技术领域Technical Field
本发明涉及高精度磁传感器开发技术领域，尤其涉及一种轴向环形六自由度磁定位传感器及其制备方法。The present invention relates to the technical field of high-precision magnetic sensor development, and in particular to an axial annular six-degree-of-freedom magnetic positioning sensor and a preparation method thereof.
背景技术Background Art
磁定位传感器放置于可定位引导件的端部，通过检测空间磁场强度可实现医学三维图像，直观显示医疗器械的位置和姿态，在人体内实时定位和引导，进而对病灶进行准确的定位，方便医生对病灶活检、穿刺或消融治疗，在临床上可实现无视线遮挡问题的操作。微创伤介入手术越来越多的被应用于心和肺消融术、穿刺活检术、肿瘤消融术等，在医学领域具有广阔的应用前景。The magnetic positioning sensor is placed at the end of the positionable guide. By detecting the spatial magnetic field strength, it can realize medical three-dimensional images, intuitively display the position and posture of medical devices, and locate and guide in real time in the human body, and then accurately locate the lesion, which is convenient for doctors to perform biopsy, puncture or ablation treatment on the lesion, and can achieve clinical operation without line of sight obstruction. Minimally invasive interventional surgery is increasingly being used in heart and lung ablation, puncture biopsy, tumor ablation, etc., and has broad application prospects in the medical field.
磁传感器的磁场信息采集方式直接影响了电磁定位跟踪器的位置和姿态的求解。在介入类医疗器械中，传感器需要配合六自由度的检测，同时又不影响其它材料的占用空间，常规传感器或为实心，或空心结构线圈传感器只能检测5自由度参数，不能实现空心结构线圈传感器检测6自由度参数。The magnetic field information collection method of the magnetic sensor directly affects the position and posture solution of the electromagnetic positioning tracker. In interventional medical devices, the sensor needs to cooperate with the detection of six degrees of freedom without affecting the space occupied by other materials. Conventional sensors are either solid or hollow structure coil sensors can only detect 5 degrees of freedom parameters, and hollow structure coil sensors cannot detect 6 degrees of freedom parameters.
发明内容Summary of the invention
有鉴于此，本发明的目的在于提供一种轴向环形六自由度磁定位传感器及其制备方法。本发明提供了一种轴向环形六自由度磁定位传感器，适用于介入管类结构的医疗器械使用，这种环形传感器可以充分利用部分空间结构，同时又可以实现6自由度参数测量，同时满足医疗器械紧凑型结构的要求。In view of this, the purpose of the present invention is to provide an axial annular six-degree-of-freedom magnetic positioning sensor and a preparation method thereof. The present invention provides an axial annular six-degree-of-freedom magnetic positioning sensor, which is suitable for use in medical devices with interventional tube structures. This annular sensor can make full use of part of the spatial structure, while achieving 6-degree-of-freedom parameter measurement, and meeting the requirements of a compact structure of medical devices.
为了实现上述发明目的，本发明提供以下技术方案：In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:
本发明提供了一种轴向环形六自由度磁定位传感器，包括：The present invention provides an axial annular six-degree-of-freedom magnetic positioning sensor, comprising:
环形管；Ring tube;
金属磁芯，所述金属磁芯粘结在所述环形管的外表面的圆周不同位置上，所述金属磁芯的数量不少于2；Metal magnetic cores, the metal magnetic cores are bonded to different circumferential positions of the outer surface of the annular tube, and the number of the metal magnetic cores is not less than 2;
线圈，所述线圈将所述金属磁芯缠绕在所述环形管的表面，所述线圈的数量等于金属磁芯的数量，所述线圈的匝数相同，所述线圈为同轴串行结构。The coil winds the metal magnetic core on the surface of the annular tube, the number of the coils is equal to the number of the metal magnetic cores, the number of turns of the coils is the same, and the coils are in a coaxial serial structure.
