Closed-Form 6-DoF Pose Estimation of Medical Tools via Gradiometer-Based Electromagnetic Localization System
Closed-Form 6-DoF Pose Estimation of Medical Tools via Gradiometer-Based Electromagnetic Localization System
This research introduces a Gradiometer-Based Electromagnetic Localization System (GELS) that enables closed-form six-degree-of-freedom pose estimation for medical tools without requiring pre-calibrated workspace field maps or iterative optimization. By utilizing a compact magnetometer array as an embedded quasi-gradiometer, the system estimates local magnetic fields and gradient tensors to recover array orientation and position through Procrustes registration over multiple sources. Benchtop experiments across various sensor configurations demonstrate a median solver runtime of 172 microseconds, with perturbation analysis highlighting inter-sensor inconsistency and dipole model mismatch as key factors affecting accuracy.
The authors present a closed-form algorithm for 6-DoF pose estimation using a gradiometer-based system, validated via benchtop experiments with a median solver runtime of 172 microseconds, while identifying inter-sensor inconsistency and dipole model mismatch as primary accuracy limits.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
solver runtime
172
View original evidence
on pipeline, with a median solver runtime of \SI{172.00}{\micro\second}. A perturbation analysis identifies inter-sensor inconsistency and dipole model mismatch as dominant accuracy limits, informing future sensor array and source design to improve pose accuracy.
Open source S5runtime
172
View original evidence
on pipeline, with a median solver runtime of \SI{172.00}{\micro\second}. A perturbation analysis identifies inter-sensor inconsistency and dipole model mismatch as dominant accuracy limits, informing future sensor array and source design to improve pose accuracy.
Open source S5
- paper: not_reported
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on pipeline, with a median solver runtime of \SI{172.00}{\micro\second}. A perturbation analysis identifies inter-sensor inconsistency and dipole model mismatch as dominant accuracy limits, informing future sensor array and source design to improve pose accuracy.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org