A novel 6-D pose detection method using opposing-magnet pair system

Magnetic tracking method can achieve wireless tracking and has no line-of-sight problem; therefore, it is a good choice to track micro devices inside human body for minimally invasive examination or operation. In this letter, we propose a novel six-degree-of-freedom (DoF) pose detection method, which is based on multiple magnets tracking method. Two magnets with opposite magnetic moment directions have been combined together to serve as the tracking target. By defining pose parameters based on the position and orientation constrains of the two magnets, 6-DoF pose information can be estimated with the optimization method. Experimental results verified the proposed method. The average position error is 3.5mm and the orientation error is 1.9°.