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CN-121987344-A - Magnetic navigation auxiliary device and electromagnetic tracking system

CN121987344ACN 121987344 ACN121987344 ACN 121987344ACN-121987344-A

Abstract

The application relates to a magnetic navigation auxiliary device and an electromagnetic tracking system. The magnetic navigation auxiliary device is placed in an environment of a corresponding region to be positioned when the electromagnetic tracking system works, a transmitting coil in the magnetic navigation auxiliary device provides a magnetic field signal simulating a magnetic field transmitted by the electromagnetic tracking system, the electromagnetic tracking system is simulated to work in the current environment, the positioning terminal receives the magnetic field signal in the environment, if the magnetic field signal received by the positioning terminal is not matched with a reference signal, the prompting module works in a first working state, the magnetic interference exists in the surrounding environment of the magnetic navigation auxiliary device, the magnetic field signal provided by the transmitting coil is distorted, and if the electromagnetic tracking system works in the position, the positioning accuracy of the electromagnetic tracking system is also affected. The magnetic navigation auxiliary device provided by the embodiment of the application can determine the magnetic interference condition of the electromagnetic tracking system, and is beneficial to improving the positioning accuracy of the electromagnetic tracking system.

Inventors

  • YANG DAITIANYI

Assignees

  • 武汉联影智融医疗科技有限公司

Dates

Publication Date
20260508
Application Date
20241105

Claims (14)

  1. 1. A magnetic navigation aid, comprising: A housing (10); a transmitting coil (20) mounted on the housing (10), the transmitting coil (20) being configured to provide a magnetic field signal simulating a magnetic field emitted by the electromagnetic tracking system; The positioning terminal (30) is arranged on the shell (10), and the positioning terminal (30) is used for receiving magnetic field signals in the environment; the prompting module (40) is arranged on the shell (10), and the prompting module (40) is in a first working state when the magnetic field signal received by the positioning terminal (30) is not matched with a preset reference signal; the reference signal is a magnetic field signal received by the positioning terminal (30) in an environment meeting the positioning precision requirement of the electromagnetic tracking system.
  2. 2. Magnetic navigation aid according to claim 1, characterized in that the transmitting coil (20) comprises at least two sets of non-coaxial coils to support the provision of magnetic field signals in multiple directions.
  3. 3. The magnetic navigation aid of any of claims 1-2, further comprising: the wireless detection module (50) is installed in the shell (10), and the wireless detection module (50) is used for sweeping in a frequency range corresponding to a preset communication frequency band so as to detect and transmit the signal intensity of each channel in the frequency range to the electromagnetic tracking system, so that the electromagnetic tracking system works on the channel with the lowest interference.
  4. 4. The magnetic navigation aid of any of claims 1-2, further comprising: the processing circuitry is configured to process the data, the processing circuit is configured to: converting a communication channel of a main controller in the electromagnetic tracking system into a target frequency in a preset frequency range based on a preset transcoding function; An excitation current of the same frequency as the target frequency is provided to the transmitting coil (20) to support a communication channel driving a wireless positioning terminal (22) in the electromagnetic tracking system to operate in the main controller.
  5. 5. The magnetic navigation aid of any of claims 1-2, further comprising: A light source device (60) is mounted on the housing (10) and is used for projecting a light source of a target wave band to a wireless positioning terminal (22) in the electromagnetic tracking system so as to activate the wireless positioning terminal (22).
  6. 6. The magnetic navigation aid of claim 5, the magnetic navigation auxiliary device is characterized by further comprising: And the status lamp is used for working when the light source device (60) works, and the status lamp and the light source device (60) are arranged on different sides of the shell (10).
  7. 7. The magnetic navigation aid according to any one of claims 1-2, wherein the positioning terminals (30) are plural, the prompting module (40) being further configured to be in a second operating state within a target working space of a magnetic field emitted by the electromagnetic tracking system; Wherein an error between a result of calculation of relative positions of the plurality of positioning terminals (30) within the target workspace and an actual relative position between the plurality of positioning terminals (30) is within a first preset error range.
  8. 8. The magnetic navigation aid according to claim 7, wherein the prompting module (40) comprises: And the indicator lamp is arranged on the shell (10) and is used for being in a second working state in the target working space of the magnetic field.
  9. 9. The magnetic navigation assistance device according to claim 8, wherein the indicator light is configured to be in a third operating state when an error between a result of calculation of relative positions of the plurality of positioning terminals (30) and an actual relative position between the plurality of positioning terminals (30) is within a second preset error range, a lower limit value of the second preset error range being larger than an upper limit value of the first preset error range; and/or the number of the groups of groups, The indicator lamp is used for being in a fourth working state when the error between the relative position calculation result of the positioning terminals (30) and the actual relative positions of the positioning terminals (30) is larger than the upper limit value of the second preset error range.
  10. 10. The magnetic navigation aid according to any one of claims 1-2, wherein the housing (10) comprises: a handle portion (11); a probe portion (12) connected to the handle portion (11); The transmitting coil (20), the positioning terminal (30) and the prompting module (40) are all mounted on the detecting head part (12).
  11. 11. An electromagnetic tracking system, the electromagnetic tracking system comprising: A transmitter for transmitting a magnetic field signal; A wireless positioning terminal (22) for being arranged on an object to be positioned, the wireless positioning terminal (22) being configured to receive the electromagnetic signal; A main controller in communication with the transmitter and the wireless location terminal (22), respectively; wherein the transmitter and/or the main controller are for connecting a magnetic navigation aid as claimed in any one of claims 1-10.
  12. 12. The electromagnetic tracking system of claim 11, characterized in that in the case where the transmitting coil (20) provides a magnetic field that matches a communication channel of the master controller, the wireless positioning terminal (22) is configured to: extracting the frequency of the acquired signal intensity greater than a preset intensity threshold; determining a target channel based on the frequency of the acquired signal strength greater than a preset strength threshold and an inverse function of a preset transcoding function; And operating on the target channel.
  13. 13. The electromagnetic tracking system of claim 12, characterized in that the wireless location terminal (22) is configured to operate on an alternate communication channel nearest to the target channel if the target channel is inconsistent with a preset agreed number of alternate communication channels.
  14. 14. The electromagnetic tracking system of claim 11, characterized in that the wireless location terminal (22) comprises: -a housing (221), the housing (221) having a transparent area; a receiver housed within the housing (221), and configured to receive the electromagnetic signal; and the photoelectric switch (222) is connected with the receiver, the photoelectric switch (222) is arranged in a transparent area of the shell (221), and the photoelectric switch (222) is used for driving the receiver to work when receiving a light source of a target wave band.

