CN102813517A - Electromagnetic positioning device and method for body area network medical diagnosis or rehabilitation training - Google Patents

Electromagnetic positioning device and method for body area network medical diagnosis or rehabilitation training Download PDF

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Publication number
CN102813517A
CN102813517A CN2012103274466A CN201210327446A CN102813517A CN 102813517 A CN102813517 A CN 102813517A CN 2012103274466 A CN2012103274466 A CN 2012103274466A CN 201210327446 A CN201210327446 A CN 201210327446A CN 102813517 A CN102813517 A CN 102813517A
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electromagnetic signal
electromagnetic
matrix
emission source
receiving sensor
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CN102813517B (en
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孙晓颖
王庆龙
陈明智
白洋
陈建
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Jilin University
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Jilin University
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Abstract

The invention relates to an electromagnetic positioning device and method for body area network medical diagnosis or rehabilitation training and belongs to a medical positioning device and method. The electromagnetic positioning device comprises an electromagnetic signal driving amplifying unit, an electromagnetic emission source, an electromagnetic signal receiving sensor, a filtering amplifying unit, an analog/digital (A/D) conversion unit, a data processing and controlling unit and an upper computer. The electromagnetic positioning device and method for the body area network medical diagnosis or rehabilitation training have the advantages that the electromagnetic positioning method can accurately detect body movement of patients; the working frequency of the electromagnetic positioning device can reach 100Hz, and the real-time performance of the electromagnetic positioning device is good; the theory precision can reach 1mm, and the positioning is accurate and free of singularity; and the electromagnetic positioning device and method can be widely applied to the process of the medical diagnosis or rehabilitation training of the patients suffered from Parkinson, epilepsy and the like.

Description

The electromagnetic location apparatus and method that are used for body area network medical diagnosis or rehabilitation training
Technical field
The invention belongs to a kind of medical positioner and method, the electromagnetic location method that is specifically related to a kind of electromagnetic positioning system and can be used for body area network medical diagnosis and rehabilitation training.
Background technology
World today's aging problem is on the rise, and how to monitor in real time the health of aged population effectively, becomes global question of common concern.Parkinson disease are the 4th modal neurodegenerative diseases among the old people, and it is slow that it mainly shows as patient motion, the trembling of trick or other part of health, and health loses flexibility, becomes stiff.50% ~ 80% case insidious onset, first symptom normally static property of the 4Hz ~ 8Hz of a side hand " sth. made by twisting ball appearance " tremble.Therefore thisly tremble the most significantly when limbs are static, the monitoring for patient's limbs is the Parkinsonian important means of diagnosis.
Body area network is mainly used in medical health field as a kind of Wireless Personal Network, especially is used for continuous monitoring and record chronic disease (like diabetes, asthma and heart disease etc.) patient's health parameters, and the automatic medical control of certain mode is provided.Electromagnetic location is combined with body area network, can realize effectively senile disease such as parkinson being monitored, and make diagnosis timely and medical treatment for the monitoring of patient's limb motion situation.
Electromagnetic location is the technology of a kind of six-freedom degree that utilizes electromagnetic wave to confirm testee (three position freedoms and three attitude degree of freedom).Compare with location technologies such as ultrasonic type, photo-electrics, the cost of electromagnetic location is low, range of activity freedom and flexibility, better portable, and its outstanding advantage is the restriction that does not receive view obstruction, and this is that other locate mode is incomparable.In track and localization to limbs, because limbs can rock, stretching motion even can be lived by other partial occlusion of health, have only electromagnetic location can realize comprehensive location, just can realize comprehensive monitoring for limb motion.
Electromagnetic location receives publicity as a kind of good location technology always.Jack Kuipers has proposed a kind of electromagnetic positioning system and a kind of electromagnetic location algorithm in the United States Patent (USP) 4/742.56 that is entitled as " Method and apparatus for determining remote object orientation and position "; But the form of its algorithm use hypercomplex number iteration; Rationally choosing of hypercomplex number initial value is very important; And the complexity of calculating is higher, is unfavorable for the real-time of system.Wang Ying, Chen Bin, people such as solicitous utilize dsp processor to design a kind of hardware scheme and software design flow process of electromagnetic location data collecting system in the paper that is entitled as " application of DSP in the six degree of freedom electromagnetic tracking system "; But its system's imperfection; Do not consider practical situation; Do not have the Electromagnetic Launching signal to drive amplifying unit and electromagnetism reception signal filtering amplifying unit, system is imperfect, does not have actual realizability.Xu Tong, Wang Yongtian, Yan Dayuan etc. have introduced definite algorithm of six degree of freedom electromagnetic tracking system position and attitude at the paper that is entitled as " the six degree of freedom electromagnetic tracking system that is used for virtual reality "; But its algorithm utilization is the computing of matrix; It can produce distortion near+45 ° and-45 °, positioning accuracy is exerted an influence.
Summary of the invention
The present invention provides a kind of electromagnetic location apparatus and method that are used for body area network medical diagnosis and rehabilitation training, to solve coarse problem that present electromagnetic location apparatus and method exist.
