Design and Optimization Strategy of Sensor Array Layout for Magnetic Localization System

Magnetic tracking technology is emerging to provide an occlusion-free tracking scheme for the estimation of full pose of various instruments. This brings substantial benefits for intra-corporeal applications, such as tracking of flexible robots or wireless endoscopic devices, and thus is helpful for further computer-assisted diagnosis, interventions, and surgeries. Towards efficient magnetic tracking, we propose a magnetic localization and orientation system in this paper. By modeling the cylindrical magnet, the magnetic models have been compared and analyzed. Moreover, we present a sensor layout strategy based on grid method and its optimization method for better performance. Based on the magnetic model and the layout optimization results, we have built a sensor array for magnetic positioning. Extensive simulations and experiments have shown the feasibility of the proposed system with the average positional and orientational errors of 1.4 mm and 3.4°, respectively.