Wireless 3D Surgical Navigation and Tracking System With 100μm Accuracy Using Magnetic-Field Gradient-Based Localization
Wireless 3D Surgical Navigation and Tracking System With 100μm Accuracy Using Magnetic-Field Gradient-Based Localization
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DOI：
10.1109/tmi.2021.3071120
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发表时间：
2021-08-01
影响因子：
10.6
通讯作者：
Emami, Azita
中科院分区：
文献类型：
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作者：
Sharma, Saransh;Telikicherla, Aditya;Emami, Azita
本文描述了一种使用磁场梯度的高分辨率3D导航和跟踪系统，可以在高精度手术中取代X射线透视。在视场（FOV）中创建X、Y和Z方向上单调变化的磁场以产生磁场梯度，其对每个空间点进行唯一编码。高度小型化的无线和无电池设备，能够测量其局部磁场，旨在感测梯度场。一个这样的装置可以附接到体内的植入物，另一个附接到手术工具，使得两者可以同时测量它们各自位置处的磁场并将其传送到外部接收器。实时显示器上两个设备的相对位置可以实现精确的手术导航，而无需使用X射线。设计了一个由65 nm CMOS工艺制作的微芯片、三维磁传感器和电感线圈组成的原型装置。平面电磁线圈设计用于在20 x 20 x 10 cm（3）的可扩展FOV中创建3D磁场梯度。通过以下方式实现不受环境影响和方向无关的空间编码：（i）使用总场幅度中的梯度而不是仅Z分量;以及（ii）使用梯度场的组合来校正X和Y梯度中的非线性和非单调性。所得到的X和Y FOV产生>= 90%的它们各自的线圈跨距的利用率。该系统在体外进行了测试，以证明定位精度为
This paper describes a high-resolution 3D navigation and tracking system using magnetic field gradients, that can replace X-Ray fluoroscopy in high-precision surgeries. Monotonically varying magnetic fields in X, Y and Z directions are created in the field-of-view (FOV) to produce magnetic field gradients, which encode each spatial point uniquely. Highly miniaturized, wireless and battery-less devices, capable of measuring their local magnetic field, are designed to sense the gradient field. One such device can be attached to an implant inside the body and another to a surgical tool, such that both can simultaneously measure and communicate the magnetic field at their respective locations to an external receiver. The relative location of the two devices on a real-time display can enable precise surgical navigation without using X-Rays. A prototype device is designed consisting of a micro-chip fabricated in 65nm CMOS technology, a 3D magnetic sensor and an inductorcoil. Planar electromagnetic coils are designed for creating the 3D magnetic field gradients in a 20 x 20 x 10cm(3) of scalable FOV. Unambiguous and orientation-independent spatial encoding is achieved by: (i) using the gradient in the total field magnitude instead of only the Z-component; and (ii) using a combination of the gradient fields to correct for the non-linearity and non-monotonicity in X and Y gradients. The resultant X and Y FOV yield >= 90% utilization of their respective coil-span. The system is tested in vitro to demonstrate a localization accuracy of