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

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

Abstract

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

CLC Number:

TP391.9

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