Electromagnetic tracking methods and magnetic modelling for distortion compensation

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dc.contributor.advisorCantillon-Murphy, Padraig
dc.contributor.advisorHayes, John G.
dc.contributor.authorCavaliere, Marcoen
dc.contributor.funderScience Foundation Irelanden
dc.contributor.funderEuropean Research Councilen
dc.date.accessioned2023-09-19T13:53:36Z
dc.date.available2023-09-19T13:53:36Z
dc.date.issued2023
dc.date.submitted2023
dc.description.abstractThe thesis presents a comprehensive study of electromagnetic tracking (EMT), focusing on developing methods and techniques to reduce and compensate for distortions in the magnetic field through improved modelling and real-time correction methods. To this end, the research-oriented Anser EMT system is employed. Anser is the Latin name of the greylag goose, which uses the geomagnetic field for navigation. In this work, a general method for modelling magnetic fields is developed to significantly improve the Anser EMT magnetic model by correcting systematic errors and including magnetic shielding. Moreover, real-time compensation techniques for dynamic distortion are proposed using external reference sensors. Further improvements are demonstrated for dynamic tracking by optimising the EMT model and algorithm. Finally, the effectiveness of the Anser EMT system for developing novel EMT applications is demonstrated by introducing alternative tracking techniques based on the magnetic scalar potential formulation, particularly suited for tracking the elongated sensor coils used in medical applications, and on the magnetic vector potential formulation, for tracking large-area PCB coils. Overall, this work provides the theoretical and experimental basis for a new approach to distortion rejection in EMT systems with significant potential for future clinical benefit in the years to come.en
dc.description.statusNot peer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationCavaliere, M. 2023. Electromagnetic tracking methods and magnetic modelling for distortion compensation. PhD Thesis, University College Cork.
dc.identifier.endpage293
dc.identifier.urihttps://hdl.handle.net/10468/15000
dc.language.isoenen
dc.publisherUniversity College Corken
dc.relation.projectinfo:eu-repo/grantAgreement/SFI/SFI Technology Innovation Development Award/17/TIDA/4897/IE/Image-guided Liver Therapy using Wireless Tracking/
dc.relation.projectinfo:eu-repo/grantAgreement/EC/H2020::ERC::ERC-COG/101002225/EU/DEEP FIELD: Seeing the Unseen in Image-guided Surgery/DEEP FIELD
dc.relation.projectinfo:eu-repo/grantAgreement/SFI/SFI Technology Innovation Development Award/17/TIDA/4897/IE/Image-guided Liver Therapy using Wireless Tracking/
dc.rights© 2023, Marco Cavaliere.
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectElectromagnetic trackingen
dc.subjectEMTen
dc.subjectImage-guided navigationen
dc.subjectMinimally-invasive surgeryen
dc.subjectMagnetic modelen
dc.subjectDistortionen
dc.subjectObject trackingen
dc.subjectKalman filteren
dc.subjectNon-linear optimisationen
dc.titleElectromagnetic tracking methods and magnetic modelling for distortion compensationen
dc.typeDoctoral thesisen
dc.type.qualificationlevelDoctoralen
dc.type.qualificationnamePhD - Doctor of Philosophyen
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