WO2002008793A1 - Verfahren zur bestimmung der position eines sensorelementes - Google Patents
Verfahren zur bestimmung der position eines sensorelementes Download PDFInfo
- Publication number
- WO2002008793A1 WO2002008793A1 PCT/CH2001/000431 CH0100431W WO0208793A1 WO 2002008793 A1 WO2002008793 A1 WO 2002008793A1 CH 0100431 W CH0100431 W CH 0100431W WO 0208793 A1 WO0208793 A1 WO 0208793A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- calculated
- sensor element
- eddy currents
- field
- determined
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
Definitions
- the present invention relates to a method according to the preamble of claim 1, an application of the method, an apparatus for performing the method and a computer program product.
- a known device or a known method for determining the position is described in the international patent application with the publication number WO 97/36192 by the same applicant. According to the known teaching, it is provided to build up an alternating field with the aid of a field generator unit, several alternating fields being superimposed on one another depending on the number of degrees of freedom of a sensor element whose position is to be determined. With the help of a processing and
- the control unit which controls the field generator unit on the one hand and processes the signals received by the sensor element on the other, becomes the position and, if necessary determines the position of the sensor unit.
- a method for compensating for interference effects caused by conductive objects is known under the name “distortion mapping”. This method is described, for example, in the article entitled “Calibration of Tracking Systems in a Surgical Environment” (Birkfellner et. Al., IEEE Trans Med Imaging, Vol. 17 (5), pages 737 to 742, 1998).
- the position and the orientation of a sensor element is also carried out with the aid of a position measuring system which is based on a magnetic field-based location, a second position measuring system being provided to compensate for interference effects and which cannot be influenced by electrically conductive objects.
- the difference between the positions and orientations determined with the two position measuring systems is shown in the
- the present invention is therefore based on the object of specifying a method which improves Determination of the position and / or position of a sensor element enables.
- the method according to the invention makes it possible to eliminate the influence of conductive objects, or at least to reduce it considerably. Furthermore, this method is more general and more precise than the known methods. Finally, the geometry-dependent part of the calculations can be carried out in the sense of a system calibration before the position measuring system is actually used.
- FIG. 1 shows a known arrangement consisting of a field generator unit, sensor element and processing and control unit, in a schematic representation, with an electrically conductive object
- Fig. 2 is an electrically conductive object
- FIG. 3 shows a flowchart with some method steps of the method according to the invention.
- 1 shows a known arrangement, consisting of a field generator unit 200, a sensor element 300 and a processing and control unit 100.
- the processing and control unit 100 is in each case connected via lines to the field generator unit 200 on the one hand and to the sensor element 300 on the other.
- the field generator unit 200 is preferably located at a known location - which means that the coordinates x, y, z, including the orientation in the coordinate system - are known - the sensor element 300 can be moved as desired or assume any position and orientation. It is pointed out that, as is already known from WO 97/36192, it is conceivable for the sensor element 300 to be stationary and the field generator unit 200 to be free, ie within the scope of the one made available
- Connection line to the processing and control unit 100 is movable. Furthermore, it is also readily conceivable that the processing and control unit 100 is implemented in a plurality of functional units, such as, for example, that the control unit for controlling the
- At 400 is an electrical schematic Representing conductive object representative of those objects that interfere with the magnetic location of the sensor element 300 by generating eddy currents 420 in the object 400, due to which an interference field 410 is superimposed on the alternating field 210.
- the position and / or orientation of one or more sensor elements 300 relative to one or more field generator units 200 is determined in magnetic field-based location, which is also referred to as magnetic location.
- Orientation n s of sensor elements 5 can be determined by solving the following system of equations, provided that position r Gj and orientation n 0J of field generator units G ⁇ are known:
- i is meant the i-th sensor element and with j the j-th field generator unit.
- F is usually a measurement function dependent on the magnetic field
- Component of the magnetic field B (x, y, z, t) (e.g. the induced voltage in a sensor coil).
