CN104224089B - A kind of endoscopic system with surgical navigational function for possessing antijamming capability - Google Patents

A kind of endoscopic system with surgical navigational function for possessing antijamming capability Download PDF

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CN104224089B
CN104224089B CN201410465885.2A CN201410465885A CN104224089B CN 104224089 B CN104224089 B CN 104224089B CN 201410465885 A CN201410465885 A CN 201410465885A CN 104224089 B CN104224089 B CN 104224089B
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endoscope
acceleration
antijamming capability
output
sensing data
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CN104224089A (en
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陈晓冬
杜承阳
汪毅
郁道银
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Tianjin University
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Tianjin University
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Abstract

The invention provides a kind of endoscopic system with surgical navigational function for possessing antijamming capability.Surgical navigational subsystem of the present invention realizes that it includes three axis accelerometer, three-axis gyroscope and three axis magnetometer three kinds of sensors by inertial navigation module.Micro-electromechanical technology is relied on, navigation subsystem can be integrated in the handle of endoscope, endoscope itself is possessed positioning function.In location algorithm, by appropriate anti-interference process, the position error that external magnetic field and endoscope motion bring is reduced, improve the stability and accuracy of positioning.

Description

A kind of endoscopic system with surgical navigational function for possessing antijamming capability
Technical field
The invention belongs to computer assisted ESS field of navigation technology.
Background technology
With the development of modern medicine, the Minimally Invasive Surgery of implementation tool is wanted to obtain widely recognizing based on endoscopic system Can be with quickly popularization.In order to preferably reach minimally invasive purpose, doctor must accurately obtain current endoscope attitude and Position, therefore usually need by location of operation and airmanship.Therefore, modern Endoscopy and medical navigation technology are mutually auxiliary phases Into, also usually need two systems simultaneously to cooperate during performing the operation.
Chinese patent CN200910198524 discloses one kind《The dress that operation guiding system is combined with endoscopic system Put and its apply》, the patent gives a kind of method that optical positioning system is combined with endoscope:By special machinery Structure, optical alignment ball is fixed in endoscope handle.In use, optical alignment ball need to be entered by imaging unit Line trace, so as to the purpose to endoscope positioning.
There are the following problems in actual applications for above-mentioned patent:First, the introducing of mechanical structure causes endoscope handle part Volume greatly increase, influence may be brought on normal endoscopic technic.2nd, optical alignment needs to ensure to image in principle There is unobstructed sight line between machine and place kick, the condition by limit system orientation range, it is possible to create multiple can not determine Position region.3rd, optical alignment needs to complete location tasks by multiple video cameras in principle, and this will bring not to operating room Necessary space pressure.
The content of the invention
Present invention aim to address the above mentioned problem that prior art is present, there is provided a kind of to possess carrying for antijamming capability The endoscopic system of surgical navigational function.
First, the system is integrated in inside endoscope system by by the positioning subsystem being made up of inertial navigation module, gram Taken influence of the positioning subsystem to endoscopic technic, and eliminate in optical alignment can not positioning region, while it also avoid The space pressure that optical alignment brings.On the other hand, for inertial navigation itself, electronic equipment and iron in working space The non-inertial motion of matter apparatus and endoscope can all directly influence the precision and stability of positioning, therefore the present invention is in algorithm Part is realized, there is provided corresponding Anti-interference Design, to improve the robustness of positioning.
The present invention provide the endoscopic system with surgical navigational function for possessing antijamming capability include, endoscope and It is responsible for the host computer of control and positioning calculation, navigation module mounting platform is reserved with the endoscope handle, by microcomputer The inertial navigation module on the mounting platform of endoscope handle inside is installed on after electric minimization, inertial navigation module adds comprising three axles Speedometer, three-axis gyroscope and three axis magnetometer three kinds of sensors, and the on-chip system with radio communication function and miniature Antenna, the sensing data of on-chip system collection three kinds of sensors output, and be sent to sensing data by miniature antenna upper Machine;Described host computer includes computer, on-chip system and antenna with radio communication function, with radio communication function On-chip system pass through antenna receive inertial navigation module export sensing data, and by sensing data packing be transferred to computer, The location algorithm that computer passes through to have designed carries out positioning calculation.
Location algorithm in the computer possesses antijamming capability, can suppress the distortion of field and the non-inertial fortune of endoscope The dynamic sensor output noise brought;When being restrained by the attitude of ground magnetic vector and sight glass more internal than force vector, by ground Magnetic vector output relative error and than force vector export relative error as Convergence monitoring function weight, to adjust receipts Direction is held back, attitude convergence result is adaptively obtained;It is line by specific force resolution of vectors by the output of gyroscope and accelerometer Property acceleration, acceleration of gravity and centripetal acceleration three, and by carrying out quadratic integral to linear acceleration, obtain position knot Really.
In specific implementation, the inertial navigation system that this method will be conventionally used to carrier navigation is applied to location of operation field. The micro electro mechanical inertia sensing unit that will be made up of three-axis gyroscope, three axis accelerometer and three axis magnetometer is fixed on endoscope hand Inside handle, to obtain sensing data.Sensing data is transferred to host computer by communication again, and host computer passes through algorithm reality It is existing, carry out full dimension positioning.Location algorithm can be roughly divided into two steps.The first step, is exported by gyroscope and attitude is updated, And attitude quaternion is restrained with magnetometer output by accelerometer output.In convergence process, by measuring acceleration Meter output and the relative error of magnetometer output, the weight of control acceleration and ground magnetic vector in convergence process, with To the Adaptive Attitude result for possessing noiseproof feature.Second step, based on the attitude result for having obtained, and accelerometer and gyro The output of instrument, by building rigid block element, the position to three dimensionality resolves.The part is not directly using ground magnetic survey Amount result, therefore can further avoid possible magnetic disturbance.
