TWI593987B - FM radar transceiver - Google Patents

Description

FM radar transceiver

The present invention relates to a wireless transceiver, and more particularly to a radar transceiver capable of filtering high frequency noise.

In the prior art, patent number CN102058411B discloses a multi-channel UWB radar life detector, a multi-channel UWB-based radar life detector that can be used for multi-target detection, and the time difference of two pulses can be used to calculate the unit pair acquisition. The three-way radar echo signal is analyzed and processed, and finally the plurality of human target life information and the two-dimensional position information of each target are extracted. However, UWB does not provide modulation function. In the environment where multiple interference is easy, the two-dimensional distance of the target distance cannot be effectively provided. In addition, the algorithm can only provide the distance of the multi-objective two-dimensional XY plane, and the pulse time difference cannot be used to define the three-dimensional. Measure.

The object of the present invention is to provide a frequency modulation radar transceiver, which is mainly used for a frequency modulation radar FMCW transmission and receiver. The continuous frequency modulation signal is sent by the transmitting circuit, and the signal is transmitted back to the receiving circuit by designing the positioning target and the positioning target circuit as the reference point, and then the loop in the space is eliminated by the specific positioning algorithm of the back end. Multiple path interference caused by the environment.

The positioning signal transceiver unit 14 of the present invention is a frequency modulation radar transceiver. The frequency modulation radar transceiver includes: a power amplifier 146 for receiving an FM frequency signal, amplifying the frequency modulation frequency signal, a transmitting antenna array 147, and electrical connection. The power amplifier 146 is configured to receive the amplified frequency modulation frequency signal and transmit it to a positioning target 12, and a receiving antenna array 141 for receiving a positioning standard frequency signal returned by the positioning target 12, a band pass filter The first band pass filter 142 and the second band pass filter 1421 are electrically connected to the receiving antenna array 141, and the first band pass filter 142 and the second band pass filter 1421 are used. Filtering out interference signals and noise outside the frequency band of the positioning standard signal.

10‧‧‧ Positioning Module

11‧‧‧Spine

12‧‧‧ Positioning

12A, 12B‧‧‧ antenna

12A1, 12B1‧‧‧ positioning standard frequency signal

13A, 13B‧‧‧ Antenna

13A1, 13B1‧‧‧ device frequency signal

121‧‧‧ Positioning frequency signal

121A‧‧‧ID

13‧‧‧Surgical instruments

131‧‧‧Device frequency signal

131A‧‧‧Device ID

14‧‧‧Location signal transceiver unit

140‧‧‧FM frequency signal

141‧‧‧Receiving antenna array

142‧‧‧First bandpass filter

1421‧‧‧Second bandpass filter

143‧‧‧Low noise amplifier

144‧‧‧mixer

145‧‧‧Power splitter

146‧‧‧Power Amplifier

147‧‧‧transmit antenna array

148‧‧‧Adjustable Gain Amplifier

L1, L11‧‧‧ positioning distance

L2, L21‧‧‧ instrument distance

20‧‧‧Processing unit

30‧‧‧Surgical images

31‧‧‧Spine image

311‧‧‧Spine Space Coordinates

32‧‧‧Surgical instrument images

321‧‧‧ device space coordinates

D1, D2‧‧‧ signal difference

T1‧‧‧ time

S1, S2‧‧‧ angle

Figure 1A is a schematic illustration of a surgical navigation procedure.

1B is a schematic view of a zone type positioning module of the present invention.

2 is a block diagram of the present invention applied to a surgical navigation operation.

3A and 3B are schematic diagrams of the frequency modulation frequency signal of the present invention.

4 is a schematic diagram of an image of the present invention applied to a surgical navigation operation.

FIG. 5 is a schematic diagram of a positioning target antenna applied to a surgical navigation operation according to the present invention.

Fig. 6 is a schematic view showing the antenna of the surgical instrument applied to the surgical navigation operation of the present invention.

