Self-Correcting Magnetic Tracking in Dynamic Medical Environments

We propose a novel self-correcting tracking technique that can minimize the dynamic distortion during magnetic tracking. In our method, the magnetic field distortion is estimated through field expansion and then minimized in an iterative tracking procedure. Sparse sensor arrays are designed to measure the spatial gradient tensors of the magnetic field for our method. Numerical results demonstrate that the tracking error caused by field distortion could be reduced from several tens of millimeters to below 2 mm.