CN107402378A - Frequency modulated(FM) radar transceiver - Google Patents
Frequency modulated(FM) radar transceiver Download PDFInfo
- Publication number
- CN107402378A CN107402378A CN201610334671.0A CN201610334671A CN107402378A CN 107402378 A CN107402378 A CN 107402378A CN 201610334671 A CN201610334671 A CN 201610334671A CN 107402378 A CN107402378 A CN 107402378A
- Authority
- CN
- China
- Prior art keywords
- frequency signal
- positioning mark
- signal
- frequency
- modulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/282—Transmitters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention discloses a kind of frequency modulated(FM) radar transceiver, including：One power amplifier, after receiving a modulation frequency signal, amplify the modulation frequency signal, one transmitting antenna array, electrically connect the power amplifier, launch to receive the modulation frequency signal after the amplification to a positioning mark, one reception antenna array, to receive the positioning mark frequency signal returned by the positioning mark, one bandpass filter, the reception antenna array is electrically connected, to filter out the interference signal and noise outside the positioning mark frequency signal band, wherein the modulation frequency signal and the positioning mark frequency signal are same waveform.The present invention sends out continuous frequency modulation signal by radiating circuit, and via Design Orientation mark and positioning mark circuit as a reference point, signal return disturbs to receiving circuit, then as the multi-path caused by the certain position algorithm of rear end eliminates the environment in space.
Description
Technical field
The present invention on a kind of transceiver, it is particularly a kind of can be by the radar transceiver of noise filtering in high frequency.
Background technology
In the prior art, patent No. CN102058411B discloses a kind of multichannel and is based on UWB radar life-detection instrument, a kind of
Available for radar life-detector of the multichannel based on UWB of multiple target detection, using the time difference of two pulses, can calculate
Unit analyzes and processes to the three road radar echo signals collected, finally extracts multiple human body target life-informations and each mesh
Target two-dimensional position information.But UWB in the environment of easy multiple interference, can not effectively provide mesh without modulation function is provided
The two-dimensional distance of subject distance, in addition its algorithm the distance of the two-dimentional X/Y plane of multiple target can only be provided, the burst length can not be utilized
Difference defines three-dimensional measuring.
The content of the invention
The object of the invention purpose is to provide a kind of frequency modulated(FM) radar transceiver, is mainly used in frequency modulated(FM) radar FMCW and launches with connecing
Receipts machine.Continuous frequency modulation signal is sent out by radiating circuit, via Design Orientation mark and positioning mark circuit as a reference point, signal returns
Receiving circuit is reached, then as the multi-path interference caused by the certain position algorithm of rear end eliminates the environment in space.
The present invention provides a kind of frequency modulated(FM) radar transceiver, including：
One power amplifier, after receiving a modulation frequency signal, amplify the modulation frequency signal,
One transmitting antenna array, electrically connects the power amplifier, launches to receive the modulation frequency signal after the amplification to one
Positioning mark,
One reception antenna array, to receive the positioning mark frequency signal returned by the positioning mark, and
One bandpass filter, the reception antenna array is electrically connected, to filter out the letter of the interference outside the positioning mark frequency signal band
Number and noise,
Wherein the modulation frequency signal and the positioning mark frequency signal are same waveform.
Wherein the modulation frequency signal and the positioning mark frequency signal range are 24GHz between 24.4GHz.
Wherein also include a low-noise amplifier, it electrically connects the bandpass filter, to stablize positioning mark frequency letter
Number.
Wherein also include a power divider, it electrically connects the receiving terminal of the power amplifier, to by the modulation frequency
Signal is distributed to a frequency mixer.
Wherein the frequency mixer also electrically connects the bandpass filter, and the frequency mixer isolates the modulation frequency signal and the positioning mark
Frequency signal.
Wherein also include an intermediate frequency variable gain amplifier, it electrically connects the frequency mixer, to amplify the positioning mark frequency
Signal.
Brief description of the drawings
Figure 1A is the schematic diagram of surgical navigational operation.
Figure 1B is the schematic diagram of volume domain type locating module of the present invention.
Fig. 2 is the block diagram that the present invention is applied to surgical navigational operation.
Fig. 3 A and Fig. 3 B are the modulation frequency signal schematic representation of the present invention.
Fig. 4 is the image schematic diagram that the present invention is applied to surgical navigational operation.
Fig. 5 is the positioning mark antenna schematic diagram that the present invention is applied to surgical navigational operation.
Fig. 6 is the operating theater instruments antenna schematic diagram that the present invention is applied to surgical navigational operation.