Advantages and positive effects of the present invention:
For the bottleneck that disclosed patent is present, inertia sensing is introduced medical navigation field by the present invention, and will be by micro- The inertia sensing module of mechanical & electrical technology minimization is attached to inside endoscope handle.By acceleration, gyroscope and magnetometer reality When measurement specific force, angular speed and ground magnetic vector;Collected sensing data is sent to host computer by radio communication, and passes through Algorithm resolves real-time attitude and the position for obtaining endoscope.
Be embedded in navigation system inside endoscope system by the present invention, can't change the profile of endoscope, therefore prevent and lead Influence of the boat system to endoscope system.Meanwhile, inertial navigation does not simultaneously exist the sight line demand in optical alignment, and without arrange again Ancillary equipment (the shooting unit such as in optical positioning system), alleviates the space pressure of operating room.
(1) clinical dilemma of traditional operation air navigation aid is overcome.Traditional operation air navigation aid includes optical alignment and electromagnetism Positioning.The former has strict sight line requirement, and the latter need to strictly control the electromagnetic interference source of working space.This 2 points in actual hand Art environment is unapproachable.However, inertial navigation can effectively avoid these problems:On the one hand, inertia system is being used In be not exposed to the limitation of sighting condition;On the other hand, the fusion of many heat transfer agents can reduce the dependence that system is sensed to magnetic, borrow Effective algorithm is helped to design, response of the system to noise can further be weakened.Finally, can build and a set of can be used in the total space The location of operation system of the output stabilization of scope.
(2) endoscope system does not interfere with each other mutually with navigation system.Because in the present apparatus, navigation system is installed in endoscope The inside of system, can't change the profile of endoscope, thus the operation of doctor will not be made troubles.Meanwhile, endoscope system Be able to can't there is a problem of blocking observation sight line in optical positioning system in total space arbitrary motion.
(3) strong antijamming capability, robustness is high.System introduces inertia sensing, and system is improved by information fusion technology Stability.In fusion process, by observing the relative error that magnetometer and accelerometer are exported, the credible of information source is investigated Degree.According to relative error size, the direction of control convergence and degree obtain the optimum attitude solution to noise self adaptation.To sum up, lead to Cross hardware to be realized with the method for software view, the overall robustness of system is improved as far as possible.
(4) real-time is good, strong adaptability.Relative to the published inertial positioning method with noiseproof feature, this method The filtering of complexity is avoided, algorithm complex is reduced, to obtain more preferable real-time.At the same time, this method and it is not required to Prior calibration process is wanted, thus it also avoid the problem that need to repeat to demarcate when use environment is changed, improve system to not With the adaptability of environment.
Brief description of the drawings
Fig. 1 is the system composition frame diagram of location of operation system.
Fig. 2 is the mounting means schematic diagram of navigation elements, and in figure, 1 is endoscope (part), and 2 is to be installed on endoscope hand The inertia sensing unit of handle.
Fig. 3 is the overall flow figure of the adaptive tracking method based on sensing fusion.
Specific embodiment
Embodiment 1:
As depicted in figs. 1 and 2, the endoscope system with surgical navigational function for possessing antijamming capability that the present invention is provided System includes that the host computer of endoscope and responsible control and positioning calculation is reserved with navigation module peace in the endoscope handle Assembling platform, by the inertial navigation module being installed on after micro electronmechanical minimization on the mounting platform of endoscope handle inside, inertia is led Model plane block includes three axis accelerometer, three-axis gyroscope and three axis magnetometer three kinds of sensors, and with radio communication function On-chip system and miniature antenna, on-chip system collection three kinds of sensors output sensing data, and by miniature antenna will pass Sense data is activation is to host computer;Described host computer includes computer, on-chip system and antenna with radio communication function, On-chip system with radio communication function passes through antenna and receives the sensing data that inertial navigation module is exported, and by sensing data Packing is transferred to computer, and the location algorithm that computer passes through to have designed carries out positioning calculation.
The present invention processes a size and inertial navigation module size before endoscope handle is completed inside it Unanimously, both sides rectangular recess parallel with endoscope telescope or vertical respectively, puts down as the installation of the inertial navigation module of rectangle Platform.
In a specific way be fixed on inside endoscope handle inertial sensor unit by the present invention, is gathered using on-chip system Sensing data simultaneously passes through wireless communication transmissions to host computer.Host computer carries out the position of 6DOF by algorithm proposed by the present invention Resolving is put, to realize the real-time location navigation to endoscope.Algorithm part, exported by three-axis gyroscope is carried out tentatively to attitude Estimate, and attitude is measured respectively by three axis magnetometer and three axis accelerometer output, convergence estimate value, to obtain appearance State measured value.In convergence process, magnetometer output is exported and acceleration of gravity with the relative error and accelerometer in earth's magnetic field Relative error judges the size of noise as adaptive factor, and adjustment convergence weight obtains self adaptation convergence result.Obtain real When attitude result after, each output component of separate accelerometer, to build the kinematics differential equation.And then, resolve linear acceleration Degree component, and numerical integration is carried out on the time to it, obtain current location.
First, system hardware is constituted
Please as shown in Figure 1, system is divided into two parts on hardware.Part I is to be installed on inside endoscope handle Sensor unit;It is made up of sensor module, wireless transmitting module and miniature antenna.Sensor module is micro electronmechanical comprising three Sensor, i.e. accelerometer, gyroscope and magnetometer.Wireless transmitting module is mainly on a piece with wireless transmitting function System.Part II is the host computer for being responsible for data calculation and display;It is by Communication Control center, wireless transmitting module and antenna Composition.Communication control center is the maincenter of the system, is responsible for system control and data processing.Wireless receiving module is also mainly by one The individual on-chip system with wireless transmitting function is constituted.