The technical scheme that the present invention takes is: electromagnetic signal receiving sensor and filtering amplifying unit, A/D converting unit, date processing and control unit, electromagnetic signal drive amplifying unit, the electromagnetic signal emission source is linked in sequence, and this date processing is connected with host computer with control unit;
Said date processing with the control unit structure is: processor is connected SDRAM memorizer, FLASH memorizer, power circuit and USB interface respectively, and the processor here is DSP or single-chip microcomputer or FPGA or ARM data processing chip; Be used for driving amplifying unit on the one hand and send control signal to electromagnetic signal; Link to each other with A/D converter on the one hand; Receiving electromagnetic signals data the resolving of line position attitude coordinate of going forward side by side on the other hand through data-interface, given host computer with the position and attitude information transmission after handling;
Said electromagnetic signal drives amplifying unit, is used for the control signal of date processing and control unit generation is driven amplification, to drive the work of electromagnetic signal emission source;
Said electromagnetic signal emission source is orthogonal three axial coils; Drive amplifying unit by electromagnetic signal and drive, three axial coil time-sharing works are in order to the space radiation electromagnetic wave; The sinusoidal ac signal that can timesharing sends the low frequency of certain amplitude also can timesharing send the dc pulse signal of certain amplitude.
Said electromagnetic signal receiving sensor is small-sized quadrature three axial coils or magnetoresistive transducer chip; Communicating by letter between pick off and filtering amplifying unit can be adopted wired or wireless mode; Wireless mode mainly contains bluetooth, Zigbee; Be used for receiving the electromagnetic wave signal in space, as the pick off of confirming the human body limb movement situation;
Said filtering amplifying unit is used for electromagnetism is received the filtering amplification of signal, conveniently to carry out the A/D conversion;
Said A/D converting unit mainly is made up of A/D converter, is used for the signal after the filtering amplification is carried out analog digital conversion, imports at last and carries out resolving of position and attitude coordinate in date processing and the control unit;
Said host computer is PC or mobile terminal device; Be used to receive the data of date processing and control unit; The motion conditions of limbs is presented on the terminal; Be used for motion with limbs with the form of coordinate or the form of three-dimensional graph shows, doctor or monitoring personnel carry out comprehensive monitoring through the limb motion situation to patient, realize the purpose of medical diagnosis and rehabilitation training.
Electromagnetic signal receiving sensor of the present invention, it can adopt a plurality of electromagnetic signal receiving sensors, is attached to the arm or the shank of human body simultaneously, realizes that the multiple spot of this device is located simultaneously, can realize the monitoring of the motion conditions of whole health.
The present invention can adopt the collaborative work of a plurality of electromagnetic signal emission source, enlarging the working range of this device, realizes on a large scale, multiobject motion monitoring.
The present invention is used for the electromagnetic location method of body area network medical diagnosis or rehabilitation training, comprises the following steps:
At first drive amplifying unit, drive the quadrature three axial coil time-sharing works of electromagnetic signal emission source, to the space radiation electromagnetic wave by date processing and control unit control electromagnetic signal;
The X of electromagnetic signal emission source, Y, z axis circle send signal T x, T y, the T z of the certain amplitude of certain frequency chronologically; The electromagnetic signal emission matrix of system is:
X = 1 0 0 0 1 0 0 0 1
The electromagnetic signal receiving sensor is the three-dimensional orthogonal coil; Be responsible for to receive the electromagnetic signal in the space, the low frequency magnetic field of each emission of electromagnetic signal emission source all can induce induced signal R x, R y, the R z of different amplitudes in the X of electromagnetic signal receiving sensor, Y, z axis circle;
This induced signal imports date processing and control unit into then after filtering amplifying unit and A/D converting unit; In date processing and control unit, extract the range value of each road, the induced signal on each time period; And this segment signal carried out bit comparison mutually with pairing transmitting; If homophase then range value is just got, otherwise get negatively, so just obtain the receiving matrix of system:
Y = A 11 A 12 A 13 A 21 A 22 A 23 A 31 A 32 A 33
Next in date processing and control unit, carry out finding the solution of position and attitude coordinate;
Can be known by inference by the magnetic dipole correlation theory, three rank receiving matrix Y and three rank emission matrix X have following relation:
Y = - K r 3 HMX
Y is known receiving matrix in the formula, is made up of nine measured values; X is known emission matrix; K is system constants; R is the distance of electromagnetic signal receiving sensor and electromagnetic signal emission source; M be comprised the electromagnetic signal receiving sensor with respect to the position spherical coordinates of electromagnetic signal emission source (r, α, β) evolution matrix,
M = I - 3 u → u → T
Wherein
Figure BDA0000210885135
is for pointing to the unit position coordinates vector of r;
H has comprised the attitude angle (
Figure BDA0000210885136
of electromagnetic signal receiving sensor with respect to the electromagnetic signal emission source; ψ; Posture changing matrix θ)
Can calculate the attitude of electromagnetic signal receiving sensor by receiving matrix Y through following formula with respect to the electromagnetic signal emission source:
H = - r 3 K YX - 1 M - 1
For calculating the H matrix, need calculate r and M earlier; Can obtain at last through matrixing:
K 2 r 6 M 2 = ( YX - 1 ) T YX - 1
Introducing unit position coordinates vector
Figure BDA00002108851310
gets:
4 K 2 r 6 u → = ( YX - 1 ) T YX - 1 u →
Wherein, unit position coordinates vector
Figure BDA00002108851312
Be transformation matrix A=(YX -1) TYX -1About eigenvalue Characteristic vector;
Can know by linear algebra knowledge, matrix trace equal on its leading diagonal each element with, can ask the mark of matrix A:
tra ( A ) = A 11 + A 22 + A 33 = 6 K 2 r 6
Thereby obtain:
r = ( 6 K 2 A 11 + A 22 + A 33 ) 1 / 6
So just, obtained the distance of electromagnetic signal receiving sensor and electromagnetic signal emission source.
