CN117521331A - Simulation design device for magnetic navigation system - Google Patents
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Abstract
The invention discloses a simulation design device of a magnetic navigation system, which comprises: the preprocessing module is used for simulating environment configuration and simulation parameter setting; the physical calculation engine is used for simulating physical laws and working processes in the magnetic navigation system; the man-machine interaction interface is used for visual interaction in the processes of preprocessing, post-processing and real-time navigation; the post-processing module is used for graphically displaying the simulation result and evaluating the magnetic navigation performance; and the parameter optimization design module is used for automatically optimizing the parameters of the magnetic navigation system. The invention supports magnetic positioning and magnetic driving simulation of continuous bodies and rigid objects with different scales in different environments, supports custom simulation scenes, improves the usability of software through graphical man-machine interaction interfaces and visual result display, and provides a set of general, efficient, accurate and interactive visual simulation design tool for designers of magnetic navigation systems by optimizing the design function of the design module to highlight the software.
Description
Technical Field
The invention relates to the field of robot navigation control and engineering simulation design, in particular to a magnetic navigation system simulation design device.
Background
Magnetic navigation is a navigation technique for manipulating magnetic devices (e.g., magnetic surgical instruments, etc.) to a predetermined target, and includes two parts, magnetic positioning and magnetic actuation. The magnetic positioning captures the magnetic field generated by the controlled magnetic object in space by means of magnetic sensors and the like, and performs pose tracking and positioning on the magnetic object by combining a positioning algorithm. The controlled magnetic object can be acted by magnetic force and magnetic moment in the magnetic field of the driving magnetic source, and the magnetic driving is to control the motion of the controlled magnetic object by controlling the action of the magnetic force (moment).
The magnetic navigation has the advantages of no contact, no radiation, quick response, no mechanical driving structure and the like, and is applied to various fields, such as positioning and control of minimally invasive medical robots, magnetic positioning of industrial AGV vehicles, estimation of human body gestures by AR/VR equipment, magnetic feedback handles and the like. Minimally invasive medical robots are increasingly widely applied to medical tasks such as disease diagnosis, biopsy sampling, operation treatment and the like, can be well adapted to complex and narrow internal space, reduce trauma of patients, improve operation safety and reduce postoperative adverse reactions of the patients. Magnetic navigation is used as a positioning and driving (operating) means of the minimally invasive medical robot, and has the following advantages compared with other navigation modes: the magnetic field is harmless to penetrate through living tissue of human body, so that the time of exposing under radiation during operation of doctors is reduced; the magnetic drive eliminates the mechanical connection between the robot and the drive unit so that the robot can better navigate tortuous paths into fragile and narrow areas of the body. The magnetic navigation is applied to the positioning of an AGV vehicle, a magnetic strip or a magnetic patch is paved on the ground or a navigation path, a magnetic sensor is installed on the AGV vehicle, the navigation and the positioning are realized by detecting the magnetic field change, and the position and the direction of the vehicle can be deduced according to the detected magnetic field strength change. In addition, an AR/VR oriented electromagnetic sensing system tracks the human body posture through a wireless electromagnetic sensor, and teleoperation uses magnetic force as a force feedback means of an operation handle. These above all illustrate the importance of magnetic navigation systems.
The magnetic navigation system (including but not limited to the application scenes) is subjected to simulation, the effectiveness of the equipment in the aspects of structural design, motion control, track planning, logic algorithm and the like can be verified in a rapid, low-cost and high-safety mode, and the gap feedback between expected performance and actual performance can be rapidly obtained in real time in the verification process and the optimal design can be performed.
The existing simulation tools only aim at a certain specific flexible or rigid instrument, and the simulation is only carried out on a certain specific scene (such as the simulation of a certain specific magnetic navigation operation scene), so that the magnetic navigation simulation tool has high customization degree, does not have universality, lacks an optimal design function, and has complex software and hardware systems and poor usability.
