Magnetic Sensor Probe Layout for 5-DOF Marker Localization
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Solution Overview
Problem
Existing localization techniques for magnetic markers in medical procedures require large sensor probes, which are not suitable for minimally-invasive surgeries, and there is a need for smaller probes that can accurately localize magnetic markers in five degrees of freedom.
Innovation Solution
A probe with a substrate and multiple multidimensional magnetic sensors, including a background sensor, configured to determine the position and pose of an anisotropic magnetic marker using a processor that analyzes signals from these sensors to provide accurate localization in five degrees of freedom, while maintaining a small form factor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If large sensor probes are used to accurately localize magnetic markers, then localization accuracy is improved, but probe size increases making them unsuitable for minimally-invasive surgeries
Solution Approach 1:
The probe divides the sensor array into multiple independent magnetic sensors positioned at specific locations (first side, second side, and intermediate positions) rather than using a single large sensor. This segmentation allows accurate localization through distributed measurements while maintaining a compact probe structure suitable for minimally-invasive procedures
Solution Approach 2:
The patent utilizes three-dimensional spatial distribution of magnetic sensors on both sides of the substrate, measuring magnetic field components in multiple dimensions. This dimensional approach enables accurate determination of marker position and orientation (five degrees of freedom) while keeping the probe itself compact and insertable through small incisions
2Length of moving object
If multiple magnetic sensors are positioned closely together to reduce probe size, then measurement precision deteriorates due to insufficient spatial separation
Solution Approach 1:
The patent positions magnetic sensors on both sides of a substrate with controlled spacing, utilizing the third dimension (depth/thickness) to achieve sufficient spatial separation. Sensors are arranged at intermediate positions between the first and second sides, creating a three-dimensional measurement geometry that maintains localization accuracy while keeping the overall probe diameter small for minimally-invasive access
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate localization of magnetic markers in minimally-invasive surgeries by providing sufficient information within a small probe diameter, reducing ambiguity and singularities, and allowing for real-time 3D magnet positional information.
Implementation Method 1
A first magnetic sensor is disposed on the first side of the substrate. A second magnetic sensor is disposed on the first side of the substrate and spaced apart from the first magnetic sensor. A third magnetic sensor is disposed on the second side of the substrate. Each of the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor is a multidimensional magnetic sensor.
Implementation Method 2
A processor is in electronic communication with the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor. The processor is configured to determine a disposition of the magnetic marker in five degrees of freedom based on the known size, shape, and magnetization and signals received from each of the first, second, and third magnetic sensors.
Data Source
AI summary
The present disclosure may be embodied as a probe for determining a position and pose of an anisotropic magnetic marker having a known size, shape, and magnetization. The probe has a substrate having a first side, a second side, a longitudinal axis, and a transverse axis. A first magnetic sensor is on the first side of the substrate. A second magnetic sensor is on the first side of the substrate and spaced apart from the first magnetic sensor along the longitudinal axis of the substrate and spaced apart from the first magnetic sensor along the transverse axis of the substrate. A third magnetic sensor is on the second side of the substrate. Each of the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor is a multidimensional magnetic sensor. A processor is configured to determine a disposition of the magnetic marker in five degrees of freedom.