Tracking System For Endoscope With Digital Human Technology

In modern medicine, the endoscope has been used for more disease diagnosis. The endoscopy can provide effective medical images such as human tissue for disease diagnosis. Since the endoscopic probe is in the human body when in an endoscopy, its position in the human body and angle are not visible, based on the collected images, doctors can only judge by their experience which human tissue the image is corresponding to. This not only causes inconvenience to image recognition, and is prone to false positives, therefore, an effective and real-time endoscopic tracking technology is required.The tracking system for endoscope with digital human technology is a medical support system which combines the digital human technology with endoscopic traking technology. The system is a real-time magnetic tracking system. Using the magnetic field information detected by a three-axis magnetic sensor and gravity field information detected by a three-axis acceleration sensor, the position and rientation of the the endoscopic probe is determined, so the virtual endoscopic probe image in the digital human can be created to display the position and rientation of the the endoscopic probe.This dissertation describes the principle and program design of the tracking system; it also describes the hardware and softwaredesign of the system. Detailed analysis of the experimental results under laboratory conditions is made in this paper.The main contributions of this dissertation are summarized as follows:1. Put foword the design proposal and theory of the tracking system. The system is a magnetic tracking system. After studied domestic and overseas research on magnetic tracking system, the dissertation put foword the magnetic tracking theory, of which the orientation determination and position determination are separated from each other, and it simplifies the tracking algorithm, gets high real-time performance. The design proposal and theory of the tracking system is different from other magnetic tracking systems, we applied one national patent for the system;2. Designed and made the mechanical coordinate platform of the tracking system, the platform is used for measurement and fixed. Designed and made the hardware of the system, including the PCB boards of the sensors and the microprocessor, UART, IIC, etc. Developed the application with human-computer interaction interface by MFC in VC;3. Closely studied the theory of the inductance coil, did a lot of work on the theoretical analysis, software simulation, manufacture, etc. Produced inductance coils Meeting requirements of the system;4. After closely studied OpenGL, the Computer Open Graphics Library, created the virtue image of the endoscopic probe in the computer application, which show the orientation and position of the endoscopic probe;5. Successfully carried out experiments of the tracking system to determine the orientation and position of the endoscopic probe under laboratory conditions. The precision of the system and the tracking frequency meet the actual demand.