Abstract
In this work we reported the design and build of a nine-axis digital output gyroscope-based percutaneous puncture ultrasonic navigation system. The proposed system includes three types of sensing elements: three-axis gyroscopes, three-axis accelerometers and three-axis magneto-resistivemagnetometers. Gyroscopes are used to measure the absolute angular rate of the carrier. Theaccelerometers are used to determine the initial attitude of system and to correct for gyroscope drift in the tilt angles (pitch, roll) determination. The magnetometers are used to determine the initial alignment in heading and to correct for gyroscope drift in the heading. The nine-axis digital output gyroscope combined with ultrasound probe can accurately collect triaxial angle changes of the ultrasound probe, Then guide the orientation of the puncture needle in the ultrasonic navigationpercutaneous puncture. The system can increase puncture accuracy.
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