面向虚拟介入手术的单线圈接收端电磁定位新模型  

A New Electromagnetic Positioning Model with Single Coil Receiver for Virtual Interventional Surgery

作　　者：赵俭辉[1] 钟培军 袁志勇[1] 赵文元 张庭保 Zhao Jianhui;Zhong Peijun;Yuan Zhiyong;Zhao Wenyuan;Zhang Tingbao(School of Computer Science,Wuhan 430072,China;Zhongnan Hospital,Wuhan University,Wuhan 430072,China)

机构地区：[1]武汉大学计算机学院,湖北武汉430072 [2]武汉大学中南医院,湖北武汉430072

出　　处：《系统仿真学报》2023年第3期579-591,共13页Journal of System Simulation

基　　金：国家自然科学基金面上项目(62073248);武汉大学中南医院转化医学及交叉学科研究联合基金(ZNJC201926)。

摘　　要：面向虚拟介入手术导丝导管三维定位需求,针对狭窄脑血管等对更小体积传感器的要求,提出了单线圈接收端的电磁定位新模型。基于电磁学理论和几何学原理,设计了三正交线圈组阵列的电磁场发射端,以及比现有感应器尺寸更小的单线圈接收端。基于毕奥-萨伐尔定律实现了接收端到线圈组几何中心的距离计算,并基于球交点公式实现了接收端的空间坐标求解。设计了两轮精度提升算法进一步减小误差,选择优化的发射端线圈组拓扑并拟合修正距离计算值。通过在COMSOL Multiphysics多物理仿真平台的实验和脑血管介入的应用实例,验证了新模型0.05 cm的定位精度和29 Hz的定位频率,为小型高精度电磁定位传感器制造提供了理论基础。To meet the needs of 3D positioning of guide wire catheter in interventional surgery and the requirements of smaller size sensor for narrow cerebral vessels,a new electromagnetic positioning model is proposed with single coil receiver.Based on the electromagnetic theory and geometry principle,the electromagnetic field transmitter with groups of three orthogonal coils and the single coil receiver with smaller size than existing sensors are designed.Based on Biot-Savart Law,the distance between receiving end and geometric center of orthogonal coils is calculated,and spatial coordinate of receiving end is computed based on the spherical intersection formula.To further reduce the positioning error,a two-round accuracy improvement algorithm is designed for selecting the optimal topology of coil groups at the transmitter end and fitting correction of the calculated distance.Through experiments on multiphysical simulation platform of COMSOL Multiphysics and the example of cerebrovascular intervention,our new model is verified with positioning accuracy of 0.05 cm and frequency of 29 Hz,which provides a theoretical basis for the manufacture of small and precise electromagnetic positioning sensors.

关 键 词：介入手术 电磁定位 正交线圈 定位算法 精度提升 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]