An electromagnetic tracking method based on fast determination of the maximum magnetic flux density vector represented by two azimuth angles

In this paper, an electromagnetic tracking method based on fast determination of the maximum magnetic flux density vector (MMFDV) represented by two azimuth angles is proposed. The system designed to validate this method includes two magnetic sources and a 3-axis magnetic sensor. Each source consists of three mutual orthogonal coils. The main characteristic of this method is that the direction of MMFDV generated by a magnetic source can be determined as long as each coil of the source is excited once. Then the sensor can be located with a noniterative geometrical algorithm in real time. This method is easy to be implemented and can realize tracking in full coordinate space. Simulation and experimental results demonstrate a good performance of this method. It can be used as a part of computer-assisted navigation system in minimally invasive surgery after proper optimization.