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WO2012052120A3 - Verfahren und system zur ermittlung der position einer vorrichtung - Google Patents

Verfahren und system zur ermittlung der position einer vorrichtung Download PDF

Info

Publication number
WO2012052120A3
WO2012052120A3 PCT/EP2011/005051 EP2011005051W WO2012052120A3 WO 2012052120 A3 WO2012052120 A3 WO 2012052120A3 EP 2011005051 W EP2011005051 W EP 2011005051W WO 2012052120 A3 WO2012052120 A3 WO 2012052120A3
Authority
WO
WIPO (PCT)
Prior art keywords
dipole
magnetic field
field sensor
axis
magnetic
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.)
Ceased
Application number
PCT/EP2011/005051
Other languages
English (en)
French (fr)
Other versions
WO2012052120A2 (de
Inventor
Volkmar Schultze
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rayonex Biomedical GmbH
Original Assignee
Rayonex Schwingungstechnik GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Rayonex Schwingungstechnik GmbH filed Critical Rayonex Schwingungstechnik GmbH
Publication of WO2012052120A2 publication Critical patent/WO2012052120A2/de
Publication of WO2012052120A3 publication Critical patent/WO2012052120A3/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • E21B47/0228—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor
    • E21B47/0232—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor at least one of the energy sources or one of the detectors being located on or above the ground surface
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems

Landscapes

  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Geology (AREA)
  • Surgery (AREA)
  • Mining & Mineral Resources (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geophysics (AREA)
  • Robotics (AREA)
  • Electromagnetism (AREA)
  • Biomedical Technology (AREA)
  • Fluid Mechanics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zur Ermittlung der räumlichen Position einer einen rotierenden magnetischen Dipol aufweisenden Vorrichtung unter Verwendung zumindest eines dreiachsigen Magnetfeldsensors, wobei das von dem magnetischen Dipol emittierte magnetische Feld von dem Magnetfeldsensor gemessen und zur Bestimmung der Lagekoordinaten in einem dreiachsigen Koordinatensystem ausgewertet wird, wobei zumindest zwei Einzelmessungen durchgeführt werden, die sich durch eine unterschiedliche Relativlage zwischen der Rotationsachse des Dipols und dem Ortsvektor, der sich zwischen dem Dipol und dem Magnetfeldsensor erstreckt, auszeichnen, wobei diese unterschiedlichen Relativlagen nicht aus einer Bewegung der Vorrichtung resultieren.
PCT/EP2011/005051 2010-10-18 2011-10-10 Verfahren und system zur ermittlung der position einer vorrichtung Ceased WO2012052120A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010048574A DE102010048574A1 (de) 2010-10-18 2010-10-18 Verfahren und System zur Ermittlung der Position einer Vorrichtung
DE102010048574.8 2010-10-18

Publications (2)

Publication Number Publication Date
WO2012052120A2 WO2012052120A2 (de) 2012-04-26
WO2012052120A3 true WO2012052120A3 (de) 2013-03-21

Family

ID=44905985

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/005051 Ceased WO2012052120A2 (de) 2010-10-18 2011-10-10 Verfahren und system zur ermittlung der position einer vorrichtung

Country Status (2)

Country Link
DE (1) DE102010048574A1 (de)
WO (1) WO2012052120A2 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3725998A1 (de) * 2019-04-18 2020-10-21 Sandvik Mining and Construction Oy Vorrichtung und verfahren zur bestimmung der position eines bohrwerkzeugs während des bohrens
CN111123367B (zh) * 2019-12-24 2022-04-22 重庆大学 一种基于水下磁扰动信号的双基定位探测系统及方法
CN112146657B (zh) * 2020-09-10 2022-10-28 中国人民解放军海军工程大学 一种基于旋转磁偶极子的两点轴频磁场定位方法和装置
CN113442138B (zh) * 2021-06-28 2022-08-23 中铁十二局集团有限公司 一种隧道内攀爬机器人巡检路径规划方法
CN113855241B (zh) * 2021-10-11 2023-04-28 上海微创微航机器人有限公司 磁导航定位系统及方法、标定方法、电子设备和存储介质
CN116699711A (zh) * 2023-05-18 2023-09-05 北京航空航天大学 基于机械天线的矿用应急定位方法
CN119045063B (zh) * 2024-10-31 2025-01-28 西北工业大学 一种基于椭圆拟合的磁偶极子定位方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6776246B1 (en) * 2002-12-11 2004-08-17 The Charles Machine Works, Inc. Apparatus and method for simultaneously locating a fixed object and tracking a beacon
DE69818963T2 (de) * 1998-01-09 2004-09-02 International Business Machines Corp. Magnetischer Vervolger und Verfahren dafür
US20050077085A1 (en) * 2003-10-14 2005-04-14 Rudolf Zeller Tracking positions of personnel, vehicles, and inanimate objects

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2045453T3 (es) * 1988-09-02 1994-01-16 British Gas Plc Dispositivo para controlar la posicion de una herramienta de pperforacion auto-propulsada.
US6417666B1 (en) * 1991-03-01 2002-07-09 Digital Control, Inc. Boring tool tracking system and method using magnetic locating signal and wire-in-pipe data
US5589775A (en) * 1993-11-22 1996-12-31 Vector Magnetics, Inc. Rotating magnet for distance and direction measurements from a first borehole to a second borehole
US5670877A (en) * 1994-12-05 1997-09-23 Hughes Electronics Shaft rotation sensor with magnetic sensors angularly spaced apart with respect to a magnetic source
US5836869A (en) 1994-12-13 1998-11-17 Olympus Optical Co., Ltd. Image tracking endoscope system
US6248074B1 (en) 1997-09-30 2001-06-19 Olympus Optical Co., Ltd. Ultrasonic diagnosis system in which periphery of magnetic sensor included in distal part of ultrasonic endoscope is made of non-conductive material
US6736222B2 (en) * 2001-11-05 2004-05-18 Vector Magnetics, Llc Relative drill bit direction measurement
DE10225518B4 (de) 2002-06-10 2004-07-08 Rayonex Schwingungstechnik Gmbh Verfahren und Vorrichtung zur Steuerung und Positionsbestimmung eines Instruments oder Gerätes
DE102005051357B4 (de) 2005-10-25 2013-08-14 Rayonex Schwingungstechnik Gmbh Vorrichtung und Verfahren zur Lokalisierung eines Geräts
DE102008062754B4 (de) * 2008-12-17 2011-02-24 Rayonex Schwingungstechnik Gmbh Verfahren und System zur Übertragung von Daten von einem Gerät zu einer Empfangseinheit

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69818963T2 (de) * 1998-01-09 2004-09-02 International Business Machines Corp. Magnetischer Vervolger und Verfahren dafür
US6776246B1 (en) * 2002-12-11 2004-08-17 The Charles Machine Works, Inc. Apparatus and method for simultaneously locating a fixed object and tracking a beacon
US20050077085A1 (en) * 2003-10-14 2005-04-14 Rudolf Zeller Tracking positions of personnel, vehicles, and inanimate objects

Also Published As

Publication number Publication date
DE102010048574A1 (de) 2012-04-19
WO2012052120A2 (de) 2012-04-26

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