基于薄板样条函数的电磁定位系统位姿校正方法

关少亚; 孟偲; 万元宇; 贾佳; 王田苗; 郑莉芳

doi:10.13700/j.bh.1001-5965.2018.0162

基于薄板样条函数的电磁定位系统位姿校正方法

doi: 10.13700/j.bh.1001-5965.2018.0162

关少亚¹,
孟偲^{2, 3, ,},
万元宇⁴,
贾佳⁴,
王田苗^{1, 3},
郑莉芳⁴

1.
北京航空航天大学机械工程及自动化学院, 北京 100083
2.
北京航空航天大学宇航学院, 北京 10008
3.
北京航空航天大学生物医学工程高精尖创新中心, 北京 100083
4.
北京科技大学机械工程学院, 北京 100083

基金项目:

国家自然科学基金 61533016

详细信息

作者简介:
关少亚女，博士研究生。主要研究方向：医疗机器人导航系统

孟偲男，博士，副教授。主要研究方向：机器视觉、机器人智能系统

通讯作者:
孟偲, E-mail:tsai@buaa.edu.cn

中图分类号: TP242.3
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- 被引次数: 0
出版历程
- 收稿日期: 2018-03-27
- 录用日期: 2018-05-25
- 网络出版日期: 2018-11-20

A thin plate spline based method for correction of position and posture of electromagnetic tracking system

GUAN Shaoya¹,
MENG Cai^{2, 3
, ,},
WAN Yuanyu⁴,
JIA Jia⁴,
WANG Tianmiao^{1, 3},
ZHENG Lifang⁴

1.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 10008
3.
Beijing Advanced Innovation Center for Biomedical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
4.
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China

Funds:

National Natural Science Foundation of China 61533016

More Information

Corresponding author: MENG Cai, E-mail:tsai@buaa.edu.cn

摘要

摘要:
电磁定位系统（EM）凭借其精度高、反应灵活、操作简便、价格便宜以及无遮挡效应等优点，被广泛应用于各种需要进行跟踪定位的领域。在介入手术中，EM可以很好地解决因人体组织对介入器械的遮挡而无法进行精确光学定位的问题，能够对介入器械的位姿进行精确定位。但EM是通过电磁感应原理对介入器械进行跟踪定位，因此手术环境中存在的铁磁性物质产生的干扰磁场会导致EM的磁场产生畸变，从而影响其定位精度。对EM的定位原理进行了分析，通过分析EM受干扰前后传感器在相同位置的位姿变化，提出一种基于薄板样条函数的电磁定位系统校正方法，对EM受干扰后的位姿进行校正，并通过实验验证该方法的有效性。
- 电磁定位 /
- 介入手术 /
- 磁场畸变 /
- 位姿校正 /
- 薄板样条函数
Abstract:
Electromagnetic tracking system (EM) is widely used in various environments needing tracking or positioning, due to its high accuracy, flexible reaction, simple operation, cheap price and insensitivity to blocks. In vascular interventional surgery, EM performs well in clinical environment with inaccurate optical positioning due to tissue occlusion. However, EM suffers a lot from the principle of electromagnetic induction which makes it sensitive to ferromagnetic material, like steel. The magnetic field generated by ferromagnetic materials in the operation environment will cause the distortion of the magnetic field of EM, which affects the positioning accuracy seriously. In this paper, the positioning principle of EM is analyzed. By analyzing the position and orientation changes of sensors at the same position before and after the EM interference, a correction method of the electromagnetic tracking system based on the thin plate spline function is proposed to correct the position and posture of the EM after interference.The effectiveness of our method is verified by experiments.
- electromagnetic tracking /
- interventional surgery /
- magnetic field distortion /
- position and posture correction /
- thin plate spline

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图 1 NDI Aurora电磁跟踪系统组成

Figure 1. Composition of NDI Aurora electromagnetic tracking system

下载: 全尺寸图片幻灯片

图 2 同一平面不同干扰位置实验设计

Figure 2. Experimental design of interference in different positions on the same plane

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图 3 同一干扰位置空间校正实验设计

Figure 3. Experimental design of correction in space for the same interference position

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图 4 同一平面不同干扰位置校正前后位置及姿态误差对比

Figure 4. Comparison of position and posture errors before and after correction of different interference positions on the same plane

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图 5 同一干扰位置空间校正前后位姿误差分布统计

Figure 5. Statistics of position and posture error distribution before and after correction in space for the same interference position

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表 1 同一平面不同干扰源校正结果

Table 1. Correction results of different interferences on the same plane

干扰位置	Δx/mm	Δy/mm	Δz/mm	Δα/(°)	Δβ/(°)	Δγ/(°)	RMS_t/mm	RMS_r/(°)
A(校正前)	2.210	1.906	6.414	5.977	1.739	4.752	7.533	8.147
A(校正后)	0.715	0.841	0.604	0.872	0.862	0.838	1.447	1.642
B(校正前)	7.730	4.542	3.215	3.826	3.158	2.154	9.913	5.873
B(校正后)	0.697	0.995	0.909	0.845	1.615	0.889	1.665	2.136
C(校正前)	0.697	1.824	1.560	2.191	2.538	1.690	2.661	4.010
C(校正后)	0.383	1.209	0.765	1.722	1.019	0.755	1.708	2.356
D(校正前)	1.607	0.534	1.204	0.897	1.081	1.723	2.157	2.383
D(校正后)	0.317	0.177	0.420	0.368	0.564	0.445	0.604	0.901

下载: 导出CSV

表 2 同一干扰源空间校正结果

Table 2. Correction results of the same interference in space

校正前后	Δx/mm	Δy/mm	Δz/mm	Δα/(°)	Δβ/(°)	Δγ/(°)	RMS_t/mm	RMS_r/(°)
校正前	7.910	3.046	3.328	3.074	2.932	2.398	9.602	5.577
校正后	1.024	0.772	1.331	1.889	1.182	1.782	2.184	3.042

下载: 导出CSV

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