An Augmented Extended Kalman Filter-based Algorithm for Magnetic Tracking

This study assesses the impact of magnetic interference from instruments on the performance of a permanent magnet positioning system within surgical settings. The evaluation covers the movement and rotation of key components such as the operating table and ultrasound device. A novel approach utilizing an augmented extended Kalman filter is proposed to enhance the accuracy of magnetic tracking amidst interference and mitigate its effects on the surgical scene. This method identifies and reduces the influence of ultrasonic probes, surgical instruments, and the operating table. Experimental results demonstrate that the tracking accuracy achieved by this approach in the specified application scenarios is comparable to scenarios without interference, showcasing robust performance and real-time.