优选地，所述环形管的材质为绝缘材质或非导磁性金属，所述绝缘材质为聚酰亚胺或聚四氟乙烯，所述非导磁性金属为不锈钢、铝或铜。Preferably, the material of the annular tube is an insulating material or a non-magnetic metal, the insulating material is polyimide or polytetrafluoroethylene, and the non-magnetic metal is stainless steel, aluminum or copper.
优选地，所述环形管的环内径为0.2～10mm。Preferably, the inner diameter of the annular tube is 0.2-10 mm.
优选地，所述金属磁芯的材质为CoaFebMc合金或FedNieAf合金，其中M包括Ni、B、Si、Cr、Nb、Mo和V中的一种或多种，52％≤a≤75％，0.5％≤b≤12％，10％≤c≤48％，其中A包括C、Si、Mn和Mo中的一种或多种，12％≤d≤18％，78％≤e≤82％，3.5％≤f≤7.5％。Preferably, the material of the metal magnetic core is Coa FebMc alloy or Fed Nie Af alloy, wherein M includes one or more of Ni, B, Si, Cr, Nb, Mo and V, 52%≤a≤75%, 0.5%≤b≤12%, 10%≤c≤48%, wherein A includes one or more of C, Si, Mn and Mo, 12%≤d≤18%, 78%≤e≤82%, and 3.5%≤f≤7.5%.
优选地，所述金属磁芯为圆形磁芯或扁带磁芯，所述圆形磁芯的直径为80～200μm，所述扁带磁芯的厚度为80～200μm。Preferably, the metal magnetic core is a circular magnetic core or a flat-ribbon magnetic core, the diameter of the circular magnetic core is 80-200 μm, and the thickness of the flat-ribbon magnetic core is 80-200 μm.
优选地，所述金属磁芯的表面有绝缘薄膜，所述绝缘薄膜为热固型环氧树脂胶或有机硅胶。Preferably, the surface of the metal magnetic core is provided with an insulating film, and the insulating film is a thermosetting epoxy resin glue or an organic silicone glue.
优选地，所述金属磁芯的分布位置的同心夹角为30°～180°。Preferably, the concentric angle of the distribution positions of the metal magnetic cores is 30° to 180°.
优选地，所述线圈为电子线。Preferably, the coil is an electronic wire.
优选地，所述电子线为漆包铜线。Preferably, the electronic wire is an enameled copper wire.
本发明还提供了上述技术方案所述的轴向环形六自由度磁定位传感器的制备方法，包括以下步骤：The present invention also provides a method for preparing the axial annular six-degree-of-freedom magnetic positioning sensor described in the above technical solution, comprising the following steps:
在环形管的外表面的圆周不同位置上粘结金属磁芯，然后用线圈将所述金属磁芯缠绕在所述环形管的表面，得到所述轴向环形六自由度磁定位传感器。The metal magnetic cores are bonded to different circumferential positions of the outer surface of the annular tube, and then the metal magnetic cores are wound around the surface of the annular tube with a coil to obtain the axial annular six-degree-of-freedom magnetic positioning sensor.
本发明提供了一种轴向环形六自由度磁定位传感器，包括：环形管；金属磁芯，所述金属磁芯粘结在所述环形管的外表面的圆周不同位置上，所述金属磁芯的数量不少于2；线圈，所述线圈将所述金属磁芯缠绕在所述环形管的表面，所述线圈的数量等于金属磁芯的数量，所述线圈的匝数相同，所述线圈为同轴串行结构。The present invention provides an axial annular six-degree-of-freedom magnetic positioning sensor, comprising: an annular tube; metal magnetic cores, which are bonded to different circumferential positions of the outer surface of the annular tube, and the number of the metal magnetic cores is not less than 2; and coils, which wind the metal magnetic cores around the surface of the annular tube, the number of the coils is equal to the number of the metal magnetic cores, the number of turns of the coils is the same, and the coils are of a coaxial serial structure.