In figure：
10 locating modules；
11 vertebras；
12 positioning marks；
12A, 12B antenna；
12A1,12B1 positioning mark frequency signal；
13A, 13B antenna；
13A1,13B1 apparatus frequency signal；
121 positioning mark frequency signals；
121A identifiers；
13 operating theater instruments；
131 apparatus frequency signals；
131A instrument identifications accord with；
14 positioning signal Transmit-Receive Units；
140 modulation frequency signals；
141 reception antenna arrays；
142 first bandpass filters；
1421 second bandpass filters；
143 low-noise amplifiers；
144 frequency mixers；
145 power dividers；
146 power amplifiers；
147 transmitting antenna arrays；
148 intermediate frequency variable gain amplifiers；
L1, L11 position subject distance；
L2, L21 apparatus distance；
20 processing units；
30 surgical operation images；
31 vertebra images；
311 vertebral space coordinates；
32 operating theater instruments images；
321 instrument spatial coordinates；
D1, D2 signal difference；
The T1 times；
S1, S2 angle.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art can be with
It is better understood from the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Refer to Figure 1A to Fig. 4, Figure 1A is the schematic diagram of surgical navigational operation, the domain type positioning mould of Figure 1B present invention
The schematic diagram of block, Fig. 2 are the block diagram that the present invention is applied to surgical navigational operation, and Fig. 3 A and Fig. 3 B are the surgical navigational of the present invention
The modulation frequency signal schematic representation of operation, Fig. 4 are the image schematic diagram that the present invention is applied to surgical navigational operation.First, in ridge
After vertebra operation consent first shoots vertebra CT (Computed tomography) image, then shoot and be implanted in supraspinal
Two image laminations are then surgical operation images 30, therefore surgical operation images 30 can wrap by the C-arm images of the described positioning mark 12 of invention
Vertebra image 31 and operating theater instruments image 32 are included, domain type locating module of the present invention is then imported again and is led with carrying out operation
Boat operation, and domain type locating module of the present invention, including：Locating module 10, locating module 10 include：Positioning signal is received
Bill member 14, to launch modulation frequency signal 140 to the plurality of positioning mark 12 and operating theater instruments 13.
Referring next to Figure 1B, positioning signal Transmit-Receive Unit 14 of the present invention is frequency modulated(FM) radar transceiver, the frequency modulated(FM) radar
Transceiver includes：One power amplifier 146, after receiving a modulation frequency signal, amplify the modulation frequency signal, a transmitting
Antenna array 147, the power amplifier 146 is electrically connected, launched to receive the modulation frequency signal after the amplification to a positioning
Mark 12, a reception antenna array 141, to receive the positioning mark frequency signal returned by the positioning mark 12, band logical filter
Ripple device, has the first bandpass filter 142 and the second bandpass filter 1421, and the first bandpass filter 142 electrically connects the reception
Antenna array 141, the first bandpass filter 142 and the second bandpass filter 1421 are filtering out the positioning mark frequency signal band
Outer interference signal and noise.
The modulation frequency signal and the positioning mark frequency signal are same waveform in above-mentioned.
The modulation frequency signal and the positioning mark frequency signal range are 24GHz between 24.4GHz in above-mentioned.
Also include a low-noise amplifier 143 in above-mentioned, it electrically connects the bandpass filter, to stablize positioning mark frequency
Rate signal.
Also include a power divider 145 in above-mentioned, it electrically connects the receiving terminal of the power amplifier 146, to should
Modulation frequency signal is distributed to a frequency mixer 144.
The frequency mixer 144 also electrically connects second bandpass filter 1421 in above-mentioned, and the frequency mixer 144 isolates frequency modulation frequency
Rate signal and the positioning mark frequency signal.
Also include an intermediate frequency variable gain amplifier 148 in above-mentioned, it electrically connects the frequency mixer 144, fixed to amplify this
Position mark frequency signal.
Multiple positioning marks 12, it is respectively arranged on a vertebra section of vertebra 11, and each positioning marks 12 to receive the frequency modulation
After frequency signal 140, passback positioning mark frequency signal 121 to the positioning signal Transmit-Receive Unit 14, the positioning signal Transmit-Receive Unit
14 receive positioning mark frequency signal 121, and wherein the positioning mark frequency signal 121 and the modulation frequency signal 140 are same waveform,
More specifically, there is antenna in the plurality of positioning mark 12, it is after the antenna receives modulation frequency signal 140 that the signal is anti-
The positioning signal Transmit-Receive Unit 14 is emitted back towards, therefore it is same waveform to position mark frequency signal 121 with the modulation frequency signal 140.
In addition, operating theater instruments 13, after receiving the modulation frequency signal 140, returns the apparatus frequency signal 131 to this
Positioning signal Transmit-Receive Unit 14, the instruments frequency signal 131 of positioning signal Transmit-Receive Unit 14, wherein the apparatus frequency signal
131 and the modulation frequency signal 140 are same waveform, more specifically, have antenna in the operating theater instruments 13, when the antenna connects
Receive and the positioning signal Transmit-Receive Unit 14 returned into the signal reflex after modulation frequency signal 140, thus apparatus frequency signal 131 with
The modulation frequency signal 140 is same waveform.
