US 11,914,005 B2
Method and apparatus for automatic frequency selection in magnetic tracking systems
Cameron J. Mahon, Guelph (CA); Oded Y. Zur, Kochav Yair (IL); and Alejandro S. Diaz, Ross, CA (US)
Assigned to PENUMBRA, INC., Alameda, CA (US)
Filed by PENUMBRA, INC., Alameda, CA (US)
Filed on May 24, 2023, as Appl. No. 18/201,361.
Application 18/201,361 is a continuation of application No. 17/834,184, filed on Jun. 7, 2022, granted, now 11,693,063.
Claims priority of provisional application 63/245,134, filed on Sep. 16, 2021.
Prior Publication US 2023/0296697 A1, Sep. 21, 2023
Int. Cl. G01R 33/00 (2006.01)
CPC G01R 33/0017 (2013.01) [G01R 33/0088 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A system comprising:
a transmitter comprising a plurality of source magnetic coils to generate a magnetic field;
a receiver comprising a plurality of sensor magnetic coils to sense the magnetic field and to generate magnetic sensor data representing a position and an orientation of the receiver relative to the transmitter; and
a processor to:
(a) cause the transmitter to generate the magnetic field associated with a first frequency,
(b) cause the receiver to sense the magnetic field based on the first frequency,
(c) determine an expected jitter from the magnetic field at the first frequency,
(d) measure an actual jitter from the magnetic field at the first frequency,
determine that there is excessive actual jitter based on a comparison of the expected jitter and the actual jitter,
in response to determining that there is excessive jitter, repeating (a) through (d) for a frequency different from the first frequency until it is determined that there is no excessive actual jitter, and
provide an indication of the position and the orientation of the receiver relative to the transmitter based on the magnetic sensor data and based on the frequency at which there is no excessive actual jitter.