一种用于介入式内窥手术的多传感融合定位方法  

A Sensing-Fusion Tracking Method for Inversion Endoscope Surgery

作　　者：陈晓冬[1] 杜承阳[1] 朱晓田[1] 汪毅[1] 郁道银[1] 

机构地区：[1]天津大学精密仪器与光电子工程学院光电信息技术教育部重点实验室,天津300072

出　　处：《中国激光》2014年第12期97-101,共5页Chinese Journal of Lasers

基　　金：国家"十二五"科技支撑计划(2012BAI19B02)

摘　　要：在介入式内窥手术中,需要对手术器械精确定位。传统电磁定位(EMT)方法因稳键性低、复杂度高,难以应用于临床。为解决上述问题,在电磁系统的基础上加入惯性传感单元(IMU),实现了多传感定位方法。多种传感信息的融合可提高系统的抗干扰能力。同时,惯性子系统可降低电磁系统的复杂度,提高整体的实用性。实验结果表明,姿态跟踪误差低于1°,位置定位误差低于3mm;即使存在干扰,姿态误差也可被控制在3.5°以内。精度达到临床应用要求。In inversion endoscope surgery, high-accuracy tracking for medical instruments is demanded. Traditional electromagnetic tracking （EMT） methods are confined by their low robustness and high complexity, which restrict EMT from clinical application. To solve the problems, an inertial measurement unit （IMU） is added to EMT system to realize multi-sensing tracking. The effective fusion techniques provide anti-interference ability for the tracking system. At the same time, IMU can also help to simplify EMT and improve practicality on system level, The experimental results show that orientation error is less than 1°, and position error is less than 3 mm. Even under disturbances, orientation error can be controlled under 3.5°, which meets the clinical requirements.

关 键 词：医用光学 内窥手术 传感融合 电磁定位 惯性传感 

分 类 号：O436[机械工程—光学工程]