When unit of account position coordinates vector
Figure BDA00002108851316
; Adopt the mould biggest characteristic value of computational transformation matrix A and the alternative manner of its characteristic of correspondence vector, the key step of method is following:
(1) sets a vectorial c, as initial vector;
(2) set a → = A c → , u → = a → | | a → | |
(3) ; If | λ-τ |<ε, finish to calculate this moment; If do not satisfy condition, then turn to step (4);
τ is matrix A characteristic of correspondence value;
Figure BDA00002108851320
is matrix A character pair vector, and ε is a set-point of control system operational precision;
(4) τ=λ; turns to step (2);
In this interative computation, eigenvalue initial value τ gets
Figure BDA00002108851322
, characteristic vector initial value c gets the position coordinates vector u of unit that is tried to achieve T, the ε value of control accuracy gets 0.001;
In linear interval, iteration can meet the demands for twice, between the inelastic region in: near 45 °, need at most only iteration 5 times, iterations is few, fast convergence rate;
Through this iterative algorithm; Calculated matrix A characteristic of correspondence value λ and characteristic vector
Figure BDA00002108851323
, but characteristic vector calculating location transform matrix M thus;
According to characteristic vector
Figure BDA00002108851324
; Can be in the hope of the position spherical coordinates (r of electromagnetic signal receiving sensor with respect to the electromagnetic signal emission source; α, β)
α = arctan u 2 u 1
β = arctan u 3 u 1 2 + u 2 2
Calculate the attitude angle ( of electromagnetic signal receiving sensor then with respect to the electromagnetic signal emission source; ψ, posture changing matrix H θ):
H = - r 3 K YX - 1 M - 1
And solve attitude angle (
Figure BDA00002108851329
through Ο; ψ, θ):
Figure BDA00002108851330
ψ = arcsin ( - H 13 )
θ = arctan ( H 23 / H 33 )
Thus; Location algorithm finishes; Accomplished the electromagnetic signal receiving sensor with respect to the position spherical coordinates of electromagnetic signal emission source (r, α is β) with the attitude angle (
Figure BDA00002108851333
of electromagnetic signal receiving sensor with respect to the electromagnetic signal emission source; ψ, resolving θ); Last these data are passed to host computer by date processing and control unit, realize the detection of limb motion.
This kind asks the alternative manner of individual characteristics value and characteristic vector to be used for the electromagnetic susceptibility locating and tracking system, is very effective for the degree of accuracy that improves algorithm, and theoretical precision can confirm that theoretical precision can reach 1mm by the value of the ε of control accuracy; And the singular point problem in can effectively avoiding calculating.
This kind asks the alternative manner of individual characteristics value and characteristic vector to be used for the electromagnetic susceptibility system, is very effective for the degree of accuracy that improves algorithm, and theoretical precision can confirm that theoretical precision can reach 1mm by the value of the ε of control accuracy; And the singular point problem in can effectively avoiding calculating.
The present invention has following advantage:
(1) the present invention can adopt wireless mode to depend on patient's limbs, uses more flexible.
(2) the present invention can adopt the collaborative work of a plurality of electromagnetic signal emission source, broadens the scope of work, and the suitability is stronger.
(3) the present invention adopts high speed processor to carry out accurate computing and control, guarantees the real-time and the accuracy of system, and the high accuracy floating-point is adopted in computing, and the every 3ms of system samples to X, Y, Z axis signal, and system frequency can reach more than the 100Hz.
Be to utilize the knowledge of adjoint matrix can be when (4) general algorithm resolves matrix, and then try to achieve evolution matrix M and posture changing matrix H in the hope of characteristic vector
Figure BDA00002108851334
.But for application of practical project, can there be distortion phenomenon near the measurement in attitude and orientation in actual measurement (45 °), therefore algorithm is improved.
The present invention adopts the alternative manner of asking individual characteristics value and characteristic vector to come the data that system receives are carried out resolving of position and attitude, can effectively solve the singular point problem, and can improve the degree of accuracy of algorithm, and theoretical precision can reach 1mm.
(5) electromagnetic location apparatus and method of the present invention; No singular point, comprehensive, precision is high; Can effectively monitor the static property " sth. made by twisting ball appearance " of the 4Hz ~ 8Hz of hand trembles; Be particularly suitable for application, can be used in the diagnosis of nervous system diseasies such as parkinson, epilepsy, essential tremor, spasmodic torticollis and MSA human posture and abnormal gait monitoring, also can extensive use in the rehabilitation training of limb motion damage.
