6-D Magnetic Localization and Orientation Method for an Annular Magnet Based on a Closed-Form Analytical Model

Magnetic tracking technology is emerging to provide an occlusion-free tracking scheme for the estimation of full pose (position and orientation) of various instruments. This brings substantial benefits for intracorporeal applications, such as for tracking of flexible or wireless endoscopic devices, and thus is significant for further computer-assisted diagnosis, interventions, and surgeries. Toward efficient magnetic tracking, a 6-D magnetic localization and orientation method is proposed in this paper. An annular permanent magnet is mounted on the exterior surface of a capsule. With a magnetic sensor array, the magnetic field can be measured and the capsule´s 3-D location and 3-D orientation information can be estimated based on proposed closed-form analytical model of annular magnet and particle swarm optimization algorithm. Magnetic dipole model and Levenberg-Marquardt algorithm are used to improve the speed and accuracy of estimation. Extensive simulation experiments show that the localization and orientation method works well with good position and orientation accuracy.