Please as shown in Figure 2, when navigation system is attached to inside endoscope system, it is necessary to the reference axis of two systems is entered The strict alignment of row.The principle of alignment is:, parallel to endoscope work telescope, Z axis are perpendicular to endoscope for the X-axis of sensor unit Work telescope and the dorsad direction of handle.In order to reach alignment purpose, the groove of rectangle is processed inside endoscope handle, its Two length of sides are consistent with two length of sides of the inertial navigation module of rectangle, used as the mounting platform of inertial navigation module, mounting platform one While parallel to scope work telescope, while perpendicular to work telescope.Rectangular sensor unit circuitry plate is fixed by screw In mounting platform, its is each to align while each with mounting platform respectively.In order to ensure that sensor unit circuitry plate is adjacent to and peace completely Assembling platform, circuit board all electronic components whole branches in circuit board simultaneously.
2nd, working-flow
When system works, wireless transmitting module gathers the output of sensor module by specific manner of communication, and is led to Miniature antenna is crossed to launch to host computer.The wireless receiving module of host computer is then forwarded to communication after antenna receives data Control centre, and resolved by it, obtain positioning result.It is, for example possible to use supporting that the on-chip system of Zigbee protocol is made It is wireless transmitting module and wireless receiving module, and uses Zigbee protocol as the communication mode between system two parts;With Desktop computer is used as Communication Control center;Wireless transmitting module is communicated with sensor module with I2C or SPI protocol;Wirelessly Receiving module is communicated with Communication Control center with usb protocol.
3rd, the attitude positioning method of self adaptation
Overall positioning flow is please as shown in Figure 3.The attitude four of present invention use gravitational vectors and ground magnetic vector to sensor First number is restrained.In convergence process, difference and the magnetometer output with acceleration of gravity and ground according to accelerometer output The difference of magnetic intensity distributes weight factor.
If,It is accelerometer in the output of carrier coordinate system,It is magnetometer in the output of carrier coordinate system;gnFor Accelerometer reference frame output, mnIt is magnetometer in the output of reference frame.
For accelerometer measures, relative to acceleration of gravity, linear acceleration is with centripetal acceleration in a small amount.Line Property acceleration and centripetal acceleration introducing can't significantly influence the direction of specific force, the direction of specific force can be assert substantially attaches most importance to The direction of power acceleration.Therefore, build relative error using only scalar value.I.e.:
Measured for magnetic intensity.Magnetic distortion is entirely possible in size to be in the same order of magnitude with absolute force.Magnetic distorts Introducing can significantly influence the direction of total magnetic intensity.Therefore, relative error is built jointly with size and two, direction factor.
Similar to acceleration magnitude error, magnetic intensity Size Error is represented by:
Magnetic intensity deflection error:The direction of specific force is had substantially no effect in view of linear acceleration and centripetal acceleration, is chosen Magnetic intensity describes direction of the magnetic intensity in reference frame and carrier coordinate system with the angle of specific force.In reference frame, This angle is designated as βn;In carrier coordinate system, it is contemplated that the presence of distortion, this angle is designated asThen,
, magnetic intensity deflection error:
Total magnetic intensity error is:
fadm=k1·fadm1+k2·fadm2 (6)
In formula, k1With k2It is two constant weight factors.Two numbers are empirical value, and meet:
k1+k2=1 (7)
To sum up, the error observation function of self adaptation is shown in (8).When gravity measurement error is larger, fadgIt is corresponding to increase, So that magnetic surveyLeading convergence process;Similarly, when magnetic survey error is larger, fadmIt is corresponding to increase Greatly so that gravity measurementLeading convergence process.
In formula,It is the estimation of spin matrix.As can be seen that for gravity measurement and magnetic survey, noise it is larger one Side will account for back burner in convergence process, and error is bigger, and its relative weighting is lower.Therefore, this method can be according to sensor The size of degree is disturbed, is adaptively adjusted so that result is closer to optimal solution.
It is corresponding with (8) convergence objective matrix be:
According to (10) (11) two formula, Gauss-Newton decline, convergence estimate quaternary number are carried out to (9) formulaCan be obtained from The attitude result of adaptation.
Wherein, (10) relational expression that to be the m times iteration update to the m+1 times iteration, α is iteration step length.
4th, location positioning method
The specific force output of accelerometer contains three points of linear acceleration, centripetal acceleration acceleration and acceleration of gravity Amount composition.Therefore, under carrier coordinate system, there is following relation:
Wherein, abIt is the linear acceleration of scope front end under carrier coordinate system.ωbI.e. gyroscope is under carrier coordinate system Output, three axle components are ωx、ωyAnd ωz;ωb×vbThe centripetal acceleration of scope as under carrier coordinate system.gbFor carrier is sat Acceleration of gravity under mark system.
In the Attitude Tracking stage, having obtained real-time spin matrix isTherefore gbCan be obtained by following relation:
Linear acceleration is differential of the speed on the time, i.e.,:
(13) (14) two formula is substituted into (12) formula, you can obtain under carrier coordinate system, single order of the speed on the time is micro- Divide equation, it is as follows.
Velocity is gone out in reference frame following table by (16) formula,
(16) formula is substituted into (15) formula, the mathematics obtained between velocity and the sensor output under reference frame is closed System.
Also, under reference frame, position vector is First-order Integral of the speed on the time, i.e.,
pn=∫ vn·dt (18)
Numerical solution is carried out on a locating periodically to (17) formula, and result is fixed at one to speed by (18) formula Discrete integration is carried out on bit period, you can real-time update position vector.To sum up, 6 be can obtain step by step according to above-mentioned two certainly By the location information spent.
It was verified that magnetic distortion size in earth's magnetic field size ± 25%, and specific force size acceleration of gravity ± When 25%, angle error in tracking is can be controlled within 3.5 °, and position position error is can be controlled within 3.5mm.Both of which reaches Clinical practice requirement, possesses preferable antijamming capability and stability.