Description of drawings
Fig. 1 is a theory diagram of the present invention;
Fig. 2 is the DSP structure chart of date processing of the present invention and control unit;
Fig. 3 is that electromagnetic signal of the present invention drives the amplifying unit circuit theory diagrams;
Fig. 4 is the structural representation of electromagnetic signal emission source of the present invention;
Fig. 5 A is the AC signal form figure that electromagnetic signal of the present invention drives amplifying unit output;
Fig. 5 B is the direct current signal form figure that electromagnetic signal of the present invention drives amplifying unit output;
Fig. 6 is the structural representation of electromagnetic signal receiving sensor of the present invention;
Fig. 7 is the circuit theory diagrams of filtering amplifying unit of the present invention;
Fig. 8 is the circuit theory diagrams of A/D converting unit of the present invention;
Fig. 9 is a kind of wireless sensing positioning principle of the present invention block diagram;
Figure 10 is the theory diagram of wireless sensing positioning unit of the present invention.
The specific embodiment
Electromagnetic signal receiving sensor 5 drives amplifying unit 3 with filtering amplifying unit 6, A/D converting unit 1, date processing and control unit 2, electromagnetic signal, electromagnetic signal emission source 4 is linked in sequence, and this date processing is connected with host computer 7 with control unit 2;
Said date processing and control unit 2; Structure is: processor 201 connects SDRAM memorizer 202, FLASH memorizer 203, power circuit 204 and USB interface 205 respectively, and the processor here is DSP or single-chip microcomputer or FPGA or ARM data processing chip; Be used for driving amplifying unit on the one hand and send control signal to electromagnetic signal; Link to each other with A/D converter on the one hand; Receiving electromagnetic signals data the resolving of line position attitude coordinate of going forward side by side on the other hand through data-interface, given host computer with the position and attitude information transmission after handling;
Said electromagnetic signal drives amplifying unit 3, is used for the control signal of date processing and control unit generation is driven amplification, to drive the work of electromagnetic signal emission source;
Said electromagnetic signal emission source 4 is orthogonal three axial coils; Driving amplifying unit by electromagnetic signal drives; Three axial coil time-sharing works; In order to the space radiation electromagnetic wave, can timesharing send the sinusoidal ac signal of the low frequency of certain amplitude, also can timesharing send the dc pulse signal of certain amplitude;
Said electromagnetic signal receiving sensor 5 is small-sized quadrature three axial coils or magnetoresistive transducer chip; Communicating by letter between pick off and filtering amplifying unit can be adopted wired or wireless mode; Wireless mode mainly contains bluetooth, Zigbee; Be used for receiving the electromagnetic wave signal in space, as the pick off of confirming the human body limb movement situation;
Said filtering amplifying unit 6 is used for electromagnetism is received the filtering amplification of signal, conveniently to carry out the A/D conversion;
Said A/D converting unit 1 mainly is made up of A/D converter, is used for the signal after the filtering amplification is carried out analog digital conversion, imports at last and carries out resolving of position and attitude coordinate in date processing and the control unit;
Said host computer 7 is PC or mobile terminal device; Be used to receive the data of date processing and control unit; The motion conditions of limbs is presented on the terminal; Be used for motion with limbs with the form of coordinate or the form of three-dimensional graph shows, doctor or monitoring personnel carry out comprehensive monitoring through the limb motion situation to patient, realize the purpose of medical diagnosis and rehabilitation training.
Electromagnetic signal receiving sensor 5 of the present invention, it can adopt a plurality of electromagnetic signal receiving sensors, is attached to the arm or the shank of human body simultaneously, realizes that the multiple spot of this device is located simultaneously, can realize the monitoring of the motion conditions of whole health.
The present invention can adopt a plurality of electromagnetic signal emission source 4 collaborative works, with the working range of expansion instrument.
The present invention is used for the electromagnetic location method of body area network medical diagnosis or rehabilitation training, comprises the following steps:
At first drive amplifying unit 3, drive the quadrature three axial coil time-sharing works of electromagnetic signal emission source 4, to the space radiation electromagnetic wave by date processing and control unit 2 control electromagnetic signals;
The X of electromagnetic signal emission source 4, Y, z axis circle send signal T x, T y, the T z of the certain amplitude of certain frequency chronologically; The electromagnetic signal emission matrix of system is:
X = 1 0 0 0 1 0 0 0 1
Electromagnetic signal receiving sensor 5 is the three-dimensional orthogonal coil; Be responsible for to receive the electromagnetic signal in the space, the low frequency magnetic field of each emission of electromagnetic signal emission source 4 all can induce induced signal R x, R y, the R z of different amplitudes in the X of electromagnetic signal receiving sensor 5, Y, z axis circle;
This induced signal imports date processing and control unit 2 into then after filtering amplifying unit 6 and A/D converting unit 1; In date processing and control unit 2, extract the range value of each road, the induced signal on each time period; And this segment signal carried out bit comparison mutually with pairing transmitting; If homophase then range value is just got, otherwise get negatively, so just obtain the receiving matrix of system:
