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中文摘要：
介入式微型医疗装置能深入人体,实现无创诊疗。为了确定其在人体内的三维运动轨迹,提出了在体外采用两个线圈分时励磁产生交变磁场,并在介入式医疗装置内封装三个正交感应线圈的定位新方案,通过获得感应线圈电动势的大小,反求空间方位,实现非接触式连续定位。基于定位系统,将励磁线圈的空间磁场等效为多匝圆电流磁场叠加,并应用级数截断的方法避免了圆电流磁场解析式中繁琐的椭圆积分,建立了简化的实用的定位模型。仿真实验表明：所建立的新模型与现有的磁偶极子模型相比,提高了定位精度,具有实用意义。本研究为定位系统的成功实现提供了关键技术。
英文摘要：
Micro-instruments can enter into human＇s body to make a diagnosis and give treatment without damage. In order to determine its three-dimensional tract inside body, a consecutive tracking method was proposed. Two coils excited by time-sharing sinusoidal signals were located on the abdomen. Meanwhile, three mutually orthogonal coils were sealed in the micro-instrument to obtain induced electromotive force. Based on a derived localization model, a system of nonlinear equations could be obtained. Then the position and orientation of the micro-instrument were calculated by resolving the equations. In modeling, the alternating magnetic field is equivalent to the sum of the magnetic field generated by every current loop of excited coils. By employing truncated series, the new localization model avoided the ellipse integration in traditional magnetic models. The experiment demonstrates that the newly derived model has higher precision than magnetic dipole model. Actual consecutive tracking system can be realized on the basis of this research.
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