与现有技术相比，本发明的有益效果如下：Compared with the prior art, the present invention has the following beneficial effects:
本发明提供了一种轴向环形六自由度磁定位传感器，通过多磁芯聚磁原理，将两个以上的金属磁芯粘接在环形管外表面，且金属磁芯的粘接位置不重合，分布圆周不同位置上，再在金属磁芯缠绕的外层绕制相等匝数的线圈，线圈为同轴串行结构，形成了多个非同心的磁偶极子，在轴向环形六自由度磁定位传感器磁场发射的范围内，磁力线通过线圈会产生感应电压，线圈即构成了多个磁偶极子，金属磁芯具有很强的导磁特性，磁力线被引导到具有导磁性较强的路径，因此改变环形管内达均匀磁通的分布，线圈就形成了多个偏心的磁偶极子，即能够形成多个非对称圆的磁偶极子，适用于介入管类结构的医疗器械使用，这种环形传感器可以充分利用部分空间结构，同时又可以实现6自由度参数测量，同时满足医疗器械紧凑型结构的要求。The present invention provides an axial annular six-degree-of-freedom magnetic positioning sensor. Through the principle of multi-core magnetic concentration, more than two metal cores are bonded to the outer surface of an annular tube, and the bonding positions of the metal cores do not overlap, but are distributed at different positions of the circumference. Then, coils with equal turns are wound on the outer layer wrapped around the metal cores. The coils are coaxial serial structures, forming multiple non-concentric magnetic dipoles. Within the range of magnetic field emission of the axial annular six-degree-of-freedom magnetic positioning sensor, magnetic lines of force will generate induced voltages through the coils, and the coils constitute multiple magnetic dipoles. The metal core has a strong magnetic conductivity. The magnetic lines of force are guided to a path with strong magnetic conductivity, thereby changing the distribution of uniform magnetic flux in the annular tube. The coils form multiple eccentric magnetic dipoles, that is, magnetic dipoles that can form multiple asymmetric circles. The coils are suitable for use in medical devices with interventional tube structures. This annular sensor can make full use of part of the spatial structure, while realizing 6-degree-of-freedom parameter measurement and meeting the requirements of compact structures of medical devices.
本发明还提供了上述技术方案所述轴向环形六自由度磁定位传感器的制备方法，本发明的制备方法操作简单，易于实现工业化应用。The present invention also provides a method for preparing the axial annular six-degree-of-freedom magnetic positioning sensor described in the above technical solution. The preparation method of the present invention is simple to operate and easy to realize industrial application.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明提供的一种轴向环形六自由度传感器的结构示意图；FIG1 is a schematic structural diagram of an axial annular six-degree-of-freedom sensor provided by the present invention;
图2为本发明提供的双磁偶极子磁力线分布图；FIG2 is a distribution diagram of magnetic field lines of a double magnetic dipole provided by the present invention;
图3为本发明实施例1提供的两个磁偶极子传感器输出信号；FIG3 is an output signal of two magnetic dipole sensors provided in Example 1 of the present invention;
图中：第一线圈-1，第二线圈-2，第一金属磁芯-3，第二金属磁芯-4，环形管-5，传感器-6。In the figure: first coil-1, second coil-2, first metal magnetic core-3, second metal magnetic core-4, annular tube-5, sensor-6.
具体实施方式DETAILED DESCRIPTION
本发明提供了一种轴向环形六自由度磁定位传感器，包括：The present invention provides an axial annular six-degree-of-freedom magnetic positioning sensor, comprising:
环形管；Ring tube;
金属磁芯，所述金属磁芯粘结在所述环形管的外表面的圆周不同位置上，所述金属磁芯的数量不少于2；Metal magnetic cores, the metal magnetic cores are bonded to different circumferential positions of the outer surface of the annular tube, and the number of the metal magnetic cores is not less than 2;
线圈，所述线圈将所述金属磁芯缠绕在所述环形管的表面，所述线圈的数量等于金属磁芯的数量，所述线圈的匝数相同，所述线圈为同轴串行结构。The coil winds the metal magnetic core on the surface of the annular tube, the number of the coils is equal to the number of the metal magnetic cores, the number of turns of the coils is the same, and the coils are in a coaxial serial structure.
