3D localization of a thin steel rod using magnetic field sensors: feasibility and preliminary results
We present the design, setup and preliminary resultsfor a navigation system based on magnetic field sensors. Oursystem localizes the tip of a magnetized steel rod with diameter0.5 mm in a cubic workspace with 30 mm edge length. Weplan to localize electrodes and probes during surgeries, e.g.for small animal research like neurosurgery in rats. Only thestatic magnetic field of the steel rod is needed for localization.Our navigation system does not need any external excitation,wires or alternating magnetic fields. Hence, we avoid undesirablestimulation of the animals brain and we are able to realize small(0.5 mm) probe diameters to reduce brain damage. Localizationof the steel rods tip is achieved using a nearest neighborapproach. The currently measured sensor values are compared todata stored in a previously generated lookup table. An industrialrobot is used to create the lookup table and later to validatethe accuracy of the system. Currently, the system has 3 degreesof freedom (DOF). Mean of the difference between true anddetermined position is -0.53; 0.31; -0.95 mm with a standarddeviation of 1.13; 1.24; 0.99 mm in XYZ, or lower. The influenceof different noise sources, e.g. electric currents or metal, on theperformance of the system are discussed.
Maximilian Heinig Ralf Bruder Alexander Schlaefer Achim Schweikard
Institute for Robotics and Cognitive Systems, University of Lubeck Ratzeburger Allee 160, 23538 Lubeck, Germany
国际会议
成都
英文
1-4
2010-06-18（万方平台首次上网日期，不代表论文的发表时间）