Y = A 11 A 12 A 13 A 21 A 22 A 23 A 31 A 32 A 33
Next in date processing and control unit 2, carry out finding the solution of position and attitude coordinate;
Can be known by inference by the magnetic dipole correlation theory, three rank receiving matrix Y and three rank emission matrix X have following relation:
Y = - K r 3 HMX
Y is known receiving matrix in the formula, is made up of nine measured values; X is known emission matrix; K is system constants; R is the distance of electromagnetic signal receiving sensor 5 and electromagnetic signal emission source 4; M be comprised the electromagnetic signal receiving sensor with respect to the position spherical coordinates of electromagnetic signal emission source (r, α, β) evolution matrix,
M = I - 3 u → u → T
Wherein
Figure BDA00002108851339
is for pointing to the unit position coordinates vector of r;
H has comprised the attitude angle ( of electromagnetic signal receiving sensor 5 with respect to electromagnetic signal emission source 4; ψ; Posture changing matrix θ)
Can calculate the attitude of electromagnetic signal receiving sensor 5 by receiving matrix Y through following formula with respect to electromagnetic signal emission source 4
H = - r 3 K YX - 1 M - 1
For calculating the H matrix, need calculate r and M earlier; Can obtain at last through matrixing:
K 2 r 6 M 2 = ( YX - 1 ) T YX - 1
Introducing unit position coordinates vector
Figure BDA00002108851344
gets:
4 K 2 r 6 u → = ( YX - 1 ) T YX - 1 u →
Wherein, unit position coordinates vector
Figure BDA00002108851346
Be transformation matrix A=(YX -1) TYX -1About eigenvalue Characteristic vector;
Can know by linear algebra knowledge, matrix trace equal on its leading diagonal each element with, can ask the mark of matrix A:
tra ( A ) = A 11 + A 22 + A 33 = 6 K 2 r 6
Thereby obtain:
r = ( 6 K 2 A 11 + A 22 + A 33 ) 1 / 6
So just, obtained the distance of electromagnetic signal receiving sensor 5 with electromagnetic signal emission source 4.
When unit of account position coordinates vector ; Adopt the mould biggest characteristic value of computational transformation matrix A and the alternative manner of its characteristic of correspondence vector, the key step of method is following:
(5) set a vectorial c, as initial vector;
(6) set a → = A c → , u → = a → | | a → | |
(7)
Figure BDA00002108851353
; If | λ-τ |>=ε, finish to calculate this moment; If do not satisfy condition, then turn to step (4);
τ is matrix A characteristic of correspondence value;
Figure BDA00002108851354
is matrix A character pair vector, and ε is a set-point of control system operational precision;
(8) τ=λ;
Figure BDA00002108851355
turns to step (2);
In this interative computation, eigenvalue initial value τ gets
Figure BDA00002108851356
, characteristic vector initial value c gets the position coordinates vector u of unit that is tried to achieve T, the ε value of control accuracy gets 0.001;
In linear interval, iteration can meet the demands for twice, between the inelastic region in: near 45 °, need at most only iteration 5 times, iterations is few, fast convergence rate;
Through this iterative algorithm; Calculated matrix A characteristic of correspondence value λ and characteristic vector
Figure BDA00002108851357
, but characteristic vector calculating location transform matrix M thus;
According to characteristic vector
Figure BDA00002108851358
; Can be in the hope of the position spherical coordinates (r of electromagnetic signal receiving sensor 5 with respect to electromagnetic signal emission source 4; α, β)
A v = 2 × R 5 R 6
β = arctan u 3 u 1 2 + u 2 2
Calculate the attitude angle (
Figure BDA00002108851361
of electromagnetic signal receiving sensor 5 then with respect to electromagnetic signal emission source 4; ψ, posture changing matrix H θ):
H = - r 3 K YX - 1 M - 1
And solve attitude angle (
Figure BDA00002108851363
through H; ψ, θ):
Figure BDA00002108851364
ψ = arcsin ( - H 13 )
θ = arctan ( H 23 / H 33 )
Thus; Location algorithm finishes; Accomplished electromagnetic signal receiving sensor 5 with respect to the position spherical coordinates of electromagnetic signal emission source 4 (r, α is β) with the attitude angle (
Figure BDA00002108851367
of electromagnetic signal receiving sensor 5 with respect to electromagnetic signal emission source 4; ψ, resolving θ); Last these data are passed to host computer 7 by date processing and control unit 2, realize the detection of limb motion.
Below in conjunction with accompanying drawing the present invention is further described:
Fig. 1 illustrates a kind of entire block diagram that is used for the electromagnetic location device of body area network medical diagnosis and rehabilitation training of the present invention, comprising: electromagnetic signal drives amplifying unit 3, electromagnetic signal emission source 4, electromagnetic signal receiving sensor 5, filtering amplifying unit 6, A/D converting unit 1, date processing and control unit 2 and host computer 7.
One or more electromagnetic signal receiving sensors 5 can be attached to the arm or the shank of human body; Be used to detect the motion conditions of patient's limbs; The whole system operation flow process is at first to be controlled the quadrature three axial coil time-sharing works of electromagnetic signal transmitter units 3 by date processing and control unit 2, to the space radiation electromagnetic wave.Electromagnetic signal in the electromagnetic signal receiving sensor 5 reception spaces is imported date processing and control unit 2 into then after filtering amplifying unit 6 and A/D converting unit 1, the position and attitude information that calculates limbs through location algorithm is passed to host computer 7.
