磁传感方式的内窥镜三维定位与引导方法

介绍了一种用磁传感方式测定内窥镜探头在人体内三维位置及姿态角的方法，根据3个互相正交的圆环线圈在其周期空间产生的三维磁场以及附着于内窥镜探头上3个相互正交的磁场传感器在空间任意点以任意资态感应该磁场时获得的信号，建立以空间位置（x,y,z），姿态角(a,b,c)为未知数的六元非线性方程组，由此解出探头的一组位置和姿态信息，实现内窥镜探头的三维定位，在此基础上将内窥镜位置显示到预行采集获得的3D－CT人体图像上，实现无伤害的体内引导和跟踪。

A 3D LOCALIZING AND NAVIGATION METHOD FOR ENDOSCOPE BY MAGNETIC FIELD

Describes in this paper is a method for measuring 3D position and orientation of endoscope probe inserted in patient's body by magnetic field. Through deriving particularly three expressions of magnetic field generated respectively by three mutual orthogonal coils, and deriving three expressions of the magnetic induction signals obtained by three mutual orthogonal magnetic field sensors attached in the endoscope at any position and any orientation, a 6D nonlinear equation group (including 3D position and 3 attitude angles) can be constructed. Using Newton Laferson arithmetic and original data obtained from magnetic sensors, the 3D position and orientation ( x, y, z, a, b, c ) of endoscope probe can be determined by solving the 6D equation group. Then, displaying the position of the endoscope probe in the 3D CT image obtained from CT scanner beforehand, it is possible to realize harmless 3D localization and navigation of probe in endoscope diagnosis.