# Distortion-Free Magnetic Tracking of Metal Instruments in Image-Guided Interventions

## TL;DR

This paper explores a new method for tracking metal surgical tools using magnetic sensors placed inside the tools to reduce distortion during image-guided procedures.

## Contribution

A novel magnetostatic model and experimental validation for distortion-free tracking of metal instruments using internal inductive sensors.

## Key findings

- Smaller tool diameters (less than 8 mm) are less affected by electromagnetic distortion.
- Optimal frequencies (1 kHz to 2 kHz) reduce distortion in larger instruments.
- The Anser EMT system was used to quantify tracking errors caused by metal rods.

## Abstract

Electromagnetic tracking (EMT) can benefit image-guided interventions in cases where line of sight is unavailable. However, EMT can suffer from electromagnetic distortion in the presence of metal instruments. Metal instruments are widely used in laparoscopic surgery, ENT surgery, arthroscopy and many other clinical applications. In this work, we investigate the feasibility of tracking such metal instruments by placing the inductive sensor within the instrument shaft. We propose a magnetostatic model of the field within the instrument, and verify the results experimentally for frequencies from 6 kHz to 60 kHz. The impact of the instrument’s dimensions, conductivity and transmitting field frequency is quantified for ranges representative of typical metal instruments used in image-guided interventions. We then performed tracking using the open-source Anser EMT system and quantify the error caused by the presence of the rod as a function of the frequency of the eight emitting coils for the system. The work clearly demonstrates why smaller tool diameters (less than 8 mm) are less susceptible to distortion, as well as identifying optimal frequencies (1 kHz to 2 kHz) for transmitter design to minimise for distortion in larger instruments.