Three dimensional localization and navigation for endoscopic probe using magnetic field

Xin Chen, Dong Lin, Qing hui Zhang, Hui ru Zheng, Yi Du, Shinichi Tamura

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

We described a method for measuring' 3D position and orientation of endoscopic probe using magnetic field. We derived particularly three expressions of magnetic field generated respectively by three mutually orthogonal coils, and also derived three expressions of the magnetic induction signals obtained by three mutually orthogonal magnetic field sensors attached to the endoscope. Then we constructed 6D nonlinear equation group (including 3D positions and 3 attitude angles), and adopted Newton-Laferson arithmetic to solve the equations. Finally, we could get the 3D position and orientation (x, y, z, a, b, c) by using original data obtained from magnetic sensors; and could thus realize 3D localization and navigation of probe during endoscopic diagnosis.

Original languageEnglish
Pages (from-to)466-470
Number of pages5
JournalChinese Journal of Biomedical Engineering
Volume21
Issue number5
Publication statusPublished - 20 Oct 2002

Keywords

  • 3D localization
  • Endoscope
  • Magnetic measurement

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