CAJ | 학술논문

在内窥镜临床检查中，医生往往依靠病理经验来判断内窥镜探头在人体内的姿态方位，具有较大的主观误差，影响病灶的诊断结果。虽然电磁跟踪技术EMT(Electro-MagneticTracing)可以对内窥镜的探头进行科学定位从而解决上述问题，但是在铁磁性医疗仪器的干扰下，磁场模型的畸变导致该方法的精度严重下降。提出一种基于多传感器的姿态收敛技术，在电磁定位的基础上增加IMU惯性测量单元，通过四元数微分方程以及双矢量误差收敛模型得到稳定的姿态输出结果；其中，收敛模型采用分离式收敛的FQA算法降低了三轴MEMS磁场传感器的误差发散性，并结合磁干扰阈值判断，保证了在磁干扰环境下内窥镜姿态解算的精度和鲁棒性，实验表明该系统的姿态定位误差小于1o且具有较强的抗干扰性。
재내규경림상검사중，의생왕왕의고병리경험래판단내규경탐두재인체내적자태방위，구유교대적주관오차，영향병조적진단결과。수연전자근종기술EMT(Electro-MagneticTracing)가이대내규경적탐두진행과학정위종이해결상술문제，단시재철자성의료의기적간우하，자장모형적기변도치해방법적정도엄중하강。제출일충기우다전감기적자태수렴기술，재전자정위적기출상증가IMU관성측량단원，통과사원수미분방정이급쌍시량오차수렴모형득도은정적자태수출결과；기중，수렴모형채용분리식수렴적FQA산법강저료삼축MEMS자장전감기적오차발산성，병결합자간우역치판단，보증료재자간우배경하내규경자태해산적정도화로봉성，실험표명해계통적자태정위오차소우1o차구유교강적항간우성。
In clinical endoscopy examination,doctors' limited pathology experience can lead to huge subjective error and affect the final diagnosis. Although EMT( Electro-magnetic Tracing) technology could be effective in solving this problem by scientifically tracking the micro endoscopic probe,the precision could decline badly when it is disrupted by ferromagnetism medical instruments and magnetic distortion occurs. In this article, an improved attitude convergence algorithm based on multi-sensor fusion technology is proposed, the system combines inertial measurement with EMT technology,applies quaternion differential equation and two-vector error convergence model to get the stable attitude output;The convergence model is constructed by FQA ( Factored Quaternion Algorithm ) method converging the drift error caused by 3-axis MEMS gyroscope. We also fuse a threshold criterion in case of the hard-over magnetic distortion in order to ensure the overall accuracy and robustness. The preliminary experiment shows that multisensory system possesses good accuracy with angular drift less than 1oand could maintain high anti-interference stability.