Processing unit 20, the positioning signal Transmit-Receive Unit 14 is electrically connected with, according to positioning mark frequency signal 121 and the frequency modulation
The signal difference D1 of frequency signal 140, the positioning between the plurality of positioning mark 12 and the positioning signal Transmit-Receive Unit 14 is calculated with algorithm
Subject distance L1, the wherein algorithm are frequency modulation continuous wave (Frequency modulated continuous waveform;
FMCW) location algorithm, the processing unit 20 position mark frequency signal 121 and the modulation frequency according to received by same time T1
Signal difference D1 between signal 140 calculates vertebral space to calculate positioning subject distance L1 according to positioning subject distance L1
Coordinate 311.
In above-mentioned, specifically, because transmission speed is fast, the time difference is minimum, therefore the present invention takes same time T1 conducts to take
Sample.
In an embodiment, the positioning signal Transmit-Receive Unit 14 is at least two positioning signal Transmit-Receive Units 14, and it sets respectively
It is placed in the periphery of vertebra 11, the two positioning mark frequency of the processing unit 20 according to received by two positioning signal Transmit-Receive Units 14
Signal 121 calculates corresponding two positioning subject distance L1, L11, then calculates the vertebral space coordinate with triangulation location
311。
In addition, signal difference D2 of the processing unit 20 according to apparatus frequency signal 131 and the modulation frequency signal 140, with frequency
Rate modulation continuous wave location algorithm calculates the apparatus distance L2 of the operating theater instruments 13 and the positioning signal Transmit-Receive Unit 14, according to simultaneously
Instrument spatial coordinate 321 is calculated according to apparatus distance L2.
In an embodiment, the positioning signal Transmit-Receive Unit 14 is at least two positioning signal Transmit-Receive Units 14, and it sets respectively
It is placed in the periphery of operating theater instruments 13, two apparatus frequency of the processing unit 20 according to received by two positioning signal Transmit-Receive Units 14
Rate signal 131 calculates corresponding two apparatuses distance L2, L21, then calculates the vertebral space coordinate with triangulation location
321。
Further, Fig. 4 is refer to, the plurality of positioning mark 12 also includes identifier 131A, and the operating theater instruments 13 also includes
Instrument identification accords with 121A, after the positioning signal Transmit-Receive Unit 14 is to receive identifier 121A and instrument identification symbol 131A,
Identifier 121A is defined into the corresponding vertebral space coordinate 311 by the processing unit 20, and the processing unit 20 is by the device
Tool identifier 131A is defined into the corresponding instrument spatial coordinate 321, is just accorded with by identifier 121A and the instrument identification
131A can confirm whether corresponding positioning mark 12 and operating theater instruments 13 are correct.
Further illustrate, referring to Fig. 5, each positioning mark 12 still further comprises at least two antenna 12A, 12B, it is received
After the modulation frequency signal 140, two positioning mark frequency signal 12A1, the 12B1 is returned to the positioning signal Transmit-Receive Unit 14, should
Processing unit 20 calculates two antennas 12A, the 12B by the two positioning mark frequency signal 12A1,12B1 and positioning signal is received and dispatched
The distance of unit 14, calculates the implantation vertebra of positioning mark 12 and angle that an acquiescence is performed a surgical operation between guidance path with this
S1, to confirm that it is whether identical with acquiescence guidance path of performing a surgical operation that vertebra is planted in positioning mark implantation.
In addition, referring to Fig. 6, the operating theater instruments 13 still further comprises at least two apparatus antenna 13A, 13B, it is received should
After modulation frequency signal 140, two apparatuses frequency signal 13A1, the 13B1 is returned to the positioning signal Transmit-Receive Unit 14, the processing
Unit 20 calculates apparatus two antenna 13A, the 13B by the two apparatuses frequency signal 13A1,13B1 and positioning signal receives and dispatches list
The distance of member 14, the operating theater instruments is calculated with this and gives tacit consent to the angle S2 between guidance path of performing a surgical operation, to confirm the hand
Whether the operation of art apparatus is identical with acquiescence guidance path of performing a surgical operation.
As described above, using the present invention, preoperative planning information can be first imported before operation on vertebra, then according to the vertebral space
Coordinate, the instrument spatial coordinate and positioning mark and the data such as operating theater instruments angle carry out surgical navigational operation.
