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METHOD AND SYSTEM FOR CHARACTERIZING AND VISUALIZING ELECTROMAGNETIC TRACKING ERRORS

  • US 20120323111A1
  • Filed: 02/21/2011
  • Published: 12/20/2012
  • Est. Priority Date: 03/11/2010
  • Status: Active Grant
First Claim
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1. An electromagnetic tracking system (200), comprising:

  • an electromagnetic sensor array (30) including at least two electromagnetic sensors arranged in a known geometrical configuration; and

    a data processor (220) in electrical communication with the electromagnetic sensor array (30) to receive signals indicative of a sensing of an electromagnetic field by the electromagnetic sensors,wherein the data processor (220) is operable to compute intra-operative relative errors (43) responsive to a movement of the electromagnetic sensor array (30) to numerous estimation positions within an intra-operative electromagnetic field,wherein each intra-operative relative error (43) is an absolute differential between a calibrated distance (40) of an electromagnetic sensor pair and a sensed distance between the electromagnetic sensor pair within the intra-operative electromagnetic field,wherein the data processor (220) is further operable to estimate intra-operative absolute errors (44) responsive to a plotting of the intra-operative relative errors (43) within a pre-operative error map (42) representative of a statistical relationship between pre-operative absolute errors (41) and pre-operative relative errors (41) derived from a movement of the electromagnetic sensor array (30) to numerous measurement positions within a pre-operative electromagnetic field,wherein each intra-operative absolute error (44) is an absolute differential between an estimation position and a sensed position of an electromagnetic sensor within the intra-operative electromagnetic field,wherein each pre-operative absolute error (41) is an absolute differential between a measurement position and a sensed position of an electromagnetic sensor within the pre-operative electromagnetic field, andwherein each pre-operative relative error (41) is an absolute differential between a calibrated distance (40) and a sensed distance between an electromagnetic sensor pair within the pre-operative electromagnetic field.

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