For the above and other purposes, features, and advantages of this creation It can be more obvious, and the following description will be made in detail with reference to the accompanying drawings.

1A to FIG. 4, FIG. 1A is a schematic diagram of a surgical navigation operation, FIG. 1B is a schematic diagram of a regional positioning module of the present invention, and FIG. 2 is a block diagram of the present invention applied to a surgical navigation operation, FIG. 3A and FIG. 3B The schematic diagram of the frequency modulation frequency signal of the surgical navigation operation of the present invention, and FIG. 4 is a schematic diagram of the image applied to the surgical navigation operation of the present invention. First, the spinal CT (Computed tomography) image is taken before the spinal surgery, and then the C-arm image of the positioning target 12 of the present invention which has been implanted on the spine is photographed, and then the two images are superimposed into the surgical image. 30. The surgical image 30 can include a spinal image 31 and a surgical instrument image 32, and then reintroduced into the regional positioning module of the present invention for performing a surgical navigation operation, and the regional positioning module of the present invention includes: a positioning module The positioning module 10 includes a positioning signal transceiver unit 14 for transmitting a frequency modulation frequency signal 140 to the plurality of positioning targets 12 and the surgical instrument 13.

Referring to FIG. 1B, the positioning signal transceiver unit 14 of the present invention is a frequency modulation radar transceiver. The FM radar transceiver includes: a power amplifier 146 for receiving an FM frequency signal, amplifying the FM frequency signal, and a transmitting antenna. The array 147 is electrically connected to the power amplifier 146 for receiving the amplified frequency modulation frequency signal and transmitting to the positioning target 12, and a receiving antenna array 141 for receiving a positioning standard frequency signal returned by the positioning target 12. a band pass filter having a first band pass filter 142 and a second band pass filter 1421, the first band pass filter 142 electrically connecting the receive antenna array 141, the first band pass filter 142 and the second band pass Filter 1421 is used to filter the positioning frequency Interference signals and noise outside the frequency signal band.

In the above, the frequency modulation frequency signal and the positioning target frequency signal are the same waveform.

In the above, the frequency modulation frequency signal and the positioning target frequency signal range between 24 and 24.4 GHz.

The above further includes a low noise amplifier 143 electrically connected to the band pass filter for stabilizing the positioning frequency signal.

The above includes a power divider 145 electrically coupled to the receiving end of the power amplifier 146 for distributing the frequency modulated frequency signal to a mixer 144.

In the above, the mixer 144 is electrically connected to the second band pass filter 1421, and the mixer 144 isolates the frequency modulation frequency signal from the positioning target frequency signal.

The above includes an intermediate frequency adjustable gain amplifier 148 electrically coupled to the mixer 144 for amplifying the positioning frequency signal.

A plurality of positioning targets 12 are respectively disposed on a segment of the spine 11 , and each of the positioning targets 12 is configured to receive the frequency-modulated frequency signal 140 and then transmit the positioning target frequency signal 121 to the positioning signal transceiver unit 14 . The signal transceiving unit 14 receives the positioning frequency signal 121, wherein the positioning frequency signal 121 and the FM frequency signal 140 are the same waveform. In more detail, the positioning target 12 has an antenna, and when the antenna receives the FM frequency signal After 140, the signal is reflected back to the positioning signal transceiver unit 14, so the positioning frequency signal 121 and the tone are located. The frequency frequency signal 140 is the same waveform.

In addition, the surgical device 13 is configured to receive the FM frequency signal 140, and then return the device frequency signal 131 to the positioning signal transceiver unit 14. The positioning signal transceiver unit 14 receives the device frequency signal 131, wherein the device frequency signal 131 and The FM frequency signal 140 is the same waveform. In more detail, the surgical instrument 13 has an antenna. When the antenna receives the FM frequency signal 140, the signal is reflected back to the positioning signal transceiver unit 14, so that the device frequency signal 131 and The FM frequency signal 140 is the same waveform.

