Electromagnetic Tracking Using Modular, Tiled Field Generators

Jaeger, Herman Alexander; Cantillon-Murphy, Pádraig

doi:10.1109/tim.2019.2900884

Cited by 11 publications

(4 citation statements)

References 25 publications

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“…Independent of the field model, different kinds of magnetic sensors can be used to measure the local magnetic field. A common way to measure alternating magnetic fields is pick-up coils [13], [14]. Faraday's law links the local magnetic field strength to the induced electromagnetic force.…”

Section: System Modelmentioning

confidence: 99%

Robust Electromagnetic Pose Estimation for Robotic Applications

Gietler

Ammari

Zangl

2020

IEEE Trans. Instrum. Meas.

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A wireless electromagnetic field-based sensor system is proposed, which enables the tracking of moving objects, e.g., drones. The gathered up to 6-degrees of freedom information is complementary to existing sensing principles, e.g., global positioning system (GPS) or vision-based systems. In addition, it can be used for stand-alone navigation or noninvasive localization of medical devices inside the human body. The sensor system is comprised of an exciter and a sensor. The exciter can be mounted on a moving robot and generates an electromagnetic field. The field is measured by the sensor, and subsequently, the pose of the exciter with respect to the sensors' pose is estimated. Conductive objects in the vicinity of the sensor alter the measured magnetic field due to the induced eddy currents. In general, unmanned aerial vehicles or wheeled robots mainly consist of conductive materials, which cause a significant estimation error. This article introduces an interference-aware electromagnetic near-fieldbased pose estimation approach. Specifically, the change in the magnetic field due to close conductive and ferromagnetic objects is modeled. Iterative numerical solutions of Maxwell's equations, based on, e.g., finite-element method, are avoided. Instead, an analytic expression of the change in the magnetic field due to present eddy currents is given. The advantages of the proposed concept for model-based low-complexity pose estimation concepts are shown using an extended Kalman filter. It is observed that the tracking performance using the introduced model outperforms the traditional model in eddy current scenarios significantly.

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Section: System Modelmentioning

confidence: 99%

Robust Electromagnetic Pose Estimation for Robotic Applications

Gietler

Ammari

Zangl

2020

IEEE Trans. Instrum. Meas.

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“…[ 34 ] Advances in sensor technology provide increasingly small, lightweight sensors capable of being integrated into hand‐held devices for medical simulation and image‐guided surgery. [ 35 ] A permanent magnetic tracking system is particularly well suited for subcutaneous tracking applications, where only short placement depths are relevant.…”

Section: Introductionmentioning

confidence: 99%

Magnetic Catheter Placement in Neonates: A Handheld Solution to Radiation Exposure and Operational Delays

Swanepoel

Przybysz

Fourie³

et al. 2022

Advanced Sensor Research

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The use of subcutaneous devices has greatly advanced the field of medicine and surgery. However, localizing these devices internally requires imaging techniques such as X‐ray or ultrasound. A novel magnetic tracking system for subcutaneous medical devices is presented, providing the capability for precise device localization in an extremely compact and portable pocket‐size format. It is entirely benign, avoids X‐rays, and can be used to immediately confirm the proper instrument placement. It is implemented on umbilical catheters and endotracheal tubes and is characterized by bench‐test, cadaveric, and in vivo studies. The systems consist of a magnetic tip fixed to the distal end of the subcutaneous device, as well as a Magnetic Sensing‐Array Device that utilizes a matrix of magnetic field sensors to localize the magnetic tip. The bench‐tests show a high localization accuracy for a distance up to 4 cm. The accuracy is slightly reduced during cadaveric and in vivo tests, due to factors impacting the application, such as the dermal surface topography. Regardless, the magnetic subcutaneous medical device tracking system is shown to be robust in performance and functionality in real‐world clinical applications, and with its intuitive approach and portability, it has the potential to make real‐time subcutaneous device tracking widely accessible.

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“…For example, a set of sensors placed around the operative region can track and compensate for respiratory or cardiac movements [ 23 ], or they can evaluate the field at multiple locations and perform the real-time compensation of field distortions by dynamically correcting the field model. Another possible application of the methods presented in this article involves the tracking of the planar transmitter coils of one or more field generators [ 24 , 25 ]. In this scenario, the reciprocal position between two boards can be determined by tracking the position of the coils of one board with respect to the other.…”

Section: Introductionmentioning

confidence: 99%

Planar Body-Mounted Sensors for Electromagnetic Tracking

Cavaliere

Jaeger

O’Donoghue³

et al. 2021

Sensors

Self Cite

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Electromagnetic tracking is a safe, reliable, and cost-effective method to track medical instruments in image-guided surgical navigation. However, patient motion and magnetic field distortions heavily impact the accuracy of tracked position and orientation. The use of redundant magnetic sensors can help to map and mitigate for patient movements and magnetic field distortions within the tracking region. We propose a planar inductive sensor design, printed on PCB and embedded into medical patches. The main advantage is the high repeatability and the cost benefit of using mass PCB manufacturing processes. The article presents new operative formulas for electromagnetic tracking of planar coils on the centimetre scale. The full magnetic analytical model is based on the mutual inductance between coils which can be approximated as being composed by straight conductive filaments. The full model is used to perform accurate system simulations and to assess the accuracy of faster simplified magnetic models, which are necessary to achieve real-time tracking in medical applications.

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Electromagnetic Tracking Using Modular, Tiled Field Generators

Cited by 11 publications

References 25 publications

Robust Electromagnetic Pose Estimation for Robotic Applications

Robust Electromagnetic Pose Estimation for Robotic Applications

Magnetic Catheter Placement in Neonates: A Handheld Solution to Radiation Exposure and Operational Delays

Planar Body-Mounted Sensors for Electromagnetic Tracking

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