Simultaneous Localization and Actuation Using Electromagnetic Navigation Systems
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Date
2024
Publication Type
Journal Article
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yes
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Abstract
Remote magnetic navigation provides a promising approach for improving the maneuverability and safety of surgical tools, such as catheters and endoscopes, in complex anatomies. The lack of existing localization systems compatible with this modality, beyond fluoroscopy and its harmful ionizing radiation, impedes its translation to clinical practice. To address this challenge, we propose a localization method that achieves full pose estimation by superimposing oscillating magnetic fields for localization onto actuation fields generated by an electromagnetic navigation system. The resulting magnetic field is measured using a three-axis magnetic field sensor embedded in the magnetic device to be localized. The method is evaluated on a three-coil system, and simultaneous actuation and localization is demonstrated with a magnetic catheter prototype with a Hall-effect sensor embedded at its tip. We demonstrate position estimation with mean accuracy and precision below 1 mm, and orientation estimation with mean errors below 2 deg at 10 Hz in a workspace of 80 x 80 x 60 mm. This contribution aims to advance the clinical adoption of remote magnetic navigation in minimally invasive surgery.
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published
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Journal / series
Volume
40
Pages / Article No.
1292 - 1308
Publisher
IEEE
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Date created
Subject
Remote magnetic navigation; Localization; Halleffect sensor; Electromagnetic tracking; Medical robotics
Organisational unit
03627 - Nelson, Bradley J. (emeritus) / Nelson, Bradley J. (emeritus)
08705 - Gruppe Pané Vidal
Notes
Funding
165564 - Soft Magnetic Robots: Modeling, Design and Control of Magnetically Guided Continuum Manipulators (SNF)
185039 - Arbeitstitel "Soft Magnetic Robots: Modeling, Design and Control of Magnetically Guided Continuum Manipulators" (SNF)
771565C - Highly Integrated Nanoscale Robots for Targeted Delivery to the Central Nervous System (EC)
180861 - A Submillimeter Minimally Invasive System for Cardiac Arrhythmia Ablations (SNF)
952152 - MAgnetically steerable wireless Nanodevices for the tarGeted delivery of therapeutic agents in any vascular rEgion of the body (EC)
743217 - Soft Micro Robotics (EC)
185039 - Arbeitstitel "Soft Magnetic Robots: Modeling, Design and Control of Magnetically Guided Continuum Manipulators" (SNF)
771565C - Highly Integrated Nanoscale Robots for Targeted Delivery to the Central Nervous System (EC)
180861 - A Submillimeter Minimally Invasive System for Cardiac Arrhythmia Ablations (SNF)
952152 - MAgnetically steerable wireless Nanodevices for the tarGeted delivery of therapeutic agents in any vascular rEgion of the body (EC)
743217 - Soft Micro Robotics (EC)