NDLI: 3D Localization of a Thin Steel Rod Using Magnetic Field Sensors: Feasibility and Preliminary Results

Content Provider	IEEE Xplore Digital Library
Author	Heinig, M. Bruder, R. Schlaefer, A. Schweikard, A.
Copyright Year	2010
Abstract	We present the design, setup and preliminary results for a navigation system based on magnetic field sensors. Our system localizes the tip of a magnetized steel rod with diameter 0.5 mm in a cubic workspace with 30 mm edge length. We plan to localize electrodes and probes during surgeries, e.g. for small animal research like neurosurgery in rats. Only the static 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 undesirable stimulation of the animal's brain and we are able to realize small (0.5 mm) probe diameters to reduce brain damage. Localization of the steel rod's tip is achieved using a nearest neighbor approach. The currently measured sensor values are compared to data stored in a previously generated lookup table. An industrial robot is used to create the lookup table and later to validate the accuracy of the system. Currently, the system has 3 degrees of freedom (DOF). Mean of the difference between true and determined position is -0.53; 0.31; -0.95 [mm] with a standard deviation of 1.13; 1.24; 0.99 [mm] in XYZ, or lower. The influence of different noise sources, e.g. electric currents or metal, on the performance of the system are discussed.
Starting Page	1
Ending Page	4
File Size	382193
Page Count	4
File Format	PDF
ISBN	9781424447121
ISSN	21517622
DOI	10.1109/ICBBE.2010.5515423
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-18
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Electrodes Magnetic field measurement Navigation Animals Magnetic sensors Sensor systems Table lookup Steel Probes Surges
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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