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.
|Number of pages||5|
|Journal||Chinese Journal of Biomedical Engineering|
|Publication status||Published (in print/issue) - 20 Oct 2002|
- 3D localization
- Magnetic measurement