Fig. 2 is a kind of DSP way of realization of date processing of the present invention and control unit 2.This DSP is the TMS320VC6000 series DSP floating-point operation processor 201 of TI company; Float-point DSP processor is calculated accurately, and dynamic range is big, and processing speed is higher than fixed DSP; Be suitable for data computation and processing, and can guarantee the real-time of system large amount of complex; Its peripheral circuit comprises SDRAM memorizer 202, FLASH memorizer 203, power circuit 204, USB interface.
TMS320VC6000 series DSP floating-point operation processor 201 will be controlled electromagnetic signal on the one hand and drive amplifying unit 3; Link to each other with A/D converting unit 1 on the other hand, receive the acquired electromagnetic data after the AD conversion and carry out resolving of position and attitude coordinate according to the electromagnetic location algorithm; Again on the one hand through data-interfaces such as USB interface 205 or serial ports, the position and attitude information transmission after handling is given host computer 7 and shown.
Fig. 3 is that electromagnetic signal of the present invention drives amplifying unit 3, for guaranteeing output, adopts two-stage to amplify: the first order adopts common integrated operational amplifier to do the filtering amplification, and the second level is adopted the power-type amplifier to do and driven and amplifies; At first the control signal sent of TMS320VC6000 series DSP floating-point operation processor 201 through the signal filtering amplifying circuit of forming by integrated transporting discharging 301 after; The power amplification circuit of being made up of power amplifier 302 again carries out power amplification, to drive three axial coil time-sharing works; Owing to be three axial coils, so need No. three amplifying circuits, Fig. 3 only shows wherein one tunnel amplifying circuit.The integrated transporting discharging 301 of this circuit can be chips such as LM833, LF353, CA3240; The power amplifier 302 of this circuit can be chips such as SSM2211, LM384, LM1875.
The amplification of the power amplifier 302 of this circuit can be regulated through resistance R 5 and resistance R 6, and its amplification is:
A v = 2 × R 5 R 6
Simultaneously, in this circuit, R5 and C6 have constituted high pass filter, and its cut-off frequency can be regulated through R5 and C6, and its cut-off frequency is:
f HP = 1 2 π R 5 × C 6
Fig. 4 is the structure that electromagnetic signal emission source 4 of the present invention is shown, and is orthogonal three axial coils, is formed by three cubes 401 and copper conductor 402 coilings, receives electromagnetic signal to drive the signal controlling of amplifying unit, and three axial coil time-sharing works are to the space radiation electromagnetic field; Electromagnetic signal emission source 4 is of a size of 10cm*10cm*10cm.
Fig. 5 A and Fig. 5 B are the signal forms that electromagnetic signal of the present invention drives amplifying unit output; Orthogonal three axial coil time-sharing works, drive current in addition chronologically on X, Y, the Z axle, different according to the kind of drive current; Can be divided into two types: alternating electromagnetic location and direct solenoid location, wherein:
Fig. 5 A is the AC signal form that electromagnetic signal of the present invention drives amplifying unit output; The drive current of alternating electromagnetic navigation system is the sinusoidal current signal of the lower frequency of certain amplitude; To receiving circuit phase reference signal is provided simultaneously, the frequency of sinusoidal signal can be 20KHz to 50KHz.The major advantage of alternating electromagnetic navigation system is that localized distance is far away, is not having under the situation of external interference, and positioning accuracy is higher.Its shortcoming mainly is the interference that is subject to metal object in the surrounding, and reason is that the electromagnetic field of alternation can produce eddy current effect on the surface of metal object, thereby has twisted the magnetic field around the target object, produces error for measuring.And the frequency of sinusoidal signal is high more, and eddy current effect is obvious more, thereby frequency is unsuitable too high.
Fig. 5 B is the direct current signal form that electromagnetic signal of the present invention drives amplifying unit output.The drive current of single flow electromagnetic positioning system is the dc pulse signal of certain amplitude.Metal object around the navigation system only can produce eddy current effect at the trailing edge and the rising edge of dc pulse signal; And can not produce eddy current effect at the plateau of electric current; Therefore can effectively eliminate the influence that eddy current effect produces system, so that the single flow electromagnetic positioning system is compared AC system to the anti-interference of metal object is more better.But owing to adopt DC pulse, localized close together.
The present invention is the working range of assurance system, and the appropriate inhibition eddy current effect, thereby to have adopted signal frequency be the alternating electromagnetic navigation system of 30KHz.
Fig. 6 is the structure of electromagnetic signal receiving sensor 5 of the present invention; Be orthogonal three axial coils; Formed with copper conductor 602 coilings by ferromagnetic cube 601, its detectable electromagnetic signal strength is also exported correspondent voltage, measures the purpose that the transmitting coil magnetic field intensity positions thereby reach.Electromagnetic signal receives sensing 5 and is of a size of 10mm*10mm*10mm.
Fig. 7 is the circuit structure of filtering amplifying unit 6 of the present invention, because electromagnetic signal is faint especially, so adopt instrument amplifier 701 here, it is accurate differential voltage amplifier, and performance is superior to operational amplifier.The structure of instrument amplifier makes it have the characteristic of high cmrr, high input impedance, low noise, low linearity error, low offset drift, thereby is particularly suitable for the filtering amplification of faint electromagnetic signal.Instrument amplifier 701 can be chips such as LM741, INA163UA, OP07, LM324, AD620.It is the instrument amplifier circuit that core is formed that Fig. 7 shows with a kind of chip wherein.