Disclosure of Invention
In order to solve at least one of the technical problems existing in the prior art to a certain extent, the invention aims to provide a simulation design device of a magnetic navigation system.
The technical scheme adopted by the invention is as follows:
a magnetic navigation system simulation design apparatus, comprising:
the preprocessing module is used for simulating environment configuration and simulation parameter setting;
the physical calculation engine is used for simulating physical laws and working processes in the magnetic navigation system;
the man-machine interaction interface is used for visual interaction in the processes of preprocessing, post-processing and real-time navigation;
the post-processing module is used for graphically displaying the simulation result and evaluating the magnetic navigation performance;
and the parameter optimization design module is used for automatically optimizing the parameters of the magnetic navigation system.
Further, the preprocessing module includes:
the magnetic navigation parameter setting module is used for setting related parameters of the simulated magnetic navigation system; the related parameters comprise magneto-physical parameters, structural parameters, control system parameters and instrument parameters;
the simulation scene construction and configuration module is used for creating and configuring a three-dimensional geometric model of the simulated working scene;
and the system prompt module is used for assisting a user to check whether the simulation scene and the configuration have defects and errors and giving prompts.
Further, the physical computation engine includes:
the path planning calculation engine is used for realizing off-line path planning and on-line path planning based on the environment map;
the magnetic navigation physical calculation engine is used for modeling a magnetic field and providing a basic physical model and a control algorithm for stress, magnetic control movement and magnetic field positioning of a controlled object in the magnetic field;
and the mechanical calculation engine is used for calculating the motion and deformation of the controlled object in the complex environment.
Further, the path planning calculation engine includes:
the off-line path planning module is used for carrying out path calculation (such as preoperative path planning in magnetic navigation surgery) according to the environmental information collected in advance;
the online path planning module is used for carrying out path calculation (such as intra-operative path planning in magnetic navigation surgery) according to the environment information updated in real time;
the mechanics calculation engine includes:
the rigid body and continuum motion and deformation calculation module is used for simulating the kinematics and dynamics rules of the rigid body and the continuum and the stress deformation of the continuum;
and the collision detection calculation module is used for calculating the collision and friction between the controlled object and the complex environment so as to enable the simulation process to be more fit with the reality.
Further, the magnetic navigation physics calculation engine includes:
the magnetic driving module is used for accurately describing the stress of the controlled object under the action of various external magnetic fields, and controlling the motion of the controlled object through an open loop control algorithm and a closed loop control algorithm; wherein the controlled object contains a magnet;
the magnetic positioning module is used for simulating the measuring process of the sensor on the magnetic field and completing the magnetic positioning simulation of the controlled object through a pose estimation algorithm;
the magnetic positioning module is used for simulating the magnetic sensor to track and position the magnetic object, or the magnetic positioning module and the magnetic driving module are used in a coupling way, and meanwhile, the driving control and the motion tracking of the controlled object are realized.
Further, the magnetic positioning module comprises a positioning magnetic source and a simulation model of a magnetic sensor, wherein the positioning magnetic source comprises a permanent magnet, an electromagnet, a soft magnet or a flexible magnet;
the magnetic driving module simulates a driving magnetic source and a magnetic control instrument;
wherein the driving magnetic source comprises the following magnetic source schemes:
a single magnetic source controlled by the mechanical arm, a plurality of magnetic sources controlled by a plurality of mechanical arms in a cooperative manner, a plurality of magnetic sources which are arranged in different numbers and different space distributions, and a Helmholtz coil group and a Maxwell coil group;
wherein the magnetic control apparatus comprises the following types:
a capsule or micro-robot (e.g., a capsule endoscope for stomach examinations) containing magnetic elements, a continuously deformable flexible instrument (e.g., a transbronchial robot for lung biopsies) containing magnetic elements; the magnetic element comprises a permanent magnet, an electromagnet, a soft magnet, a flexible magnet, a conductor with eddy currents or a magnetorheological fluid.
