Gradiometer-Based Magnetic Localization for Medical Tools

Remote magnetic navigation (RMN) offers various possibilities for medical interventions. Magnetic catheters can be wirelessly steered with high precision and accuracy through complex structures, as they are generally more dexterous flexible than their manually counterparts. Position feedback is essential many tasks. However, most of the commercially available systems do not integrate well (MNSs). As a result, fluoroscopy still widely used in interventions despite known associated health risks. In this study, we propose localization method that uses multiple Hall sensors to measure fields produced by MNS estimate full sensor pose without need separate dedicated mapping system. This makes two-in-one system simultaneous tool. We perform an optimization sensors’ array design simulation investigate influence gradients on provide information minimal requirements task.