The gain of this instrument amplifier can be through changing resistance R between pin 3 and the pin 12 G702 resistance is regulated; Its gain can be obtained by computes:
G = 1 + 6000 R G
Its gain can be controlled by date processing and control unit 2, when electromagnetic signal receiving sensor 5 is far away and nearer apart from electromagnetic signal emission source 4, all can accurately carry out filtering to signal and amplifies to adapt to, and guarantees the stability of system.
Fig. 8 is the circuit structure of A/D converting unit 1 of the present invention; The AD conversion chip that adopts is 24 Bits Serial analog-digital converters with single-ended input; Sample frequency can reach more than the 96KHz; And have digital frequency overlapped-resistable filter on the sheet, and can eliminate direct current offset, be fit to 20KHz to the 50KHz sinusoidal signal of alternating electromagnetic navigation system emission is carried out analog digital conversion through digital high-pass filter.And chip can have multichannel, can handle the multichannel circuit-switched data, realizes multipoint positioning simultaneously.Adopting 24 height sampling AD conversion chip mainly is the precision in order to guarantee to change, to guarantee the accuracy of track and localization.The A/D conversion chip here can be chips such as ADC24, AK 5353VT, CS5361.
Fig. 9 is a kind of wireless sensing locate mode of the present invention.This wireless location mode mainly drives amplifying unit 3, electromagnetic signal emission source 4 and host computer 7 by wireless sensing positioning unit 9, wireless receiving module 10, date processing and control unit 2, electromagnetic signal and forms.Wherein wireless sensing positioning unit 9 can depend on the human body; Be responsible for gathering the movable information that receives limbs, launch wireless signal then, be responsible for receiving data by wireless receiving module 10; And import it into date processing and control unit 2, data are carried out resolving of position and attitude coordinate.
Figure 10 is the structure of wireless sensing positioning unit 9 of the present invention.Electromagnetic signal receiving sensor 5 can combine with filtering amplifying unit 6, A/D converting unit 1, wireless transport module 901 and power pack 902, forms wireless sensing positioning unit 9.Give date processing and control unit 2 through Wireless transmission mode with transfer of data.At last data are carried out the position and attitude information that processing operations obtains limbs by date processing and control unit 2.The wireless transport module 901 here can be 2.4Ghz NRF2401 wireless module, Bluetooth wireless transmission module and Zigbee wireless transport module etc.

Claims (4)

1. electromagnetic location device that is used for body area network medical diagnosis or rehabilitation training is characterized in that:
Electromagnetic signal receiving sensor and filtering amplifying unit, A/D converting unit, date processing and control unit, electromagnetic signal drive amplifying unit, the electromagnetic signal emission source is linked in sequence, and this date processing is connected with host computer with control unit;
Said date processing with the control unit structure is: processor is connected SDRAM memorizer, FLASH memorizer, power circuit and USB interface respectively, and the processor here is DSP or single-chip microcomputer or FPGA or ARM data processing chip; Be used for driving amplifying unit on the one hand and send control signal to electromagnetic signal; Link to each other with A/D converter on the one hand; Receiving electromagnetic signals data the resolving of line position attitude coordinate of going forward side by side on the other hand through data-interface, given host computer with the position and attitude information transmission after handling;
Said electromagnetic signal drives amplifying unit, is used for the control signal of date processing and control unit generation is driven amplification, to drive the work of electromagnetic signal emission source;
Said electromagnetic signal emission source is orthogonal three axial coils; Drive amplifying unit by electromagnetic signal and drive, three axial coil time-sharing works are in order to the space radiation electromagnetic wave; The sinusoidal ac signal of the low frequency of certain amplitude is sent in timesharing, or the dc pulse signal of certain amplitude is sent in timesharing;
Said electromagnetic signal receiving sensor is small-sized quadrature three axial coils or magnetoresistive transducer chip; Communicating by letter between pick off and filtering amplifying unit can be adopted wired or wireless mode; Wireless mode mainly contains bluetooth, Zigbee; Be used for receiving the electromagnetic wave signal in space, as the pick off of confirming the human body limb movement situation;
Said filtering amplifying unit is used for electromagnetism is received the filtering amplification of signal, conveniently to carry out the A/D conversion;
Said A/D converting unit mainly is made up of A/D converter, is used for the signal after the filtering amplification is carried out analog digital conversion, imports at last and carries out resolving of position and attitude coordinate in date processing and the control unit;
Said host computer is PC or mobile terminal device, is used to receive the data of date processing and control unit, and the motion conditions of limbs is presented on the terminal, is used for motion with limbs with the form of coordinate or the form of three-dimensional graph shows.
2. the electromagnetic location device that is used for body area network medical diagnosis or rehabilitation training according to claim 1 is characterized in that: adopt plural electromagnetic signal receiving sensor.
3. the electromagnetic location device that is used for body area network medical diagnosis or rehabilitation training according to claim 1 is characterized in that: adopt plural electromagnetic signal emission source.
