| Citation: | GUAN Shaoya, MENG Cai, WAN Yuanyu, et al. A thin plate spline based method for correction of position and posture of electromagnetic tracking system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(11): 2350-2355. doi: 10.13700/j.bh.1001-5965.2018.0162(in Chinese)
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Electromagnetic tracking system (EM) is widely used in various environments needing tracking or positioning, due to its high accuracy, flexible reaction, simple operation, cheap price and insensitivity to blocks. In vascular interventional surgery, EM performs well in clinical environment with inaccurate optical positioning due to tissue occlusion. However, EM suffers a lot from the principle of electromagnetic induction which makes it sensitive to ferromagnetic material, like steel. The magnetic field generated by ferromagnetic materials in the operation environment will cause the distortion of the magnetic field of EM, which affects the positioning accuracy seriously. In this paper, the positioning principle of EM is analyzed. By analyzing the position and orientation changes of sensors at the same position before and after the EM interference, a correction method of the electromagnetic tracking system based on the thin plate spline function is proposed to correct the position and posture of the EM after interference.The effectiveness of our method is verified by experiments.
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