An Efficient Magnetic Tracking Method Using Uniaxial Sensing Coil

We propose an efficient and effective magnetic tracking method in this paper. The tracking method is based on tri-axial transmitting coils and uniaxial sensing of the generated electromagnetic field. Three mutually orthogonal transmitting coils are excited simultaneously with alternating current (AC) signals of different frequency. At a specific position, the sum of amplitude square of the three different frequency sensing signals will reach maximum when the uniaxial coil points to the tri-axial transmitting coils. The maximum value is reciprocally proportional to the cube of the distance between the transmitter and receiver. By processing the output signals from the uniaxial sensing coil when it is rotating, the direction and distance between the sensing coil and transmitting coils can be decided with an efficient method with low calculation overheads. Experiments were conducted to validate the proposed method.

[1]  Shuang Song,et al.  A Six-Dimensional Magnetic Localization Algorithm for a Rectangular Magnet Objective Based on a Particle Swarm Optimizer , 2009, IEEE Transactions on Magnetics.

[2]  Jun Yang,et al.  Magnetic hand motion tracking system for human-machine interaction , 2010 .

[3]  Peter Kazanzides,et al.  Investigation of Attitude Tracking Using an Integrated Inertial and Magnetic Navigation System for Hand-Held Surgical Instruments , 2012, IEEE/ASME Transactions on Mechatronics.

[4]  S. Ando,et al.  A Closed-Form Formula for Magnetic Dipole Localization by Measurement of Its Magnetic Field and Spatial Gradients , 2006, IEEE Transactions on Magnetics.

[5]  Weihua Li,et al.  A Review of Localization Systems for Robotic Endoscopic Capsules , 2012, IEEE Transactions on Biomedical Engineering.

[6]  Eugene Paperno,et al.  Magnetic Eye Tracking: A New Approach Employing a Planar Transmitter , 2010, IEEE Transactions on Biomedical Engineering.

[7]  Shuang Song,et al.  An Electromagnetic Localization and Orientation Method Based on Rotating Magnetic Dipole , 2013, IEEE Transactions on Magnetics.

[8]  F. Raab,et al.  Magnetic Position and Orientation Tracking System , 1979, IEEE Transactions on Aerospace and Electronic Systems.

[9]  Hungsun Son,et al.  Optimization of Measuring Magnetic Fields for Position and Orientation Tracking , 2011, IEEE/ASME Transactions on Mechatronics.

[10]  Zuxiang Fang,et al.  An Electromagnetic Tracking Method Using Rotating Orthogonal Coils , 2012, IEEE Transactions on Magnetics.

[11]  Max Q.-H. Meng,et al.  Automated Tracking of Pallets in Warehouses: Beacon Layout and Asymmetric Ultrasound Observation Models , 2007, 2007 IEEE International Conference on Automation Science and Engineering.

[12]  R. Hawkes,et al.  Apparatus for generating a magnetic field , 1992 .

[13]  Babak Ziaie,et al.  Magnetic Tracking System for Radiation Therapy , 2010, IEEE Transactions on Biomedical Circuits and Systems.

[14]  Peter Kazanzides,et al.  Hybrid attitude estimation for laparoscopic surgical tools: A preliminary study , 2009, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[15]  M Birsan,et al.  Recursive Bayesian Method for Magnetic Dipole Tracking With a Tensor Gradiometer , 2011, IEEE Transactions on Magnetics.

[16]  Georg Rose,et al.  Algorithm for calibration of the electromagnetic tracking system , 2012, Proceedings of 2012 IEEE-EMBS International Conference on Biomedical and Health Informatics.

[17]  K. Arai,et al.  Numerical Study on the Improvement of Detection Accuracy for a Wireless Motion Capture System , 2009, IEEE Transactions on Magnetics.

[18]  Mao Li,et al.  A Cubic 3-Axis Magnetic Sensor Array for Wirelessly Tracking Magnet Position and Orientation , 2010, IEEE Sensors Journal.

[19]  Max Q.-H. Meng,et al.  An improved method and algorithm for electromagnetic localization , 2011, 2011 IEEE International Conference on Information and Automation.

[20]  Paperno,et al.  3D magnetic tracking of a single subminiature coil with a large 2D-array of uniaxial transmitters , 2003, Digest of INTERMAG 2003. International Magnetics Conference (Cat. No.03CH37401).

[21]  Guozheng Yan,et al.  An active endoscopic robot based on wireless power transmission and electromagnetic localization , 2008, The international journal of medical robotics + computer assisted surgery : MRCAS.

[22]  I. Sasada,et al.  A new method for magnetic position and orientation tracking , 2001 .

[23]  Peter Kazanzides,et al.  Multisensor Data Fusion in an Integrated Tracking System for Endoscopic Surgery , 2012, IEEE Transactions on Information Technology in Biomedicine.

[24]  李抱朴,et al.  A Novel Positioning and Orientation System Based on Three-Axis Magnetic Coils , 2012 .

[25]  Mi-Ching Tsai,et al.  Detection of Magnetic Object Movements by Flux Density Tracking Control , 2012, IEEE/ASME Transactions on Mechatronics.

[26]  T. Sato,et al.  Jaw Tracking System Using Resonated Wireless Markers , 2009, IEEE Transactions on Magnetics.

[27]  Volodymyr V. Kindratenko,et al.  A survey of electromagnetic position tracker calibration techniques , 2005, Virtual Reality.