面向虚拟介入手术的单线圈接收端电磁定位新模型

doi:10.16182/j.issn1004731x.joss.21-1131

摘要/Abstract

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。

关键词: 介入手术, 电磁定位, 正交线圈, 定位算法, 精度提升

Abstract:

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.

Key words: intervention surgery, electromagnetic positioning, orthogonal coils, positioning algorithm, accuracy improvement

中图分类号:

TP391.9

赵俭辉, 钟培军, 袁志勇, 赵文元, 张庭保. 面向虚拟介入手术的单线圈接收端电磁定位新模型[J]. 系统仿真学报, 2023, 35(3): 579-591.

Jianhui Zhao, Peijun Zhong, Zhiyong Yuan, Wenyuan Zhao, Tingbao Zhang. A New Electromagnetic Positioning Model with Single Coil Receiver for Virtual Interventional Surgery[J]. Journal of System Simulation, 2023, 35(3): 579-591.

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参数	数值
导线材料	Copper
电流/A	100×2
导线截面积/mm²	3.14
空间材料	Air
空间范围	40 cm×40 cm×40 cm
线圈大半径/cm	1

材料	属性	值
Copper	相对磁导率	1
	电导率(S/m)	5.998E7
	相对介电常数	1
Air	相对磁导率	1
	电导率(S/m)	0
	相对介电常数	1

正交线圈组	x分量	y分量	z分量
1号	5.374 4E-5	5.435 9E-5	9.512 0E-5
2号	7.498 8E-6	5.525 0E-6	6.018 8E-6
3号	5.550 9E-6	7.555 3E-6	6.036 4E-6
4号	2.715 8E-6	2.736 5E-6	2.792 4E-6

点位编号	线圈组
点位编号	1号	2号	3号	4号
1号点	5.014 9	11.134 1	11.154 3	14.786 7
理论	5.000 0	11.180 3	11.180 3	15.000 0
误差	0.014 9	-0.046 2	-0.026 0	-0.213 3
2号点	8.652 5	8.663 7	8.652 3	8.633 6
理论	8.660 3	8.660 3	8.660 3	8.660 3
误差	-0.007 8	0.003 4	-0.008 0	-0.026 7
3号点	16.883 1	13.979 8	13.976 7	10.003 2
理论	17.320 5	14.142 1	14.142 1	10.000 0
误差	-0.437 4	-0.162 2	-0.165 4	0.003 2
4号点	13.993 2	13.996 4	11.244 9	11.241 7
理论	14.142 1	14.142 1	11.260 3	11.260 3
误差	-0.148 9	-0.145 7	-0.015 4	-0.018 6

点位编号	x	y	z
1号点	0.036 5	0.059 1	5.014 4
已知	0.000 0	0.000 0	5.000 0
误差	0.036 5	0.059 1	0.014 4
2号点	5.000 2	4.990 4	4.996 0
已知	5.000 0	5.000 0	5.000 0
误差	0.000 2	-0.009 6	-0.004 0
3号点	9.484 7	9.480 3	10.257 0
已知	10.000 0	10.000 0	10.000 0
误差	-0.515 3	-0.519 7	0.257 0
4号点	8.468 0	4.995 6	9.957 2
已知	8.660 3	5.000 0	10.000 0
误差	-0.192 3	-0.004 4	-0.042 8