Further, the magnetic positioning module and the magnetic driving module adopt classical electromagnetic theory to model magnetic field distribution of positioning and driving magnetic sources; and adopting finite element simulation to assist in modeling the magnetic field distribution of the magnetic source so as to correct the analytical model.
Further, the magnetic positioning module adopts a nonlinear pose estimation algorithm to construct a positioning simulation calculation module based on magnetic field measurement;
the magnetic driving module adopts a magnetic force and magnetic moment analysis calculation model to construct a magnetic driving simulation engine; open-loop driving navigation of the magnetic control apparatus is supported, and a control algorithm is adopted to construct a closed-loop motion control frame of the magnetic control object.
Further, the post-processing module includes:
the simulation result graphical display module is used for presenting simulation results through various graphic images so as to facilitate users to intuitively grasp simulation information;
and the simulation result analysis module is used for quantitatively calculating key performance indexes (such as magnetic positioning errors and magnetic control tracking accuracy) of the magnetic navigation task so as to facilitate analysis and measurement of the performance of related structures and algorithms by users.
Further, the parameter optimization design module includes:
the system optimization task setting module is used for setting the performance to be optimized according to the simulation scene by a user and giving out an expected value;
the parameter optimization calculation module is used for calculating the optimal magnetic navigation system parameters by utilizing a plurality of discrete and continuous parameter optimization methods;
the optimal proposal module is used for giving optimal proposal according to the simulation optimization result and providing comparison of navigation effects before and after optimization.
The beneficial effects of the invention are as follows: the invention supports magnetic positioning and magnetic driving simulation of continuous bodies and rigid objects with different scales in different environments, supports custom simulation scenes, improves the usability of software through graphical man-machine interaction interfaces and visual result display, and provides a set of general, efficient, accurate and interactive visual simulation design tool for designers of magnetic navigation systems by optimizing the design function of the design module to highlight the software.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description is made with reference to the accompanying drawings of the embodiments of the present invention or the related technical solutions in the prior art, and it should be understood that the drawings in the following description are only for convenience and clarity of describing some embodiments in the technical solutions of the present invention, and other drawings may be obtained according to these drawings without the need of inventive labor for those skilled in the art.
FIG. 1 is a flow chart of a simulation design apparatus for a magnetic navigation system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the relationship between modules of a magnetic navigation system simulation design apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view of a magnetic navigation simulation of a vascular interventional robot in an embodiment of the present invention;
FIG. 4 is a graph comparing the navigation effect of catheter tips with different magnetic moment sizes according to an embodiment of the present invention;
fig. 5 is a schematic diagram showing a comparison between a coordinate estimation value and a true value given by the post-processing module in an embodiment of the present invention.
Reference numerals: 1. a mechanical arm; 2. a magnetic source; 3. abdominal artery; 4. a human body outer contour; 5. a flexible conduit; 6. a magnetic tip.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
Furthermore, in the description of the present invention, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
With reference to fig. 2, this embodiment provides a simulation design apparatus for a magnetic navigation system, which includes:
the preprocessing module is used for simulating environment configuration and simulation parameter setting;
the physical calculation engine is used for simulating physical laws and working processes in the magnetic navigation system;
the man-machine interaction interface is used for visual interaction in the processes of preprocessing, post-processing and real-time navigation;
the post-processing module is used for graphically displaying the simulation result and evaluating the magnetic navigation performance;
and the parameter optimization design module is used for automatically optimizing the parameters of the magnetic navigation system.