The processing unit 20 is electrically connected to the positioning signal transceiver unit 14 and calculates the positioning between the positioning target 12 and the positioning signal transceiver unit 14 according to the signal difference D1 between the positioning standard frequency signal 121 and the FM frequency signal 140. The standard distance L1, wherein the algorithm is a frequency modulated continuous wave (FMCW) positioning algorithm, and the processing unit 20 receives the positioning target frequency signal 121 and the frequency modulation frequency signal 140 according to the same time T1. The signal difference D1 is used to calculate the positioning target distance L1, and the spinal space coordinate 311 is calculated according to the positioning target distance L1.

In the above, in detail, since the transmission speed is fast and the time difference is extremely small, the present invention takes the same time T1 as the sampling.

In one embodiment, the positioning signal transceiving unit 14 is at least two positioning signal transceiving units 14 respectively disposed on the periphery of the vertebra 11 , and the processing unit 20 receives the two positioning frequency according to the two positioning signal transceiving units 14 . The signal 121 calculates the corresponding two positioning distances L1 and L11, and then the triangle The spine space coordinates 311 are calculated by the positioning method.

In addition, the processing unit 20 calculates the instrument distance L2 of the surgical instrument 13 and the positioning signal transceiving unit 14 according to the signal difference D2 of the instrument frequency signal 131 and the FM frequency signal 140, according to the The instrument space coordinate 321 is calculated from the instrument distance L2.

In one embodiment, the positioning signal transceiver unit 14 is at least two positioning signal transceiving units 14 respectively disposed on the periphery of the surgical instrument 13, and the processing unit 20 receives the two instrument frequencies according to the two positioning signal transceiving units 14. The signal 131 calculates the corresponding two instrument distances L2 and L21, and then calculates the spinal space coordinate 311 by the triangulation method.

Further, please refer to FIG. 4 , the positioning target 12 further includes a device identification code 131A, and the surgical instrument 13 further includes a device identification code 121A, and the positioning signal transceiver unit 14 is configured to receive the identification code 121A and the device identification code 131A. The processing unit 20 defines the identification code 121A to the corresponding spinal space coordinate 311, and the processing unit 20 defines the device identification code 131A to the corresponding device space coordinate 321 by the identification code 121A and The device identification code 131A can confirm whether the corresponding positioning target 12 and the surgical instrument 13 are correct.

For further description, please refer to FIG. 5 , each of the positioning targets 12 further includes at least two antennas 12A and 12B. After receiving the FM frequency signal 140 , the two positioning target frequency signals 12A1 and 12B1 are returned to the positioning signal transceiver unit 14 . The processing unit 20 calculates the distance between the two antennas 12A and 12B and the positioning signal transceiver unit 14 by using the two positioning target frequency signals 12A1 and 12B1. An angle S1 between the implant 12 and the pre-fabricated surgical navigation path is calculated to determine whether the implant is the same as the pre-installation surgical navigation path.

In addition, referring to FIG. 6 , the surgical instrument 13 further includes at least two device antennas 13A and 13B. After receiving the FM frequency signal 140 , the two device frequency signals 13A1 and 13B1 are returned to the positioning signal transceiver unit 14 . The processing unit 20 calculates the distance between the two antennas 13A and 13B of the device and the positioning signal transceiving unit 14 by using the two device frequency signals 13A1 and 13B1, thereby calculating an angle S2 between the surgical instrument and the pre-installation surgical navigation path. To confirm whether the operation of the surgical instrument is the same as the pre-installation surgical navigation path.

As described above, with the present invention, preoperative planning information can be imported prior to spinal surgery, and then surgical navigation operations can be performed based on the spatial coordinates of the spinal space, the space coordinates of the instrument, the positioning target, and the angle of the surgical instrument.

