Systems and methods for magnetic interference correction
Navigation systems and methods for magnetic interference correction involve antennae that generate magnetic fields at different frequencies, sensors that measure the magnetic fields, and a computing device that uses sensor measurements to determine the magnetic interference and produce accurate sensor position and orientation information.
1. A system comprising:
antennae configured to generate electromagnetic fields at different frequencies;
at least one sensor configured to measure the electromagnetic fields;
a processor; and
a memory having stored thereon instructions, which, when executed by the processor, cause the processor to:
receive first electromagnetic field measurements;
determine position and orientation information of the at least one sensor based on the first electromagnetic field measurements;
receive second electromagnetic field measurements;
determine antennae and interference electromagnetic fields;
combine the antennae and electromagnetic fields; and
search a simulated map for position information of a sensor that minimizes a difference between (a) the combined electromagnetic fields and (b) the second electromagnetic field measurements.
2. The system of claim 1 , wherein the at least one sensor includes three patient sensors.
3. The system of claim 2 , wherein the at least one sensor includes a sensor coupled to a catheter.
4. The system of claim 1 , wherein the instructions causing the processor to determine the interference electromagnetic fields include instructions causing the processor to determine three coordinates of an interference electromagnetic field vector for each sensor at a frequency of an electromagnetic field generated by one of the antennae and determine ratios for respective other frequencies of electromagnetic fields generated by other antennae.
5. The system of claim 1 , wherein the antennae include nine antennae.
6. The system of claim 1 , wherein the antennae include three antennae.
7. The system of claim 1 , wherein the instructions causing the processor to search the simulated map include instructions causing the processor to perform a Levenberg-Marquardt search.
8. The system of claim 1 , further comprising a medical device, which generates interference electromagnetic fields from Eddy currents induced in the medical device by respective electromagnetic fields generated by the respective antennae.
9. The system of claim 8 , wherein the medical device is an imaging system or a robotic arm.
10. The system of claim 1 , wherein the instructions further cause the processor to determine a relationship between (a) the electromagnetic field measurements and (b) position and orientation information of the at least one sensor based on calibration measurements of the electromagnetic fields generated by the antennae at known positions and orientations of the at least one sensor.
11. A method comprising:
receiving measurements of first electromagnetic fields generated by antennae;
determining position and orientation information of at least one sensor based on the first electromagnetic field measurements;
simulating electromagnetic fields based on configuration of the antennae;
combining the simulated map and an interference map;
receiving second electromagnetic field measurements; and
searching, based on the determined position information, the simulated map for position information of a sensor that minimizes a difference between the simulated map and the respective second electromagnetic field measurements.
12. The method of claim 11 , wherein the at least one sensor includes three patient sensors.
13. The method of claim 11 , further comprising determining the interference map by determining coordinates of an interference vector for each of the sensors at one frequency of an electromagnetic field generated by one of the antennae and determining ratios for respective other frequencies of electromagnetic fields generated by the other antennae.
14. The method of claim 11 , wherein the antennae include nine antennae.
15. The method of claim 11 , wherein the antennae include three antennae.
16. The method of claim 11 , wherein searching the simulated map includes performing a Levenberg-Marquardt search.
17. The method of claim 11 , wherein determining the position and orientation information of the at least one sensor includes evaluating functions providing a relationship between (a) electromagnetic field measurements and (b) position and orientation information of the at least one sensor based on calibration measurements of electromagnetic fields generated by the antennae at known positions and orientations of the sensors.
18. The method of claim 11 , wherein the simulated map is a simulated ultra-high definition (UHD) map, and
wherein the method further comprises calculating the simulated UHD map based on geometry and driving frequencies of the antennae.
19. The method of claim 18 , wherein the interference map is an interference UHD map and the simulated map is an simulated UHD map,
wherein the method further comprises:
interpolating a low-resolution interference map into a high-resolution grid, yielding the interference UHD map; and
combining the simulated UHD map with the interference UHD map, yielding an adjusted simulated UHD map.
20. A system comprising:
antennae configured to generate electromagnetic fields at different frequencies;
at least one sensor configured to measure electromagnetic fields;
a processor; and
a memory having stored thereon instructions, which, when executed by the processor, cause the processor to:
calculate simulated ultra-high definition (UHD) map based on configuration of antennae;
receive measured electromagnetic fields;
record the measured electromagnetic fields in a low-resolution grid;
generate an interface map by determining a difference between the measured electromagnetic fields in the low-resolution grid and corresponding positions in the calculated UHD map;
generate a UHD interface map through interpolation of the interference map into a high-resolution grid;
generate a modified UHD map by combining the UHD interference map with the calculated UHD map; and
determine, based on the modified UHD map, position and orientation information of the at least one sensor.