As an alternative embodiment, the preprocessing module includes:
the magnetic navigation parameter setting module is used for setting magnetic navigation related parameters, and the main simulation parameters comprise, but are not limited to, magnetic physical parameters (such as the number of turns of an electromagnet coil, current, magnetic conductivity of an iron core, magnetic moment of permanent magnet, sensitivity of a magnetic sensor and the like), structural parameters (such as the number and spatial arrangement of magnetic sources and sensors), control system parameters (such as proportional-integral-derivative controller parameters and pose estimation algorithm parameters) and instrument parameters (such as the rigidity, the size and the like of a robot);
the simulation scene construction and configuration module is used for providing visual simulation scene construction and configuration functions for users;
and the system prompt module is used for helping a user to check whether the simulation scene has defects and errors or not and giving prompts.
As an alternative embodiment, the physical computation engine includes:
the path planning calculation engine is used for planning an offline and online path based on the environment map;
the magnetic navigation physical calculation engine is used for modeling a magnetic field and providing a basic physical model and a control algorithm for stress, magnetic control movement and magnetic field positioning of a controlled object in the magnetic field;
and the mechanical calculation engine is used for calculating the motion and deformation of the controlled object in the complex environment.
The path planning calculation engine includes:
the off-line path planning module is used for carrying out path calculation (such as preoperative path planning in the field of minimally invasive surgery) according to the environmental information collected in advance;
and the online path planning module is used for carrying out path calculation (such as intraoperative path planning in the field of minimally invasive surgery) according to the environment information updated in real time.
The magnetic navigation physics calculation engine includes:
the magnetic driving module is used for accurately describing the stress of a controlled object (containing a magnet) under the action of various external magnetic fields and completing the motion control of the controlled object through an open loop and closed loop control algorithm;
and the magnetic positioning module is used for simulating the measuring process of the sensor on the magnetic field and completing the magnetic positioning simulation of the controlled object through a pose estimation algorithm.
The user can use the magnetic driving module alone to complete the simulation of the stress and the magnetic control movement of the magnetic object in the magnetic field, can use the magnetic positioning module alone to simulate the tracking and positioning of the magnetic sensor to the magnetic object, and can use the magnetic positioning and the magnetic driving module in a coupling way to realize the driving control and the movement tracking of the controlled object.
The mechanics calculation engine includes:
the rigid body and continuum motion and deformation calculation module is used for simulating the kinematics and dynamics rules of the rigid body and the continuum and the stress deformation of the continuum;
and the collision detection calculation module is used for calculating the collision and friction between the controlled object and the complex environment so as to enable the simulation process to be more fit with the reality.
Further as an alternative embodiment, the magnetic positioning module includes a simulation model for positioning the magnetic source and the magnetic sensor, and the main configuration includes the magnetic source being positioned on the tracked object and the sensor being positioned on the tracked object. Wherein the positioning magnetic source includes, but is not limited to, permanent magnets, electromagnets, soft magnets, flexible magnets, etc.
The magnetic driving module comprises a simulation model for driving a magnetic source and a magnetic control instrument, and the simulation model comprises a single magnetic source controlled by a mechanical arm, a plurality of magnetic sources controlled by a plurality of mechanical arms in a cooperative way, a plurality of magnetic sources with different numbers and different spatial distributions, a helmholtz coil group and other magnetic source schemes, and comprises a capsule or a micro robot (such as a capsule endoscope for stomach examination) with magnetic elements, a continuously deformable flexible instrument (such as a bronchogenic robot for lung biopsy) with magnetic elements and other magnetic control instruments. Wherein the driving magnetic source comprises, but is not limited to, a permanent magnet, an electromagnet, a soft magnet, a flexible magnet, a conductor with eddy currents, magnetorheological fluid, and the like.
The magnetic positioning and driving module adopts classical electromagnetic theory to model magnetic field distribution of positioning and driving magnetic sources, and the main simplified analysis model comprises a magnetic dipole model, a uniform magnetic field model and the like. And adopting finite element simulation to assist in modeling the magnetic field distribution of the magnetic source, and correcting the analytical model. Experimental data driven magnetic field modeling is also supported. The magnetic positioning and magnetic driving module of the software comprises, but is not limited to, the magnetic field modeling method.
