Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation

Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery functionality. Despite extensive progress in the use magnetic field inertial measurements pose estimation, these have been either under single external permanent magnet actuation or coil systems. With advent new systems comprised multiple magnets increased manipulability, localization techniques are necessary to account leverage additional sources. In this letter, we introduce a novel technique Special Euclidean Group SE(3) The method relies on milli-meter scale three-dimensional accelerometer sensor able estimate full 6 $^{\circ }$ -of-freedom without any prior information. We demonstrated system with two achieved errors 8.5 notation="LaTeX">$\pm$ 2.4 mm position norm 3.7 3.6 orientation, across cubic workspace 20 cm length.