- F can of course also be a function of many assembled sensors in one sensor element, which measures several or all components at the same time. According to the type of solution to this system of equations, magnetic position systems can be divided into two classes:
- time-varying magnetic fields are used, they generate - as already mentioned - 400 eddy currents 420 in neighboring, electrically conductive objects. These lead to distortions of the original magnetic alternating field 210 and thus to systematic errors in the position determination. This means that if the position and orientation of sensor elements in the distorted alternating field are determined as if there was no electrically conductive object 400, the values obtained are systematically falsified.
- the alternating field distortions and their influence on the determination of sensor element position and sensor element orientation are determined according to the invention.
- the systematic errors that occur can thus be corrected, which can significantly improve the accuracy of the position and / or the alignment.
- the object 400 consists of an electrically conductive plate, i.e. consists of a flat and limited area.
- Objects 400 which have a relevant extent (depth) in the direction of an imaginary line from the field generator unit 200 to the object 400 can also be treated with the method according to the invention.
- the side facing the field generator unit 200 is approximated by a multi-surface structure. This is permissible since the eddy currents 420 penetrate the surface only slightly. The depth of a three-dimensional object 400 is therefore not relevant.
- the object 400 is therefore approximated by a multifaceted structure in the sense mentioned above.
- a field B ⁇ x ⁇ y ⁇ i) can be calculated from the Biot-Savart law of electrodynamics (equation 4), which describes B '(x, y, z, t) well enough if the local and temporal course of the Eddy currents 410 in object 400 in N different point-shaped current elements are known:
- Equation 4 is adopted as listed above if N is chosen large enough.
- the field distortions are therefore calculated in two steps.
- the first step is the determination of the eddy currents 410 and the second step is the calculation of an interference field generated by the eddy currents 410
- FIG. 2 shows the object 400, which is divided into a multifaceted structure consisting of any number of segments for the determination of the interference field 410.
- the eddy currents are first calculated on the basis of this division and various other assumptions.
- Penetration depth In order to calculate the above-mentioned interference field B '(x, y, z, t) with sufficient accuracy, it is sufficient to know the temporal current profile in some points on the surface of the object 400. The number of points depends on the accuracy required. The eddy currents are thus calculated in points which are on or near the surface of the object.
- the object is divided into N segments of any shape, which usefully (but not necessarily) cover the entire object.
- the segments are subsequently referred to as S ( . ⁇ 0 ⁇ z ' ⁇ Nl ⁇ for clear differentiation, i being used as an index.
- a base point P is selected for each segment. It makes sense but is not essential to define the same number of bases as segments and to assign them clearly to the segments. In the following, for the sake of simplicity, it is assumed that N segments S, each with a clearly assigned base P t , are defined.
- the current density l, (t) at the base P t of each segment S is calculated using the following formula:
- ? u (f) is the current density of the eddy current I y (t), which is determined by the flux change of the field from B 0 (x, y, z, t) in the segment S ,. is caused and flows through the base point P ( or in the vicinity of the base point P ; the calculation of the individual eddy currents I tj (t) is described in the next section.
- Base P ( and with A s is the cross-sectional area of the streamline, where:
- interference field caused by B 0 (x, y, z, t) can be calculated - freedom (t) - -4 (S ,.) can be used directly in equation 4, where -4 (5 ,.) is the area of the Segment S t is.
- B (x, y, z t t) can in most cases be regarded as B '(x, y, z, t).
- B l (x, y, z, t) can be used as the original field at this point in order to in turn calculate eddy currents for a second interference field B 2 (x, y, z, t) (influence of the eddy currents on one another ), which is overlaid with B 0 (x, y, z, t) and B ⁇ (x, y, z, t).
- B '(x, y, z, t) would be the sum of B x (x, y, z, t) and B 2 x, y, z, t) - this iterative approach can be arbitrary for effects Order to be continued.
- the first order effect is sufficiently accurate in most applications.
- a single eddy current I y (t) is a streamline that flows through the base P t and is caused by the temporal flow change of the field through the base P ⁇ .
- ⁇ I t) to be calculated are the inductance L s, to be 1 ohm shear resistance R ( ⁇ and the temporal change of flux d ⁇ -.. Necessary Are these Gr ⁇ ssen known, then I y (i) by solving the differential equation
- B 0 (x, y, z, t) may be periodic or even oscillate in time, but this is not necessary for the method according to the invention to be valid.