在本发明中，若无特殊说明，使用的原料均为本领域市售商品。In the present invention, unless otherwise specified, the raw materials used are all commercially available products in the art.
图1为本发明提供的轴向环形六自由度磁定位传感器的结构示意图。下面结合图1对本发明的轴向环形六自由度磁定位传感器进行说明。Fig. 1 is a schematic diagram of the structure of an axial annular six-degree-of-freedom magnetic positioning sensor provided by the present invention. The axial annular six-degree-of-freedom magnetic positioning sensor of the present invention is described below in conjunction with Fig. 1 .
本发明提供的轴向环形六自由度磁定位传感器包括环形管5。The axial annular six-degree-of-freedom magnetic positioning sensor provided by the present invention comprises an annular tube 5 .
在本发明中，所述环形管5的材质优选为绝缘材质或非导磁性金属，所述绝缘材质优选为聚酰亚胺或聚四氟乙烯，所述非导磁性金属优选为不锈钢、铝或铜。In the present invention, the material of the annular tube 5 is preferably an insulating material or a non-magnetic metal. The insulating material is preferably polyimide or polytetrafluoroethylene. The non-magnetic metal is preferably stainless steel, aluminum or copper.
在本发明中，所述环形管5的环内径优选为0.2～10mm。In the present invention, the inner diameter of the annular tube 5 is preferably 0.2-10 mm.
本发明提供的轴向环形六自由度磁定位传感器包括金属磁芯，所述金属磁芯粘结在所述环形管的外表面的圆周不同位置上，所述金属磁芯的数量不少于2。The axial annular six-degree-of-freedom magnetic positioning sensor provided by the present invention comprises metal magnetic cores, which are bonded to different circumferential positions of the outer surface of the annular tube, and the number of the metal magnetic cores is not less than 2.
在本发明中，所述金属磁芯的数量优选为2，包括第一金属磁芯3和第二金属磁芯4，此时形成两个非对称圆的磁偶极子(双磁偶极子)，通过双磁芯聚磁原理，得到了所述轴向环形六自由度磁定位传感器。图2为磁通中心偏移后的双磁偶极子磁力线分布图，第一金属磁芯3和第二金属磁芯4诱导的磁力线分布非常明显，聚磁中心发生偏移，形成了非对称磁偶极子。In the present invention, the number of the metal cores is preferably 2, including the first metal core 3 and the second metal core 4, at which time two asymmetric circular magnetic dipoles (double magnetic dipoles) are formed, and the axial annular six-degree-of-freedom magnetic positioning sensor is obtained through the double magnetic core magnetic concentration principle. Figure 2 is a distribution diagram of the magnetic force lines of the double magnetic dipole after the magnetic flux center is offset. The distribution of the magnetic force lines induced by the first metal core 3 and the second metal core 4 is very obvious, and the magnetic concentration center is offset, forming an asymmetric magnetic dipole.
在本发明中，所述金属磁芯的材质优选为CoaFebMc合金或FedNieAf合金，其中M优选包括Ni、B、Si、Cr、Nb、Mo和V中的一种或多种，52％≤a≤75％，0.5％≤b≤12％，10％≤c≤48％，其中A优选包括C、Si、Mn和Mo中的一种或多种，12％≤d≤18％，78％≤e≤82％，3.5％≤f≤7.5％；在本发明的具体实施例中，所述金属磁芯的的材质为Fe15Ni80Mo5合金、Fe20Ni80Mo5合金或Co69.3Fe4.5Si12.7B11.5Mo2合金。In the present invention, the material of the metal magnetic core is preferably Coa FebMc alloy or Fed Nie Af alloy, wherein M preferably includes one or more of Ni, B, Si, Cr, Nb, Mo and V, 52%≤a≤75%, 0.5%≤b≤12%, 10%≤c≤48%, wherein A preferably includes one or more of C, Si, Mn and Mo, 12%≤d≤18%, 78%≤e≤82%, 3.5%≤f≤7.5%; in a specific embodiment of the present invention, the material of the metal magnetic core is Fe15 Ni80 Mo5 alloy, Fe20 Ni80 Mo5 alloy or Co69.3 Fe4.5 Si12.7 B11.5 Mo2 alloy.