The magnetic positioning module adopts nonlinear pose estimation algorithms such as extended Kalman filtering, direct optimization and the like to construct a positioning simulation calculation engine based on magnetic field measurement. The magnetic positioning module of the software includes, but is not limited to, the above positioning algorithm.
The magnetic driving module adopts a calculation model based on magnetic force and magnetic moment analysis and constructs a magnetic driving simulation engine. Open-loop driving navigation of the magnetic control apparatus is supported, and meanwhile, a control algorithm such as a proportional-integral-derivative controller, a magnetic driving inverse model, feedback linearization and the like is adopted to construct a closed-loop motion control frame of the magnetic control object. The magnetic drive module of the software includes, but is not limited to, the drive algorithm above.
As an alternative embodiment, the post-processing module includes:
the simulation result graphical display module presents simulation results (such as a motion trail, a trail tracking error, an average contact force of a controlled instrument and an environment, a magnetic field and a magnetic field gradient in the environment and the like) through various graphical images (such as an animation, a two-dimensional function curve, a three-dimensional function curve, a picture, a table, an animation and the like), so that a user can conveniently and intuitively grasp simulation information;
and the simulation result analysis module is used for quantitatively calculating key performance indexes (such as magnetic positioning errors and magnetic control tracking accuracy) of the magnetic navigation task, so that a user can conveniently analyze and measure the performance of related structures and algorithms.
As an optional implementation manner, the parameter optimization design module includes:
the system optimization task setting module is used for setting the performance to be optimized (such as magnetic driving force, positioning sensitivity, positioning anti-interference capability and the like) according to a simulation scene by a user and giving an expected value;
the parameter optimization calculation module comprises a step of calculating optimal magnetic navigation system parameters (such as magnetic moment, initial position of a mechanical arm, the number of sensors and the like) by utilizing a plurality of discrete and continuous parameter optimization methods;
and the optimal proposal module gives optimal proposal according to the simulation optimization result and provides comparison of navigation effects before and after optimization.
Based on the above-mentioned simulation design device, as shown in fig. 1, the embodiment provides a method for implementing a general simulation design device of a magnetic navigation system, which includes the following steps:
s1: the user creates or imports the simulation environment in the preprocessing man-machine interaction interface, sets the contents such as the magnetic navigation mode, the magnetic physical parameters, the geometric parameters, the control system parameters and the like, and then starts the simulation program.
S2: and the user operates on the real-time simulation man-machine interaction interface to control related instruments to complete the magnetic navigation task.
S3: the post-processing module receives the calculation result of the physical engine and performs graphical display, quantitatively calculates key performance indexes of the magnetic navigation task, and accurately displays and quantitatively evaluates the magnetic navigation performance of the controlled instrument.
And the user selects whether to perform parameter optimization design according to the post-processing result.
S4: if the post-processing result does not meet the user requirement, parameter optimization design is needed, and software automatically calculates and gives an optimal system parameter scheme aiming at the performance to be optimized.
The following detailed description is made with reference to the accompanying drawings and specific embodiments.
Referring to fig. 3, the present embodiment is designed for simulation of a magnetic navigation system of an abdominal angiography medical robot.
Firstly, a user builds a simulation scene on a preprocessing man-machine interaction interface, which comprises the following steps:
the human body environment provides a simulation environment and interacts with the medical robot in real time;
a driving magnetic source for generating a driving magnetic field;
and the magnetic control instrument is used as a controlled object and used for reaching a specified position to complete related tasks.
As an alternative embodiment, the geometric models of the abdominal artery and the external contour of the human body are introduced from outside, and the abdominal aortic arch is set as a rigid object, and only the collision and friction between the abdominal aortic arch and the magnetic control instrument are considered.
