US 11,717,142 B2
Simultaneous calibration method for magnetic localization and actuation systems
Metin Sitti, Stuttgart (DE); Donghoon Son, Daegu (KR); and Xiaoguang Dong, Nenjiang (CN)
Assigned to MAX-PLANCK-GESELLSCHAFT ZUR FÖRDERUNG DER WISSENSCHAFTEN E.V, Munich (DE)
Filed by MAX-PLANCK-GESELLSCHAFT ZUR FÖRDERUNG DER WISSENSCHAFTEN E.V., Munich (DE)
Filed on Nov. 26, 2019, as Appl. No. 16/696,605.
Claims priority of application No. 18211302 (EP), filed on Dec. 10, 2018.
Prior Publication US 2020/0196844 A1, Jun. 25, 2020
Int. Cl. A61B 1/04 (2006.01); A61B 34/00 (2016.01); A61B 1/00 (2006.01); G01R 33/00 (2006.01); A61B 5/06 (2006.01); G01C 25/00 (2006.01); A61B 34/20 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 1/041 (2013.01) [A61B 1/000096 (2022.02); A61B 1/00158 (2013.01); A61B 5/062 (2013.01); A61B 34/20 (2016.02); A61B 34/73 (2016.02); G01C 25/00 (2013.01); G01R 33/0017 (2013.01); G01R 33/0035 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/303 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A method of simultaneously calibrating magnetic actuation and sensing systems for a workspace, wherein the actuation system comprises a plurality of magnetic actuators and the sensing system comprises a plurality of magnetic sensors, the method further comprising the following steps:
generating a plurality of arbitrary magnetic fields at the workspace by applying a plurality of electric currents to the magnetic actuators;
measuring each magnetic field with the sensing system in the workspace and measuring each respective electric current with a current sensor;
measuring a magnetic field of a random known sample magnet with the sensing system at an arbitrary position and orientation in the workspace; and
feeding all the measured data into a calibration model, wherein the calibration model is based on a sensor measurement model and a magnetic actuation model, and finding a solution of the model parameters via a numerical solver in order to calibrate both the actuation and sensing systems at the same time.