The present invention realizes more vertebra section location tracking navigated surgery techniques using wireless location technology, is determined by frequency modulation type radio frequency
Position technology adds identifier discriminating function, and positioning day wire tag is set in vertebra section, and positioning day wire tag is set by independent trails
Vertebra section rather than calculate that whole vertebras are considered as rigid body by mode using numerical value, and then lift medical image registration precision and speed
(acceleration convergence algorithm), and the present invention can possess enough bandwidth of operation to cover FMCW swept frequency ranges (24 GHz -24.4GHz)
, strengthen indoor positioning precision and reach mm level errors, lift surgery implant injection security and precision, it is of the invention in addition
Switching modulation scheme is added, the echo-signal of environment clutter and object will can be separated on frequency spectrum, reduces environmental disturbances, together
When this navigation system be applied to meropodium operation on vertebra (vertebra lateral bending correction, more piece spinal fracture), make to apply art not by large-scale infrared
Line witch ball telltale mark apparatus limits.
Image guided surgery of the present invention has more third dimension, more focuses except that can provide surgeon when instrumentation
Outside data and accurate image information, more it can completely plan pre-operative step and preview, reach real-time imaging in operation and guide
With affected area develop, and it is postoperative assessment intern teaching with research use, and at present first be directed to using operation on vertebra as
Clinical practice direction, improve existing operation on vertebra navigation system direct-view property masking problem, human body electromagnetic absorption rate influences fixed in addition
Position precision, breaks through internal positioning tracking technology bottleneck, following according to this indoor positioning technologies, towards NOTES perform the operation application or
Abdominal operation application, positioning function is produced for the focus of sufferer, shortens operating time, also reduces the possibility of operation risk.
The present invention can effectively lift doctor and perform operation on vertebra security and apply art quality, while reduce penetration in operation
Medical image usage amount simultaneously mitigates the free radiation absorbed dose of medical personnel；Other medical image airmanship is following intelligent operation
Accessory system essential core basis, it is following further combined with surgery mechanical arm and high focusing penetrability therapeutic equipment (HIFU, gal
Agate knife, proton therapeutic) high precisely treatment can be achieved, patient's postoperative complications are reduced with influenceing.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
Enclose not limited to this.The equivalent substitute or conversion that those skilled in the art are made on the basis of the present invention, in the present invention
Protection domain within.Protection scope of the present invention is defined by claims.
Claims (6)
- A kind of 1. frequency modulated(FM) radar transceiver, it is characterised in that including：One power amplifier, after receiving a modulation frequency signal, amplify the modulation frequency signal,One transmitting antenna array, electrically connects the power amplifier, launches to receive the modulation frequency signal after the amplification to one Positioning mark,One reception antenna array, to receive the positioning mark frequency signal returned by the positioning mark, andOne bandpass filter, the reception antenna array is electrically connected, to filter out the letter of the interference outside the positioning mark frequency signal band Number and noise,Wherein the modulation frequency signal and the positioning mark frequency signal are same waveform.
- 2. frequency modulated(FM) radar transceiver according to claim 1, it is characterised in that wherein the modulation frequency signal and the positioning Mark frequency signal range is 24GHz between 24.4GHz.
- 3. frequency modulated(FM) radar transceiver according to claim 1, it is characterised in that wherein also include a low-noise amplifier, It electrically connects the bandpass filter, to stablize the positioning mark frequency signal.
- 4. frequency modulated(FM) radar transceiver according to claim 1, it is characterised in that wherein also include a power divider, its The receiving terminal of the power amplifier is electrically connected, the modulation frequency signal is distributed to a frequency mixer.
- 5. frequency modulated(FM) radar transceiver according to claim 4, it is characterised in that wherein the frequency mixer also electrically connects the band logical Wave filter, the frequency mixer isolate the modulation frequency signal and the positioning mark frequency signal.
- 6. frequency modulated(FM) radar transceiver according to claim 4, it is characterised in that wherein also put including an intermediate frequency adjustable gain Big device, it electrically connects the frequency mixer, to amplify the positioning mark frequency signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334671.0A CN107402378A (en) | 2016-05-19 | 2016-05-19 | Frequency modulated(FM) radar transceiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334671.0A CN107402378A (en) | 2016-05-19 | 2016-05-19 | Frequency modulated(FM) radar transceiver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107402378A true CN107402378A (en) | 2017-11-28 |
Family
ID=60394608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610334671.0A Pending CN107402378A (en) | 2016-05-19 | 2016-05-19 | Frequency modulated(FM) radar transceiver |
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| CN (1) | CN107402378A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112168348A (en) * | 2019-07-03 | 2021-01-05 | 钜旺生技股份有限公司 | Positioning and navigation system for operation and operation method thereof |
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| CN102727293A (en) * | 2011-03-30 | 2012-10-17 | 财团法人金属工业研究发展中心 | Medical equipment with three-dimensional fixed pressure memory intramedullary nail |
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Application publication date: 20171128 |