在本发明中，所述金属磁芯优选为圆形磁芯或扁带磁芯，所述圆形磁芯的直径优选为80～200μm，所述扁带磁芯的厚度优选为80～200μm。In the present invention, the metal magnetic core is preferably a circular magnetic core or a flat-ribbon magnetic core. The diameter of the circular magnetic core is preferably 80 to 200 μm, and the thickness of the flat-ribbon magnetic core is preferably 80 to 200 μm.
在本发明中，所述金属磁芯的表面优选有绝缘薄膜，所述绝缘薄膜优选为热固型环氧树脂胶或有机硅胶，本发明对所述热固型环氧树脂胶和有机硅胶的具体种类没有特殊的限定，采用本领域技术人员熟知的种类即可。In the present invention, the surface of the metal core preferably has an insulating film, and the insulating film is preferably a thermosetting epoxy resin glue or an organic silicone. The present invention has no special limitation on the specific types of the thermosetting epoxy resin glue and the organic silicone, and the types familiar to those skilled in the art can be used.
在本发明中，所述绝缘薄膜的厚度优选为0.5～10μm。In the present invention, the thickness of the insulating film is preferably 0.5-10 μm.
在本发明中，所述金属磁芯的分布位置的同心夹角优选为30°～180°，更优选为60°～120°。In the present invention, the concentric angle of the distribution positions of the metal magnetic cores is preferably 30° to 180°, more preferably 60° to 120°.
本发明提供的轴向环形六自由度磁定位传感器包括线圈，所述线圈将所述金属磁芯缠绕在所述环形管的表面，所述线圈的数量等于金属磁芯的数量，所述线圈的匝数相同，所述线圈为同轴串行结构。The axial annular six-degree-of-freedom magnetic positioning sensor provided by the present invention includes a coil, which winds the metal core around the surface of the annular tube. The number of the coils is equal to the number of the metal cores, the number of turns of the coils is the same, and the coils are a coaxial serial structure.
当所述金属磁芯的数量优选为2时，所述线圈的数量为2，包括第一线圈1和第二线圈2，所述第一线圈1缠绕所述第一金属磁芯3，所述第二线圈2缠绕所述第二金属磁芯4。When the number of the metal magnetic cores is preferably 2, the number of the coils is 2, including a first coil 1 and a second coil 2 , the first coil 1 is wound around the first metal magnetic core 3 , and the second coil 2 is wound around the second metal magnetic core 4 .
在本发明中，所述线圈优选为电子线。In the present invention, the coil is preferably an electronic wire.
在本发明中，所述电子线优选为漆包铜线。In the present invention, the electronic wire is preferably an enameled copper wire.
在本发明中，所述电子线的直径优选为0.007～0.030mm，更优选为0.01～0.025mm。In the present invention, the diameter of the electron wire is preferably 0.007 to 0.030 mm, more preferably 0.01 to 0.025 mm.
在本发明中，所述电子线的匝数优选为50～3000匝，更优选为100～2000匝，层数优选为≥1，更优选为多层；所述电子线优选叠层紧密绕制在所述金属磁芯上。In the present invention, the number of turns of the electronic wire is preferably 50 to 3000, more preferably 100 to 2000, and the number of layers is preferably ≥1, more preferably multiple layers; the electronic wire is preferably tightly wound on the metal core in layers.
本发明还提供了上述技术方案所述的轴向环形六自由度磁定位传感器的制备方法，包括以下步骤：The present invention also provides a method for preparing the axial annular six-degree-of-freedom magnetic positioning sensor described in the above technical solution, comprising the following steps:
在环形管的外表面的圆周不同位置上粘结金属磁芯，然后用线圈将所述金属磁芯缠绕在所述环形管的表面，得到所述轴向环形六自由度磁定位传感器。The metal magnetic cores are bonded to different circumferential positions of the outer surface of the annular tube, and then the metal magnetic cores are wound around the surface of the annular tube with a coil to obtain the axial annular six-degree-of-freedom magnetic positioning sensor.