As an optional implementation mode, the driving magnetic source adopts a single magnetic source controlled by a mechanical arm, wherein the mechanical arm is of a UR5 model, the tail end of the mechanical arm is rigidly connected with the driving magnetic source, and the change of the pose of the driving magnetic source is realized through the change of the joint angle of the mechanical arm. The driving magnetic source adopts a cylindrical permanent magnet, and the magnetic moment is 640 A.m 2 The magnetic moment direction is the axial direction of the tail end of the mechanical arm.
As an alternativeIn the implementation mode of the magnetic control instrument, a hollow flexible catheter is selected, the total length is 0.5m, the elastic modulus of the proximal end of the catheter is 165Mpa, the elastic modulus of the distal end of the catheter is 20Mpa, a section of cylindrical permanent magnet is embedded into the tail end of the catheter, and the magnetic moment is 0.03 A.m 2 The magnetic moment direction is the tangential direction of the catheter.
After the simulation environment configuration and the simulation parameter setting are completed, the system can generate a new man-machine interaction interface and display the whole navigation process in real time. Fig. 3 is a schematic diagram of a simulation scenario of the present embodiment, including: a mechanical arm 1; a driving magnetic source 2; an abdominal artery 3; a human body outer contour 4; a flexible conduit 5; a magnetic tip 6.
The abdominal artery 3 is the main environment of the magnetic navigation task, the flexible conduit 5 is a hollow hose, contrast agent can be released in the middle of the hose, and a section of cylindrical permanent magnet is embedded into the tail end of the hose to form a magnetic tail end 6. The end flange of the mechanical arm 1 is rigidly connected with the driving magnetic source 2 (permanent magnet), and the pose of the driving magnetic source 2 is changed through the change of the joint angle of the mechanical arm, so that the magnetic field generated at the magnetic end 6 is changed. In the magnetic field of the driving magnetic source 2, the magnetic tip 6 is subjected to magnetic force and magnetic moment, so that the tip of the flexible catheter 5 is bent and deformed to perform a guiding function. The flexible catheter 5 is inserted from the bottom of the aortic arch 3, and is self-telescoping by the delivery device.
The magnetic moment has the characteristic that the magnetic moment direction is aligned with the local magnetic field direction, the flexible conduit 5 is soft and easy to deform, and the magnetic moment direction of the magnetic tail end 6 of the flexible conduit is tangential to the conduit, so that the tail end of the flexible conduit 5 can deflect by the magnetic moment until the tail end faces to be close to the local magnetic field direction.
As an alternative embodiment, the direction of the desired magnetic field at the magnetic tip 6 is regarded as its desired pointing direction.
As an alternative implementation mode, the magnetic field modeling method selects a magnetic dipole model in a simplified analytical model.
Due to user input and movement of the flexible catheter 5 during navigation, the magnetic field at the magnetic tip 6 will change, and the mechanical arm 1 is required to grasp and drive the magnetic source 2 to move to a new position, so as to ensure that the magnetic field direction at the magnetic tip 6 is consistent with the desired direction.
As an alternative embodiment, a feedback linearization algorithm is used as the magnetic drive control algorithm, that is, a linear relationship between the joint angle change of the mechanical arm 1 and the magnetic field change at the magnetic end 6 is established, the difference between the expected magnetic field and the actual magnetic field at the magnetic end 6 is brought in, and the linear equation set is solved to obtain the change of the joint angle of the mechanical arm.
As an alternative implementation mode, an extended Kalman filtering algorithm is adopted to track and position the permanent magnet at the tail end of the flexible catheter 5, so that pose information of the flexible catheter is mastered in real time, and the obtained pose information is used in the next simulation step.
As an alternative embodiment, a mouse and a keyboard are used as external input devices. The mouse controls the start, pause, step size, view angle, etc. of the simulation. Control +. +.sup. @ of the keyboard controls the flexible catheter 5 to stretch and contract, control + J/L and control + K/I control the desired magnetic field direction of the tip of the flexible catheter 5 to rotate around the X-axis and Z-axis of the base coordinate system, respectively.