4. an electromagnetic location method that is used for body area network medical diagnosis and rehabilitation training is characterized in that comprising the following steps:
At first drive amplifying unit, drive the quadrature three axial coil time-sharing works of electromagnetic signal emission source, to the space radiation electromagnetic wave by date processing and control unit control electromagnetic signal;
The X of electromagnetic signal emission source, Y, z axis circle send signal T x, T y, the T z of the certain amplitude of certain frequency chronologically; The electromagnetic signal emission matrix of system is:
X = 1 0 0 0 1 0 0 0 1
The electromagnetic signal receiving sensor is the three-dimensional orthogonal coil; Be responsible for to receive the electromagnetic signal in the space, the low frequency magnetic field of each emission of electromagnetic signal emission source all can induce induced signal R x, R y, the R z of different amplitudes in the X of electromagnetic signal receiving sensor, Y, z axis circle;
This induced signal imports date processing and control unit into then after filtering amplifying unit and A/D converting unit; In date processing and control unit, extract the range value of each road, the induced signal on each time period; And this segment signal carried out bit comparison mutually with pairing transmitting; If homophase then range value is just got, otherwise get negatively, so just obtain the receiving matrix of system:
Y = A 11 A 12 A 13 A 21 A 22 A 23 A 31 A 32 A 33
Next in date processing and control unit, carry out finding the solution of position and attitude coordinate;
Can be known by inference by the magnetic dipole correlation theory, three rank receiving matrix Y and three rank emission matrix X have following relation:
Y = - K r 3 HMX
Y is known receiving matrix in the formula, is made up of nine measured values; X is known emission matrix; K is system constants; R is the distance of electromagnetic signal receiving sensor and electromagnetic signal emission source; M be comprised the electromagnetic signal receiving sensor with respect to the position spherical coordinates of electromagnetic signal emission source (r, α, β) evolution matrix,
M = I - 3 u → u → T
Wherein is for pointing to the unit position coordinates vector of r;
H has comprised the attitude angle ( of electromagnetic signal receiving sensor with respect to the electromagnetic signal emission source; ψ; Posture changing matrix θ)
Figure FDA0000210885127
Can calculate the attitude of electromagnetic signal receiving sensor by receiving matrix Y through following formula with respect to the electromagnetic signal emission source:
H = - r 3 K YX - 1 M - 1
For calculating the H matrix, need calculate r and M earlier; Can obtain at last through matrixing:
K 2 r 6 M 2 = ( YX - 1 ) T YX - 1
Introducing unit position coordinates vector
Figure FDA00002108851210
gets:
4 K 2 r 6 u → = ( YX - 1 ) T YX - 1 u →
Wherein, unit position coordinates vector
Figure FDA00002108851212
Be transformation matrix A=(YX -1) TYX -1About eigenvalue
Figure FDA00002108851213
Characteristic vector;
Can know by linear algebra knowledge, matrix trace equal on its leading diagonal each element with, can ask the mark of matrix A:
tra ( A ) = A 11 + A 22 + A 33 = 6 K 2 r 6
Thereby obtain:
r = ( 6 K 2 A 11 + A 22 + A 33 ) 1 / 6
So just, obtained the distance of electromagnetic signal receiving sensor and electromagnetic signal emission source.
When unit of account position coordinates vector ; Adopt the mould biggest characteristic value of computational transformation matrix A and the alternative manner of its characteristic of correspondence vector, the key step of method is following:
(1) sets a vectorial c, as initial vector;
(2) set a → = A c → , u → = a → | | a → | |
(3)
Figure FDA00002108851219
; If | λ-τ |<ε, finish to calculate this moment; If do not satisfy condition, then turn to step (4);
τ is matrix A characteristic of correspondence value;
Figure FDA00002108851220
is matrix A character pair vector, and ε is a set-point of control system operational precision;
(4) τ=λ; turns to step (2);
In this interative computation, eigenvalue initial value τ gets
Figure FDA00002108851222
, characteristic vector initial value c gets the position coordinates vector u of unit that is tried to achieve T, the ε value of control accuracy gets 0.001;
In linear interval, iteration can meet the demands for twice, between the inelastic region in: near 45 °, need at most only iteration 5 times, iterations is few, fast convergence rate;
Through this iterative algorithm; Calculated matrix A characteristic of correspondence value λ and characteristic vector , but characteristic vector calculating location transform matrix M thus;
According to characteristic vector
Figure FDA00002108851224
; Can be in the hope of the position spherical coordinates (r of electromagnetic signal receiving sensor with respect to the electromagnetic signal emission source; α, β)
α = arctan u 2 u 1
β = arctan u 3 u 1 2 + u 2 2
Calculate the attitude angle (
Figure FDA00002108851227
of electromagnetic signal receiving sensor then with respect to the electromagnetic signal emission source; ψ, posture changing matrix H θ):
H = - r 3 K YX - 1 M - 1
And solve attitude angle (
Figure FDA00002108851229
through H; ψ, θ):
Figure FDA00002108851230
ψ = arcsin ( - H 13 )
θ = arctan ( H 23 / H 33 )
Thus; Location algorithm finishes; Accomplished the position spherical coordinates (r of electromagnetic signal receiving sensor with respect to the electromagnetic signal emission source; α; β) with the electromagnetic signal receiving sensor with respect to the attitude angle of electromagnetic signal emission source ( , ψ, resolving θ); Last these data are passed to host computer by date processing and control unit, realize the detection of limb motion.
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