Claims (1)

1. a kind of endoscopic system with surgical navigational function for possessing antijamming capability, including endoscope and be responsible for control with The host computer of positioning calculation, it is characterised in that have navigation module mounting platform in the endoscope handle internal reservation, by micro- The inertial navigation module on the mounting platform of endoscope handle inside is installed on after electromechanical minimization, inertial navigation module includes three axles Accelerometer, three-axis gyroscope and three axis magnetometer three kinds of sensors, and the on-chip system with radio communication function and micro- Type antenna, the sensing data of on-chip system collection three kinds of sensors output, and be sent to sensing data by miniature antenna Position machine;Described host computer includes computer, on-chip system and antenna with radio communication function, with radio communication work( The on-chip system of energy passes through antenna and receives the sensing data that inertial navigation module is exported, and sensing data packing is transferred into electricity Brain, computer carries out positioning calculation by the attitude with antijamming capability that has designed, position location algorithms;The positioning is calculated Method possesses antijamming capability, can suppress the sensor output noise that the distortion of field and the non-inertial motion of endoscope bring;When When being restrained by the attitude of ground magnetic vector and sight glass more internal than force vector, the relative error and ratio that ground magnetic vector is exported The relative error of force vector output, to adjust convergence direction, adaptively obtains attitude and receives as the weight of Convergence monitoring function Hold back result;By specific force resolution of vectors it is linear acceleration, acceleration of gravity and centripetal by the output of gyroscope and accelerometer Acceleration three, and by carrying out quadratic integral to linear acceleration, obtain position result.
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