Description

Magnetic navigation auxiliary device and electromagnetic tracking system Technical Field The application relates to the technical field of electromagnetic tracking, in particular to a magnetic navigation auxiliary device and an electromagnetic tracking system. Background An electromagnetic tracking system (EMTS, electronic MANAGEMENT TRACKING SYSTEM) mainly includes a magnetic field transmitter and a positioning terminal provided on a patient or surgical device. In the electromagnetic tracking system, after the positioning terminal collects a time-varying magnetic field generated by the magnetic field transmitter, signals are preprocessed and packaged and then transmitted to the main controller in a wireless mode, so that electromagnetic tracking is realized. The magnetic field signal is easily influenced by metal, ferromagnetic materials and other magnetic field signals, and the magnetic field distribution is invisible, so that the magnetic interference condition in the working process of the electromagnetic tracking system is difficult to determine, and the positioning accuracy of the electromagnetic tracking system cannot be guaranteed. Disclosure of Invention Based on this, it is necessary to provide a magnetic navigation assistance device and an electromagnetic tracking system that are advantageous for improving the positioning accuracy of the electromagnetic tracking system. In a first aspect, there is provided a magnetic navigation assistance device comprising: A housing; The transmitting coil is arranged on the shell and used for providing a magnetic field signal simulating a magnetic field emitted by the electromagnetic tracking system; the positioning terminal is arranged on the shell and used for receiving magnetic field signals in the environment; the prompting module is arranged on the shell and is used for being in a first working state under the condition that a magnetic field signal received by the positioning terminal is not matched with a preset reference signal; The reference signal is a magnetic field signal received by the positioning terminal in an environment meeting the positioning precision requirement of the electromagnetic tracking system. In one embodiment, the transmit coil includes at least two sets of non-coaxial coils to support providing magnetic field signals in multiple directions. In one embodiment, the magnetic navigation assistance device further comprises: the wireless detection module is arranged on the shell and used for sweeping frequency in a frequency range corresponding to a preset communication frequency band so as to detect and transmit signal intensity of each channel in the frequency range to the electromagnetic tracking system, so that the electromagnetic tracking system works on the channel with the lowest interference. In one embodiment, the magnetic navigation assistance device further comprises: Processing circuitry for: converting a communication channel of a main controller in the electromagnetic tracking system into a target frequency in a preset frequency range based on a preset transcoding function; An excitation current of the same frequency as the target frequency is provided to the transmitting coil to support a communication channel that drives a wireless positioning terminal in the electromagnetic tracking system to operate in the master controller. In one embodiment, the magnetic navigation assistance device further comprises: the light source device is arranged on the shell and used for projecting a light source of a target wave band to the wireless positioning terminal in the electromagnetic tracking system so as to activate the wireless positioning terminal. In one embodiment, the magnetic navigation assistance device further comprises: the status lamp is used for working when the light source device works, and the status lamp and the light source device are arranged on different sides of the shell. In one embodiment, the plurality of positioning terminals are provided, and the prompt module is further used for being in a second working state in a target working space of the magnetic field emitted by the electromagnetic tracking system; the error between the calculation result of the relative positions of the plurality of positioning terminals in the target working space and the actual relative positions of the plurality of positioning terminals is within a first preset error range. In one embodiment, the hint module includes: the indicator lamp is arranged on the shell and is used for being in a second working state in a target working space of the magnetic field. In one embodiment, the indicator light is configured to be in a third working state when an error between a result of calculating relative positions of the plurality of positioning terminals and an actual relative position between the plurality of positioning terminals is within a second preset error range, where a lower limit value of the second preset error range is greater tha