In designing an abdominal angiography medical robot magnetic navigation system, it is necessary to determine the magnitude of the magnetic moment of the magnetic source 2. In this embodiment, the magnetic moment of the magnetic source 2 is set to 6400 A.multidot.m at the pretreatment interface 2 、640A·m 2 、64A·m 2 The simulation comparison is carried out in three times, the extending length of the catheter is controlled to be 15cm each time, and the direction of the magnetic field at the tip of the flexible catheter 5 is controlled to form an included angle of 30 degrees with the X-axis of the base coordinate system. As shown in FIG. 4, where m represents the magnetic moment direction of the magnetic tip 6 and b represents the magnetic field direction at the magnetic tip 6, it can be seen that the larger the magnetic moment of the magnetic source 2 is, the smaller the angle between b and m is, the better the navigation effect is, but when the magnetic moment is 6400 A.m 2 When the cylindrical magnet is too large, the cylindrical magnet is not suitable for the type of operation, and the magnetic moment is 64 A.m 2 When the magnetic field is too weak, the included angle between b and m is too large, and navigation is difficult, so that the magnetic moment is selected to be 640 A.m 2 The diameter of the cylindrical magnet is about 9cm, the size is proper, and the navigation effect is good. Thereby exhibiting the aided design function of the software.
The user completes the magnetic navigation task by controlling the telescoping and steering of the flexible catheter 5 to bring its distal end to a predetermined contrast position.
After the navigation task is finished, the post-processing module receives the simulation result calculated by the physical engine and intuitively presents the simulation result to the user in an image form.
As an alternative embodiment, the post-processing interface shows the estimated and actual values of the position of the magnetic tip 6 in the form of a three-dimensional curve, as shown in fig. 5. In this embodiment, the key performance index of the average positioning error is also counted, the average positioning error of the X axis is 0.63mm, the average positioning error of the Y axis is 0.66mm, and the average positioning error of the Z axis is 0.51mm.
If the average positioning error does not meet the user requirement, the parameter optimization design module optimally designs parameters such as the sensor position, the sensor precision, the catheter tip magnetic moment and the like according to the expected range of the average positioning error given by the user, and recommends a plurality of proper parameter combinations for comparison and selection by the user.
In the foregoing description of the present specification, reference has been made to the terms "one embodiment/example", "another embodiment/example", "certain embodiments/examples", and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (10)
1. A magnetic navigation system simulation design device, comprising:
the preprocessing module is used for simulating environment configuration and simulation parameter setting;
the physical calculation engine is used for simulating physical laws and working processes in the magnetic navigation system;
the man-machine interaction interface is used for visual interaction in the processes of preprocessing, post-processing and real-time navigation;
the post-processing module is used for graphically displaying the simulation result and evaluating the magnetic navigation performance;
and the parameter optimization design module is used for automatically optimizing the parameters of the magnetic navigation system.
2. The magnetic navigation system design simulator of claim 1, wherein the pre-processing module comprises:
the magnetic navigation parameter setting module is used for setting related parameters of the simulated magnetic navigation system; the related parameters comprise magneto-physical parameters, structural parameters, control system parameters and instrument parameters;
the simulation scene construction and configuration module is used for creating and configuring a three-dimensional geometric model of the simulated working scene;
and the system prompt module is used for assisting a user to check whether the simulation scene and the configuration have defects and errors and giving prompts.
3. The magnetic navigation system design simulator of claim 1, wherein the physical computation engine comprises:
the path planning calculation engine is used for realizing off-line path planning and on-line path planning based on the environment map;
the magnetic navigation physical calculation engine is used for modeling a magnetic field and providing a basic physical model and a control algorithm for stress, magnetic control movement and magnetic field positioning of a controlled object in the magnetic field;
and the mechanical calculation engine is used for calculating the motion and deformation of the controlled object in the complex environment.
