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在介入式内窥手术中,需要对手术器械精确定位。传统电磁定位(EMT)方法因稳键性低、复杂度高,难以应用于临床。为解决上述问题,在电磁系统的基础上加入惯性传感单元(IMU),实现了多传感定位方法。多种传感信息的融合可提高系统的抗干扰能力。同时,惯性子系统可降低电磁系统的复杂度,提高整体的实用性。实验结果表明,姿态跟踪误差低于1°,位置定位误差低于3mm;即使存在干扰,姿态误差也可被控制在3.5°以内。精度达到临床应用要求。
In interventional endoscopic surgery, surgical instruments need precise positioning. The traditional electromagnetism location (EMT) method is difficult to be applied to the clinic due to its low stability and high complexity. In order to solve the above problems, an inertial sensing unit (IMU) is added to the electromagnetic system to realize a multi-sensing positioning method. A variety of sensor information fusion can improve the system’s anti-interference ability. At the same time, the inertial subsystem can reduce the complexity of the electromagnetic system and improve the overall practicability. The experimental results show that the attitude error is less than 1 ° and the position error is less than 3 mm. The attitude error can be controlled within 3.5 ° even though there is interference. Accuracy to meet the clinical application requirements.