- the inductance L ⁇ and the ohmic resistance R y are given by the geometric shape of the eddy current I g (t) d ⁇ . and the flow change - by the field B 0 (x, y, z, t) at the dt
- any eddy current is a current along a contour of a surface, which is the equation of potential
- the inductance of the conductor loop is given by
- ⁇ j (t) ⁇ B 0 (x, y, z, t) dA (11a)
- the location and orientation of one or more sensor elements 300 are determined in a magnetic field generated by one or more field generator units 200.
- the position of the field generator unit 200 or the field generator units is known in the coordinate system used.
- adjacent electrically conductive objects 400 produce field distortions due to eddy currents 420 induced in objects 400.
- the method according to the invention for correcting these distortions is used as follows: The position of the electrically conductive objects 400 in the aforementioned Coordinate system is known or is determined by measurement.
- the object coordinates are entered in a computer program which is used to calculate the eddy currents 420 and the resulting field distortions in such a way that the location coordinates used in the formulas given above are defined by the Field generator unit 200 defined coordinate system are defined.
- the interference field generated by the eddy currents 420 is then calculated with the computer program. Taking eddy currents 420 into account, system of equations 1 changes as follows:
- F y represents the disturbance generated by the eddy currents 420 of the object k.
- P is the number of objects. How this correction is applied depends on the type of magnetic position measuring system.
- the measured values are corrected iteratively, ie the undisturbed solution is first calculated according to equation 2. With the position of the sensor element 300 found, the correction term F 1 can be calculated and subtracted from the measurements F y M , A position is calculated again with the corrected measurements. This algorithm continues until the variation of the calculated positions is below certain tolerance thresholds.
- Magnetic field used with eddy current corrections according to equation 12. III Under certain conditions, it may also be possible to invert the equation system 12, which then leads to a solution according to equation 2.
- Fig. 3 shows, in a simplified representation
- the method according to the invention can also be excellent for
- Objects with openings can be used, the number L of openings being arbitrary.
- the boundary condition of the potential equation (7) at the edges of the openings must first be equal to the potential ⁇ 0 at the edge of the object.
- the additional eddy current lines I ik can be calculated individually analogously to the eddy current lines I i: j , ie solving the potential equation (7) for the shape of the current and calculating the inductance and resistance according to equations (8) and (9).
- equation of potential (7) it should be noted, however, that the boundary condition is not " ⁇ j, at point Pj", but " ⁇ x at the edge of the opening k”.
- formula 11a may be used to calculate the flow instead of approximation 11.
- Individual conductor loops can also be calculated using this method, as the previously mentioned openings can be expanded as close as possible to the border of the objects to be calculated.
- the simplest example is a circular ring, which can be viewed as a disk with an opening of almost the same size:
- the streamlines I i; i are negligible (the support points could be omitted) and there is only one I ik whose shape through the circular ring given is. If the reference points are omitted, the field B x is to be determined by the line integral using equation 4.
- Another aspect is that interference from unknown objects is shielded by providing a conductive plate between the field generator unit and the object, the size and shape as well as their position being known. Although the field distortions of this plate must be taken into account, all other electrically conductive objects which are located on the other side of the plate with respect to the field generator unit can be disregarded because of the shielding.