本发明对所述粘结、缠绕的具体方式没有特殊的限定。The present invention has no particular limitation on the specific manner of bonding and winding.
下面将结合本发明中的实施例，对本发明中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the present invention will be described clearly and completely below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
实施例1Example 1
轴向环形六自由度磁定位传感器，结构如图1所示，包括：第一线圈-1，第二线圈-2，第一金属磁芯-3，第二金属磁芯-4，环形管-5和传感器-6。第一金属磁芯3和第二金属磁芯4材质为Fe15Ni80Mo5合金，表面负载热固型环氧树脂胶绝缘薄膜，第一金属磁芯3和第二金属磁芯4为圆形磁芯(直径为80μm)，第一金属磁芯3和第二金属磁芯4的分布位置的同心夹角为60°，环形管5为聚酰亚胺管，环内径为10mm，漆包铜线叠层紧密绕制形成第一线圈1和第二线圈2。The structure of the axial annular six-degree-of-freedom magnetic positioning sensor is shown in FIG1, and includes: a first coil-1, a second coil-2, a first metal core-3, a second metal core-4, an annular tube-5 and a sensor-6. The first metal core 3 and the second metal core 4 are made of Fe15 Ni80 Mo5 alloy, and the surface is loaded with a thermosetting epoxy resin adhesive insulating film. The first metal core 3 and the second metal core 4 are circular cores (with a diameter of 80 μm), and the concentric angle of the distribution position of the first metal core 3 and the second metal core 4 is 60°. The annular tube 5 is a polyimide tube with an inner diameter of 10 mm. The first coil 1 and the second coil 2 are formed by tightly winding the enameled copper wire stack.
轴向环形六自由度磁定位传感器在发射器产生磁场范围内，磁力线通过第一线圈1和第一线圈2会产生感应电压，构成了两个磁偶极子，金属磁芯具有很强的导磁特性，磁力线被引导到具有导磁性较强的路径，因此改变环形管内达均匀磁通的分布，第一线圈1和第一线圈2就形成了两个偏心的磁偶极子，第一金属磁芯3和第二金属磁芯4分布圆周不同位置上，通过两组测量信号的处理，就可以运算出位置和姿态参数。Within the magnetic field range generated by the transmitter of the axial annular six-degree-of-freedom magnetic positioning sensor, the magnetic lines of force will generate an induced voltage through the first coil 1 and the first coil 2, forming two magnetic dipoles. The metal core has a strong magnetic conductivity, and the magnetic lines of force are guided to a path with strong magnetic conductivity, thereby changing the distribution of uniform magnetic flux in the annular tube. The first coil 1 and the first coil 2 form two eccentric magnetic dipoles, and the first metal core 3 and the second metal core 4 are distributed at different positions on the circumference. By processing two sets of measurement signals, the position and attitude parameters can be calculated.
线圈中产生的电压信号EMFcoil的计算公式为：The calculation formula of the voltage signal EMFcoil generated in the coil is:
其中k为不同磁场激励信号的修正系数；Where k is the correction coefficient of different magnetic field excitation signals;
N为线圈匝数；N is the number of coil turns;
μ为导磁率；μ is the magnetic permeability;
Ae为线圈截面积；Ae is the cross-sectional area of the coil;
H为磁场强度；H is the magnetic field strength;
ω为角频率；ω is the angular frequency;
为相位角； is the phase angle;
M为互感系数；M is the mutual inductance coefficient;
Icoil为感应电流；Icoil is the induced current;
t为时间。t is time.
图3为实施例1提供的两个磁偶极子传感器输出信号，包括线圈1和线圈2测试的输出波形，可知，由于两个线圈由于结构和匝数一样，输出波形也基本一致，但是由于线圈互感和位置关系，相位有一定的差别。FIG3 shows the output signals of two magnetic dipole sensors provided in Example 1, including the output waveforms of the tests of coil 1 and coil 2. It can be seen that since the two coils have the same structure and number of turns, the output waveforms are basically the same, but due to the mutual inductance and position relationship of the coils, there is a certain difference in phase.
