On-chip magnetic sensor and readout design for 3D position tracking in image-guided interventions

Simple item page
dc.check.chapterOfThesisWhole Thesis for 3 years. All chapters as mentioned below: 1. Introduction, 2. On-Chip Sensor Design 3. A Dual Feedback-Loop CCIA Readout for Electromagnetic Tracking 4. An Adder-Less Continuous-Time ΔΣ Modulator 5. Peripheral Block Implementation 6. Sensor Characterization 7. Conclusionen
dc.check.date2028-12-31
dc.check.infoControlled Access
dc.check.infoControlled Access
dc.contributor.advisorCantillon-Murphy, Padraig
dc.contributor.advisorO'Hare, Daniel
dc.contributor.authorSrivastava, Manishen
dc.contributor.funderHorizon 2020
dc.contributor.funderScience Foundation Ireland
dc.contributor.funderResearch Ireland
dc.contributor.funderEuropean Research Council
dc.date.accessioned2025-10-16T14:27:36Z
dc.date.available2025-10-16T14:27:36Z
dc.date.issued2025
dc.date.submitted2025
dc.description.abstractElectromagnetic tracking (EMT) technology is integral to complex medical procedures, providing precise real-time tracking of surgical instruments while reducing dependence on radiation-based imaging. EMT is particularly beneficial in various image-guided interventions, enhancing accuracy and safety. Despite its advantages, EMT has not been widely adopted in common procedures such as laparoscopic surgery and non-robotic endoscopy due to the prohibitive cost of the sensors, which range from approximately $25 for 5-degrees-of-freedom (DoF) devices to around $250 for 6-DoF devices. This thesis proposes a cost-effective solution using compact 0.5 mm wide and 2.3 mm long on-chip magnetic sensors. The on-chip magnetic sensor includes a state-of-the-art low-noise analog-front-end (2.07 nV/√Hz) and a low-area continuous-time delta-sigma analog-to-digital converter (ADC) (0.07 mm2). The readout circuit also incorporates essential power management blocks such as a bandgap reference (BGR) and a low-dropout regulator (LDO), along with a low-voltage differential signaling (LVDS) driver for minimal signal distortion and an on-chip clock source. These integrated components reduce the pin count and contribute to the compactness of the on-chip sensor. This on-chip magnetic sensor is employed for 5-DoF magnetic tracking (x, y,z, yaw, and pitch). These sensors are both affordable and practical for real-world applications. The proposed on-chip sensor’s small size and cost-effectiveness facilitate seamless integration into existing magnetic navigation systems without significant modifications, reducing the scalable cost to an estimated $1.50, compared to approximately $25 for existing discrete 5-DoF sensors. Furthermore, the on-chip sensor offers a digital readout, enhancing robustness compared to wire-wound sensors with analog readouts. This work also presents 6-DoF tracking (x, y, z, yaw, pitch, and roll angles) that combines low-cost on-chip sensors with wire-wound sensors featuring ferromagnetic core devices. This hybrid system provides a cost-effective, compact, and competitive solution in terms of form factor. Utilising low-frequency magnetic fields to detect the position and orientation of instruments, this sensor provides a viable alternative to X-rays in image-guided surgery. Fabricated using 65 nm CMOS technology and occupying an area of 1.06 mm2, the 5-DoF system navigates with a precision of 1.1 mm within a 15×15×15 cm3 volume of interest, while the 6-DoF system achieves a navigation accuracy of 0.8 mm and an angular error of 1.1◦. The prototype sensor successfully demonstrated its ability to accurately track positions for in vivo settings, with a worst-case registration accuracy of 5.8 mm, primarily due to patient motion artifacts rather than tracking inaccuracies. These advancements significantly enhance the precision and cost-effectiveness of electromagnetic tracking in medical procedures, offering new possibilities for improving patient care.en
dc.description.statusNot peer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationSrivastava, M. 2025. On-chip magnetic sensor and readout design for 3D position tracking in image-guided interventions. PhD Thesis, University College Cork.
dc.identifier.endpage185
dc.identifier.urihttps://hdl.handle.net/10468/18050
dc.language.isoenen
dc.publisherUniversity College Corken
dc.relation.projectinfo:eu-repo/grantAgreement/EC/H2020::ERC::ERC-COG/101002225/EU/DEEP FIELD: Seeing the Unseen in Image-guided Surgery/DEEP FIELDen
dc.relation.projectinfo:eu-repo/grantAgreement/SFI/SFI Technology Innovation Development Award/17/TIDA/4897/IE/Image-guided Liver Therapy using Wireless Tracking/en
dc.rights© 2025, Manish Srivastava.
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectElectromagnetic tracking
dc.subjectOn chip magnetic sensor
dc.subjectImage guided interventions
dc.subjectAnalog front end readout
dc.subjectCCIA
dc.subjectAdder-Less Continuous-Time ΔΣ Modulator
dc.titleOn-chip magnetic sensor and readout design for 3D position tracking in image-guided interventions
dc.typeDoctoral thesisen
dc.type.qualificationlevelDoctoralen
dc.type.qualificationnamePhD - Doctor of Philosophyen
Files
Original bundle
Now showing 1 - 2 of 2
Thumbnail Image
Name:
SrivastavaM_PhD2025.pdf
Size:
73.12 MB
Format:
Adobe Portable Document Format
Description:
Full Text E-thesis
Thumbnail Image
Name:
3. 118222220 - Manish Srivastava - Submission for examination form.pdf
Size:
224.95 KB
Format:
Adobe Portable Document Format
License bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
license.txt
Size:
5.2 KB
Format:
Item-specific license agreed upon to submission
Description:
Download
Collections
Research Theses
College of Science, Engineering and Food Science - Doctoral Theses
Electrical and Electronic Engineering - Doctoral Theses
Tyndall National Institute - Doctoral Theses