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP01944861A EP1303771B1 (de) | 2000-07-26 | 2001-07-10 | Verfahren zur bestimmung der position eines sensorelementes |
AU2001267254A AU2001267254A1 (en) | 2000-07-26 | 2001-07-10 | Method for determining the position of a sensor element |
DE50108329T DE50108329D1 (de) | 2000-07-26 | 2001-07-10 | Verfahren zur bestimmung der position eines sensorelementes |
US10/333,828 US6836745B2 (en) | 2000-07-26 | 2001-07-10 | Method for determining the position of a sensor element |
AT01944861T ATE312364T1 (de) | 2000-07-26 | 2001-07-10 | Verfahren zur bestimmung der position eines sensorelementes |
JP2002514433A JP2004505253A (ja) | 2000-07-26 | 2001-07-10 | センサ要素の位置確定方法 |
CA2441226A CA2441226C (en) | 2000-07-26 | 2001-07-10 | Method for determining the position of a sensor element |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH14752000 | 2000-07-26 | ||
CH1475/00 | 2000-07-26 |
Publications (1)
Publication Number | Publication Date |
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WO2002008793A1 true WO2002008793A1 (de) | 2002-01-31 |
Family
ID=4565508
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CH2001/000431 WO2002008793A1 (de) | 2000-07-26 | 2001-07-10 | Verfahren zur bestimmung der position eines sensorelementes |
Country Status (9)
Country | Link |
---|---|
US (1) | US6836745B2 (de) |
EP (1) | EP1303771B1 (de) |
JP (1) | JP2004505253A (de) |
CN (1) | CN1330978C (de) |
AT (1) | ATE312364T1 (de) |
AU (1) | AU2001267254A1 (de) |
CA (1) | CA2441226C (de) |
DE (1) | DE50108329D1 (de) |
WO (1) | WO2002008793A1 (de) |
Cited By (4)
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WO2004091391A1 (en) * | 2003-04-17 | 2004-10-28 | Northern Digital Inc. | Method for detection and compensation of eddy currents |
EP1698913A1 (de) * | 2005-03-01 | 2006-09-06 | Androtech GmbH | Verfahren zur Bestimmung der Position eines Sensorelementes mit Hilfe eines magnetischen Wechselfeldes |
US7588569B2 (en) | 2002-03-22 | 2009-09-15 | Karl Storz Gmbh & Co. Kg | Medical instrument for the treatment of tissue by means of a high-frequency current and medical system with a medical instrument of this type |
US10722140B2 (en) | 2014-07-03 | 2020-07-28 | St. Jude Medical International Holding S.À R.L. | Localized magnetic field generator |
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- 2001-07-10 EP EP01944861A patent/EP1303771B1/de not_active Expired - Lifetime
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Cited By (12)
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US7588569B2 (en) | 2002-03-22 | 2009-09-15 | Karl Storz Gmbh & Co. Kg | Medical instrument for the treatment of tissue by means of a high-frequency current and medical system with a medical instrument of this type |
WO2004091391A1 (en) * | 2003-04-17 | 2004-10-28 | Northern Digital Inc. | Method for detection and compensation of eddy currents |
JP2006523473A (ja) * | 2003-04-17 | 2006-10-19 | ノーザン・デジタル・インコーポレイテッド | 渦電流の検出及び補正のための方法 |
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EP1698913A1 (de) * | 2005-03-01 | 2006-09-06 | Androtech GmbH | Verfahren zur Bestimmung der Position eines Sensorelementes mit Hilfe eines magnetischen Wechselfeldes |
WO2006092072A1 (de) * | 2005-03-01 | 2006-09-08 | Androtech Gmbh | Verfahren zur bestimmung der position eines sensorelementes mit hilfe eines magnetischen wechselfeldes |
US10722140B2 (en) | 2014-07-03 | 2020-07-28 | St. Jude Medical International Holding S.À R.L. | Localized magnetic field generator |
US11771338B2 (en) | 2014-07-03 | 2023-10-03 | St Jude Medical International Holding S.À R.L. | Localized magnetic field generator |
Also Published As
Publication number | Publication date |
---|---|
EP1303771B1 (de) | 2005-12-07 |
EP1303771A1 (de) | 2003-04-23 |
US20030200052A1 (en) | 2003-10-23 |
CA2441226C (en) | 2013-03-12 |
CN1330978C (zh) | 2007-08-08 |
JP2004505253A (ja) | 2004-02-19 |
CA2441226A1 (en) | 2002-01-31 |
DE50108329D1 (de) | 2006-01-12 |
AU2001267254A1 (en) | 2002-02-05 |
ATE312364T1 (de) | 2005-12-15 |
CN1459030A (zh) | 2003-11-26 |
US6836745B2 (en) | 2004-12-28 |
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