Magnetic tracking system

• US 9,891,291 B2
• Filed: 08/01/2012
• Issued: 02/13/2018
• Est. Priority Date: 08/01/2011
• Status: Active Grant

• Current Assignee: Soreq Nuclear Research Center (Government of Israel)
• Original Assignee: Soreq Nuclear Research Center (Government of Israel)
• Inventors: Sheinker, Arie, Ginzburg, Boris, Salomonski, Nizan
• Primary Examiner(s): Nguyen, Vinh
• Application Number:
  US14/236,636
• Publication Number:
  US 20140239943A1
• Time in Patent Office: 2,022 Days
• Field of Search: 32420717, 324200, 32420711, 32420713, 32420715, 32420716
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: G01B 7/003 for measuring position, not involving coordinate determination coordinate measuring G01B7/004
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• CPC Class Codes: G01R 33/02 Measuring direction or magnitude of magnetic fields or magnetic flux G01R33/20 takes precedence

Abstract

Apparatus for determining a location of a target, the apparatus comprising: first and second magnetic dipole beacons positioned at substantially a same spatial location having respectively first and second time dependent magnetic moments oriented in different directions that generate first and second magnetic fields having different time dependencies; at least one magnetic field sensor coil located at the location of the target that generates signals responsive to the first and second magnetic fields; and circuitry that receives the signals generated by the at least one sensor coil and processes the signals responsive to the different time dependencies of the magnetic fields to determine a location of the at least one sensor coil and thereby the target.

Claims

1. Apparatus for determining a location of a target, the apparatus comprising:

first and second magnetic dipole beacons positioned at substantially a same spatial location having respectively first and second time dependent magnetic moments oriented in different directions that generate first and second magnetic fields having different time dependencies;

at least one magnetic field sensor coil located at the location of the target that generates signals responsive to the first and second magnetic fields; and

circuitry that receives the signals generated by the at least one magnetic field sensor coil and processes the signals responsive to the different time dependencies of the first and second magnetic fields to determine spatial coordinates of a location of the at least one sensor coil and thereby the target as equal to values of respective closed form expressions, each closed form expression a function of a ratio between different components of a same magnetic field of the first and second magnetic fields and a magnitude of a difference between magnitudes of different components of the first and second magnetic fields.

2. The apparatus according to claim 1 wherein the first and second magnetic dipole beacons comprise first and second excitation coils respectively that generate the first and second time dependent magnetic moments, and a separation distance between the first and second magnetic dipole beacons is less than or equal to about a maximum dimension of a characteristic cross section of a largest of the first and second excitation coils.

3. The apparatus according to claim 2 wherein the separation distance is less than or equal to about 0.5 of the maximum cross section dimension.

4. The apparatus according to claim 3 wherein the separation distance is less than or equal to about 0.1 of the maximum cross section dimension.

5. The apparatus according to claim 1 wherein the first and second magnetic moments vary harmonically in time with different characteristic frequencies.

6. The apparatus according to claim 5 wherein, at least one of the characteristic frequencies is less than about 1,000 Hz.

7. The apparatus according to claim 5 wherein the amplitudes of the time dependence of the first and second magnetic moments are substantially equal.

8. The apparatus according to claim 1 wherein the first and second time dependent magnetic moments are substantially orthogonal.

9. The apparatus according to claim 8 wherein the first and second time dependent magnetic moments are substantially coplanar.

10. The apparatus according to claim 1 wherein the at least one magnetic field sensor coil comprises first and second sensor coils having first and second coil axes respectively.

11. The apparatus according to claim 10 wherein the first sensor coil axis is parallel to one of the first and second time dependent magnetic moments.

12. The apparatus according to claim 10 wherein the first and second sensor coil axes are orthogonal.

13. The apparatus according to claim 1 wherein the circuitry evaluates a closed-form expression of the respective closed form expressions that determines a spatial coordinate of the at least one magnetic sensor coil as a function of the ratio and the difference to determine the location of the target.

14. The apparatus according to claim 1 wherein the spatial coordinates of the at least one magnetic field sensor coil are determined, respectively, as

x=k₂₁[3(μ

o/4π

)M_o(k₂₁²−

1)(k₂₁²+1)<sup>−

2.5</sup>(Δ

Bxy)<sup>−

1</sup>]^1/3, and

y=[3(μ

o/4π

)M_o(k₂₁²−

1)(k₂₁²+1)<sup>−

2.5</sup>(Δ

Bxy)<sup>−

1</sup>]^1/3,

where;

k₂₁ is defined as 0.25[3a₂₁±

(9a₂₁²+8)^1/2] where a₂₁ is evaluated as x/y−

(x²+y²)/3xy;

Δ

Bxy is defined as (μ

o/4π

)3M_o(k₂₁²−

1)y<sup>−

3</sup>(k₂¹²+1)<sup>−

2.5</sup>;

μ

o is the magnetic permeability; and

M_o is the magnetic moment.

15. Apparatus for determining a location of a target, the apparatus comprising:

first and second magnetic dipole beacons positioned at substantially a same spatial location having respectively first and second time dependent magnetic moments oriented in different directions that generate first and second magnetic fields having different time dependencies;

at least one magnetic field sensor coil located at the location of the target that generates signals responsive to the first and second time dependent magnetic fields and wherein a magnetic field sensor coil of the at least one magnetic field sensor coil is maintained parallel to one of the first and second magnetic moments; and

circuitry that receives the signals generated by the at least one magnetic field sensor coil and processes the signals responsive to the different time dependencies of the magnetic fields to determine a location of the at least one sensor coil and thereby the target.

16. Apparatus for determining a location of a target, the apparatus comprising:

first and second magnetic dipole beacons comprising first and second excitation coils respectively positioned at substantially a same spatial location having respectively first and second time dependent magnetic moments oriented in different directions that generate first and second magnetic fields having different time dependencies and wherein a separation distance between the first and second magnetic beacons is less than or equal to about a maximum dimension of a characteristic cross section of a largest of the first and second excitation coils;

at least one magnetic field sensor coil located at the location of the target that generates signals responsive to the first and second magnetic fields; and

circuitry that receives the signals generated by the at least one magnetic field sensor coil and processes the signals responsive to the different time dependencies of the first and second magnetic fields to determine a location of the at least one magnetic field sensor coil and thereby the target.

17. The apparatus according to claim 16 wherein the separation distance is less than or equal to about 0.1 of the maximum dimension of the characteristic cross section of the largest of the first and second excitation coils.