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Wireless 3D Surgical Navigation and Tracking System with 100µm Accuracy Using Magnetic-Field Gradient-Based Localization

Sharma, Saransh and Telikicherla, Aditya and Ding, Grace and Aghlmand, Fatemeh and Talkhooncheh, Arian Hashemi and Shapiro, Mikhail G. and Emami, Azita (2021) Wireless 3D Surgical Navigation and Tracking System with 100µm Accuracy Using Magnetic-Field Gradient-Based Localization. IEEE Transactions on Medical Imaging . ISSN 0278-0062. doi:10.1109/tmi.2021.3071120. (In Press)

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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 inductor-coil. Planar electromagnetic coils are designed for creating the 3D magnetic field gradients in a 20x20x10cm³ 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 <100μm in 3D, the highest reported to the best of our knowledge.

Item Type:Article
Related URLs:
URLURL TypeDescription
Sharma, Saransh0000-0002-5052-4932
Aghlmand, Fatemeh0000-0002-5103-9314
Talkhooncheh, Arian Hashemi0000-0001-8946-5047
Shapiro, Mikhail G.0000-0002-0291-4215
Emami, Azita0000-0003-2608-9691
Additional Information:© 2021 IEEE. Manuscript received September 1, 2020; revised January 27, 2021 and March 10, 2021; accepted March 30, 2021. This work was supported in part by the National Science Foundation under Grant No. 1823036, in part by the Rothenberg Innovation Initiative under Grant No. 101170 and in part by the Heritage Medical Research Institute. The authors acknowledge the contributions of M. Wang, S. Shah, W. Kuo, H. Sheng, A. Patil, K.-C. Chen and N. Phoole from MICS Lab; H. Davis from Shapiro Lab; A. Khachaturian from CHIC Lab; Dr. P.W. Goodwill, Dr. A.G. Siraki, Dr. J. Dorris, Dr. J. Kelly and Dr. S. Nikzad for insightful discussions; Muse Semiconductor for Chip fabrication; the editors and the anonymous reviewers for their highly valuable comments and feedback.
Group:Heritage Medical Research Institute
Funding AgencyGrant Number
Rothenberg Innovation Initiative (RI2)101170
Heritage Medical Research InstituteUNSPECIFIED
Subject Keywords:ASIC, CMOS, electromagnet, gradient coil, implantable, localization, magnetic field, magnetic field gradient, magnetic sensor, micro-chip, MRI, navigation, orthopedic surgery, position encoding, precision surgery, tracking, wireless, X-Ray fluoroscopy, 13.56MHz, 3D
Record Number:CaltechAUTHORS:20210409-105849791
Persistent URL:
Official Citation:S. Sharma et al., "Wireless 3D Surgical Navigation and Tracking System with 100µm Accuracy Using Magnetic-Field Gradient-Based Localization," in IEEE Transactions on Medical Imaging, doi: 10.1109/TMI.2021.3071120
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:108674
Deposited By: Tony Diaz
Deposited On:13 Apr 2021 22:38
Last Modified:13 Apr 2021 22:38

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