4. A magnetic navigation system simulation design apparatus according to claim 3, wherein the path planning calculation engine comprises:
the off-line path planning module is used for carrying out path calculation according to the environmental information collected in advance;
the online path planning module is used for carrying out path calculation according to the environment information updated in real time;
the mechanics calculation engine includes:
the rigid body and continuum motion and deformation calculation module is used for simulating the kinematics and dynamics rules of the rigid body and the continuum and the stress deformation of the continuum;
and the collision detection calculation module is used for calculating the collision and friction between the controlled object and the complex environment so as to enable the simulation process to be more fit with the reality.
5. A magnetic navigation system simulation design apparatus in accordance with claim 3, wherein the magnetic navigation physics calculation engine comprises:
the magnetic driving module is used for describing the stress of the controlled object under the action of various external magnetic fields, and completing the motion control of the controlled object through an open loop and closed loop control algorithm; wherein the controlled object contains a magnet;
the magnetic positioning module is used for simulating the measuring process of the sensor on the magnetic field and completing the magnetic positioning simulation of the controlled object through a pose estimation algorithm;
the magnetic positioning module is used for simulating the magnetic sensor to track and position the magnetic object, or the magnetic positioning module and the magnetic driving module are used in a coupling way, and meanwhile, the driving control and the motion tracking of the controlled object are realized.
6. The magnetic navigation system simulation design device of claim 5, wherein the magnetic positioning module comprises a positioning magnetic source and a simulation model of a magnetic sensor, wherein the positioning magnetic source comprises a permanent magnet, an electromagnet, a soft magnet, or a flexible magnet;
the magnetic driving module simulates a driving magnetic source and a magnetic control instrument;
wherein the driving magnetic source comprises the following magnetic source schemes:
a single magnetic source controlled by the mechanical arm, a plurality of magnetic sources controlled by a plurality of mechanical arms in a cooperative manner, a plurality of magnetic sources which are arranged in different numbers and different space distributions, and a Helmholtz coil group and a Maxwell coil group;
wherein the magnetic control apparatus comprises the following types:
a capsule or micro-robot containing a magnetic element, a continuously deformable flexible instrument containing a magnetic element; the magnetic element comprises a permanent magnet, an electromagnet, a soft magnet, a flexible magnet, a conductor with eddy currents or a magnetorheological fluid.
7. The simulation design device of the magnetic navigation system according to claim 5, wherein the magnetic positioning module and the magnetic driving module perform magnetic field distribution modeling on the positioning and driving magnetic source by adopting classical electromagnetic theory; and adopting finite element simulation to assist in modeling the magnetic field distribution of the magnetic source so as to correct the analytical model.
8. The simulation design device of the magnetic navigation system according to claim 5, wherein the magnetic positioning module adopts a nonlinear pose estimation algorithm to construct a positioning simulation calculation module based on magnetic field measurement;
the magnetic driving module adopts a magnetic force and magnetic moment analysis calculation model to construct a magnetic driving simulation engine; open-loop driving navigation of the magnetic control apparatus is supported, and a control algorithm is adopted to construct a closed-loop motion control frame of the magnetic control object.
9. The magnetic navigation system design simulator of claim 1, wherein the post-processing module comprises:
the simulation result graphical display module is used for presenting simulation results through various graphic images so as to facilitate users to intuitively grasp simulation information;
and the simulation result analysis module is used for quantitatively calculating key performance indexes of the magnetic navigation task so as to facilitate analysis and measurement of the performance of related structures and algorithms by users.
10. The magnetic navigation system simulation design apparatus of claim 1, wherein the parameter optimization design module comprises:
the system optimization task setting module is used for setting the performance to be optimized according to the simulation scene by a user and giving out an expected value;
the parameter optimization calculation module is used for calculating the optimal magnetic navigation system parameters by utilizing a plurality of discrete and continuous parameter optimization methods;
the optimal proposal module is used for giving optimal proposal according to the simulation optimization result and providing comparison of navigation effects before and after optimization.
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