Magnetic Positioning System

Abstract: Magnetic positioning systems and methods for use in a robotic surgical system are provided. A multi-axis magnetic field source generates a magnetic field by simultaneously exciting a plurality of axes of the multi-axis magnetic field source with respective source signals that are orthogonal to each other over a period, T. A multi-axis magnetic field sensor detects the generated magnetic field. The detected magnetic field is analysed over an analysis interval which is at least as long as the period, T, to resolve the detected magnetic field into components which are due to the plurality of source signals. The components are used to determine one or both of the position and the orientation of the multi-axis magnetic field sensor relative to the multi-axis magnetic field source.

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