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一种电磁定位系统工作空间拓展方法

郑莉芳 万元宇 关少亚 孙凯 孟偲 贾佳

郑莉芳, 万元宇, 关少亚, 等 . 一种电磁定位系统工作空间拓展方法[J]. 北京航空航天大学学报, 2019, 45(10): 1956-1964. doi: 10.13700/j.bh.1001-5965.2019.0037
引用本文: 郑莉芳, 万元宇, 关少亚, 等 . 一种电磁定位系统工作空间拓展方法[J]. 北京航空航天大学学报, 2019, 45(10): 1956-1964. doi: 10.13700/j.bh.1001-5965.2019.0037
ZHENG Lifang, WAN Yuanyu, GUAN Shaoya, et al. A method for expanding workspace of electromagnetic tracking system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(10): 1956-1964. doi: 10.13700/j.bh.1001-5965.2019.0037(in Chinese)
Citation: ZHENG Lifang, WAN Yuanyu, GUAN Shaoya, et al. A method for expanding workspace of electromagnetic tracking system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(10): 1956-1964. doi: 10.13700/j.bh.1001-5965.2019.0037(in Chinese)

一种电磁定位系统工作空间拓展方法

doi: 10.13700/j.bh.1001-5965.2019.0037
基金项目: 

国家自然科学基金 61873010

国家自然科学基金 61533016

详细信息
    作者简介:

    郑莉芳  女, 博士, 副教授。主要研究方向:先进机电液系统

    万元宇  男, 硕士研究生。主要研究方向:医疗机器人、电磁定位

    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: TP241.2

A method for expanding workspace of electromagnetic tracking system

Funds: 

National Natural Science Foundation of China 61873010

National Natural Science Foundation of China 61533016

More Information
  • 摘要:

    针对NDI电磁定位跟踪设备工作空间有限且在工作空间内定位精度不一致的问题,提出了一种利用机械臂移动磁场发生器从而拓展电磁定位系统工作空间且保证定位精度的方法。利用NDI系统返回的误差指示值衡量定位精度,当误差指示值超出设定的阈值时,利用机械臂移动磁场发生器使传感器重新位于NDI系统的最佳测量工作区,并将电磁定位系统测量的位姿通过空间变换方式统一到机械臂基座坐标系,从而在保证定位精度的同时也起到扩展工作空间的作用。为验证所提方法的有效性,通过实验验证定位误差与误差指标值及传感器到磁场发生器中心的距离成正相关关系;通过拓展前后的误差分析表明,所提方法能有效降低定位误差,平均位置误差从2.61 mm降低到1.34 mm,平均姿态误差从2.42°降低到1.37°。所提方法可应用于类似血管介入手术导管在大范围移动的器械定位与跟踪。

     

  • 图 1  NDI电磁定位系统Aurora的组成

    Figure 1.  Composition of NDI Aurora electromagnetic tracking system

    图 2  电磁定位系统空间拓展装置

    Figure 2.  Space expansion device of electromagnetic tracking system

    图 3  EM工作空间拓展流程

    Figure 3.  Process of EM workspace expansion

    图 4  EM工作空间拓展坐标系

    Figure 4.  Coordinate system of EM workspace expansion

    图 5  磁场发生器与机器人末端的转换矩阵标定

    Figure 5.  Calibration of conversion matrix between magnetic field generator and robot wrist

    图 6  误差指示值验证实验模型

    Figure 6.  Experimental model for error indicator value validation

    图 7  位置误差、姿态误差与误差指示值随传感器到磁场发生器中心距离的变化趋势

    Figure 7.  Variation trend of position error, orientation error and indicator value with distance from sensor to center of magnetic field generator

    图 8  EM工作空间拓展验证实验模型

    Figure 8.  Experimental model of EM workspace expansion verification

    图 9  EM工作空间拓展前后的位置误差

    Figure 9.  Position error before and after EM workspace expansion

    图 10  EM工作空间拓展前后的姿态误差

    Figure 10.  Orientation error before and after EM workspace expansion

    表  1  几种电磁定位产品主要性能指标

    Table  1.   Main performance indicators of several electromagnetic tracing products

    产品 测量距离/mm 位置精度/mm 方位精度/(°)
    Aurora 500 1.6 1.1
    Fastrak 762 0.762 0.15
    Isotrak 762 2.54 0.75
    下载: 导出CSV

    表  2  不同平面拓展前后位置误差与姿态误差

    Table  2.   Position error and orientation error of different planes before and after expansion

    Z/mm 拓展前位置误差/mm 拓展后位置误差/mm 拓展前姿态误差/(°) 拓展后姿态误差/(°)
    Mean SD Mean SD Mean SD Mean SD
    0 2.74 0.71 1.34 0.28 2.36 1.13 1.41 0.41
    90 2.42 0.64 1.28 0.19 2.29 1.25 1.32 0.28
    150 2.68 0.65 1.39 0.22 2.62 1.38 1.37 0.32
    平均值 2.61 0.67 1.34 0.23 2.42 1.25 1.37 0.34
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-01-23
  • 录用日期:  2019-05-10
  • 刊出日期:  2019-10-20

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