Planar Body-Mounted Sensors for Electromagnetic Tracking

• Published in: Sensors (Basel, Switzerland) Vol. 21; no. 8; p. 2822
• Main Authors: Cavaliere, Marco, Jaeger, Herman Alexander, O'Donoghue, Kilian, Cantillon-Murphy, Pádraig
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 16-04-2021; MDPI
• Subjects: Accuracy; Circuit boards; Electromagnetic Phenomena; electromagnetic tracking; Filaments; Generators; Humans; image-guided surgery; Inductance; Inductive sensing devices; inductive sensor; Magnetic Fields; Medical instruments; Model accuracy; mutual inductance; Position sensing; Printed circuits; registration; Sensors; Surgery, Computer-Assisted; Surgical instruments; Transmitters; image-guided surgery; mutual inductance; registration; inductive sensor; electromagnetic tracking
• ISSN: 1424-8220; 1424-8220
• DOI: 10.3390/s21082822

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.