The invention utilizes wireless positioning technology to realize multi-vertebral positioning tracking and navigation surgery technology, and adopts a frequency-modulated radio frequency positioning technology and an identification code identification function to set a positioning antenna mark on a vertebra, and locates an antenna-marked vertebra through independent tracking setting instead of using The numerical calculation method regards all the spines as rigid bodies, thereby improving the accuracy and speed of medical image registration (acceleration calculation convergence), and the invention can have sufficient operation bandwidth to cover the FMCW sweep range (24-24.4 GHz), and enhance indoor positioning accuracy. The degree of error reaches the mm level, and the safety and precision of the surgical implant are improved. In addition, the invention adds a switching modulation mechanism, which can separate the environmental clutter and the echo signal of the target in the spectrum, thereby reducing environmental interference. with The navigation system is suitable for long spine surgery (spine correction, multi-spine fracture), so that the operation is not limited by the large infrared reflective ball positioning marker device.

In addition to providing surgeons with more stereoscopic sense, more lesion data and accurate image information, the image-guided surgery of the present invention can fully plan pre-operative steps and previews, and achieve immediate image guidance during surgery. The development of the lesion, as well as the post-operative evaluation of the intern's teaching and research, and the current application of spinal surgery as a clinical application direction to improve the direct vision shielding problem of the existing spinal surgery navigation system, in addition, the human body electromagnetic absorption rate affects the positioning accuracy, breaking through the body According to the indoor positioning technology, the positioning tracking technology bottleneck will be applied to the operation of the NOTES operation or the abdominal cavity surgery to locate the lesions of the patient, shorten the operation time and reduce the possibility of surgery.

The invention can effectively improve the safety and quality of the operation of the spine surgery, reduce the use of the penetrating medical image during the operation and reduce the amount of free radiation absorbed by the medical staff; and the medical image navigation technology is the main core foundation of the future intelligent surgical assist system. In the future, combined with surgical robotic arm and high-focus penetrating therapeutic equipment (HIFU, gamma knife, proton therapy), high-precision treatment can be achieved, and postoperative complications and effects can be reduced.

In summary, it is merely described that the present invention is an implementation or embodiment of the technical means employed to solve the problem, and is not intended to limit the scope of implementation of the present patent. That is, any change and modification made in accordance with the scope of the patent application scope of this creation or in accordance with the scope of the patent creation is Covered by the scope of interest.

14‧‧‧Location signal transceiver unit

140‧‧‧FM frequency signal

141‧‧‧Receiving antenna array

142‧‧‧First bandpass filter

1421‧‧‧Second bandpass filter

143‧‧‧Low noise amplifier

144‧‧‧mixer

145‧‧‧Power splitter

146‧‧‧Power Amplifier

147‧‧‧transmit antenna array

148‧‧‧Adjustable Gain Amplifier

Claims (5)

An FM radar transceiver includes: a power amplifier for receiving an FM frequency signal, amplifying the FM frequency signal, and a transmitting antenna array electrically connected to the power amplifier for receiving the amplified FM frequency signal to be transmitted to a positioning antenna, a receiving antenna array for receiving a positioning target frequency signal returned by the positioning target, a band pass filter electrically connected to the receiving antenna array for filtering out the frequency band of the positioning target frequency signal The interference signal and the noise, and a power divider electrically connected to the receiving end of the power amplifier for distributing the frequency modulation frequency signal to a mixer, wherein the frequency modulation frequency signal and the positioning target frequency signal are the same waveform. The frequency modulation radar transceiver according to claim 1, wherein the frequency modulation frequency signal and the positioning standard frequency signal range between 24 and 24.4 GHz. The FM radar transceiver of claim 1, further comprising a low noise amplifier electrically connected to the band pass filter for stabilizing the positioning frequency signal. The frequency modulation radar transceiver of claim 1, wherein the mixer is electrically connected to the band pass filter, and the mixer isolates the frequency modulation frequency signal from the positioning target frequency signal. The FM radar transceiver of claim 1, further comprising an intermediate frequency adjustable gain amplifier electrically connected to the mixer for amplifying the positioning frequency signal.