstract]:In modern medicine, endoscopy has been widely used in disease diagnosis, endoscopy can provide doctors with images of human visceral tissue for the diagnosis of disease. The position and angle of the image can not be seen in the human body. The doctor can only judge the human body tissue corresponding to the image according to the image collected by the doctor, which not only causes the inconvenience of image recognition, but also easily leads to misjudgment. An effective real-time localization technique for endoscope is needed. Digital human virtual positioning system is a medical assistant system which combines medical human body database technology with endoscope positioning technology. The magnetic field and gravity field information were collected by magnetic field sensor and acceleration sensor respectively. After signal processing, the position and angle of endoscope probe in human body were obtained. The virtual image of the endoscope probe is reproduced in the digital human by PC, and the position and detection angle of the endoscope in the human body can be displayed in real time. This paper describes the positioning principle and scheme design of the system in detail, introduces the software and hardware design of the system, and analyzes the results of the localization experiment under the condition of the laboratory in detail. The main work of this paper is summarized as follows:. 1. The whole scheme and positioning principle of the digital human virtual positioning system are designed. The system adopts the magnetic field positioning method. On the basis of studying the existing magnetic field positioning system at home and abroad, The separation of angle positioning and position positioning is designed, which greatly reduces the complexity of magnetic field positioning algorithm and improves the real-time performance of the positioning system, compared with other magnetic field positioning methods at home and abroad. The positioning system has the originality in structure design and positioning principle, and the related technology has applied for the national invention patent. 2. The coordinate platform needed for the system positioning experiment is designed and made, which provides the measuring and positioning device in the mechanical structure for the positioning experiment under the condition of the laboratory, and makes the hardware circuit of the system, including the circuit board of the sensor. The microprocessor circuit board, serial port and I2C interface are used to compile the system application program with man-machine interface in VC language, and the system positioning algorithm is realized. 3. The magnetic field distribution law of excitation coil is deeply studied. A great deal of work has been done in the fields of magnetic field theory analysis, software simulation and real object manufacture, and the excitation coil which can meet the requirement of system positioning has been made. 4. Deeply study the open source graphics function library of OpenGL computer, on the basis of this, create virtual image of endoscope in the application program, and display the angle of endoscope by using 3D image intuitively. Position information. At the same time, the creation of virtual image of human body is preliminarily completed. 5. Under the condition of laboratory, the endoscope angle and position positioning experiment is carried out successfully by using the software and hardware resources of the positioning system. The precision and frequency of the system meet the design requirements.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：R318.51;TP391.41

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