实施例2Example 2
与实施例1相同，区别仅在于第一金属磁芯3和第二金属磁芯4的分布位置的同心夹角为120°。The same as the first embodiment, the only difference is that the concentric angle between the distribution positions of the first metal magnetic core 3 and the second metal magnetic core 4 is 120°.
实施例3Example 3
与实施例1相同，区别仅在于第一金属磁芯3和第二金属磁芯4的分布位置的同心夹角为180°。The same as the first embodiment, the only difference is that the concentric angle between the distribution positions of the first metal magnetic core 3 and the second metal magnetic core 4 is 180°.
实施例1～3制得的轴向环形六自由度磁定位传感器的EMFcoil信号如表1所示。可知，不同的第一金属磁芯3和第二金属磁芯4的分布位置的同心夹角产生的电压信号EMFcoil不同。The EMFcoil signals of the axial annular six-DOF magnetic positioning sensors obtained in Examples 1 to 3 are shown in Table 1. It can be seen that the voltage signal EMFcoil generated by the concentric angles of the different distribution positions of the first metal core 3 and the second metal core 4 is different.
表1不同夹角的EMFcoilTable 1 EMFcoils at different angles
以上所述仅是本发明的优选实施方式，并非对本发明作任何形式上的限制。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410850378.4ACN118730174A (en) | 2024-06-28 | 2024-06-28 | Axial annular six-degree-of-freedom magnetic positioning sensor and preparation method thereof |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410850378.4ACN118730174A (en) | 2024-06-28 | 2024-06-28 | Axial annular six-degree-of-freedom magnetic positioning sensor and preparation method thereof |
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| CN118730174Atrue CN118730174A (en) | 2024-10-01 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202410850378.4APendingCN118730174A (en) | 2024-06-28 | 2024-06-28 | Axial annular six-degree-of-freedom magnetic positioning sensor and preparation method thereof |
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| CN112526414A (en)* | 2020-11-12 | 2021-03-19 | 清华大学 | Low-noise orthogonal fundamental mode fluxgate sensor probe with asymmetrically arranged magnetic cores |
| CN114630618A (en)* | 2019-09-09 | 2022-06-14 | 马格尼司帝有限公司 | Method and apparatus for authenticating three-dimensional objects |
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| JP2004184098A (en)* | 2002-11-29 | 2004-07-02 | Sumitomo Special Metals Co Ltd | Magnetic sensor element and its manufacturing method |
| JP2005147947A (en)* | 2003-11-18 | 2005-06-09 | Meisei Electric Co Ltd | Core for magnetic sensor, magnetic sensor, and flux gate magnetometer |
| CN101927053A (en)* | 2009-06-22 | 2010-12-29 | 韦伯斯特生物官能公司 | Catheter with obliquely-oriented coils |
| WO2012150567A1 (en)* | 2011-05-05 | 2012-11-08 | Universita' Di Pisa | A catheter with electromagnetic position sensors and a location system catheters and guide wires |
| CN106030327A (en)* | 2014-02-25 | 2016-10-12 | 罗伯特·博世有限公司 | Sensor apparatus, production method for a sensor apparatus having at least one magnetic core and method for determining a field strength of a magnetic field in at least one spatial direction |
| CN110996829A (en)* | 2017-07-21 | 2020-04-10 | 直观外科手术操作公司 | Flexible elongated device systems and methods |
| CN114630618A (en)* | 2019-09-09 | 2022-06-14 | 马格尼司帝有限公司 | Method and apparatus for authenticating three-dimensional objects |
| CN112526414A (en)* | 2020-11-12 | 2021-03-19 | 清华大学 | Low-noise orthogonal fundamental mode fluxgate sensor probe with asymmetrically arranged magnetic cores |
| CN114743777A (en)* | 2022-04-25 | 2022-07-12 | 河北铁鱼电子科技有限公司 | Large-flux magnetic positioning sensor |
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