Miniaturize The Endoscope Localizing Sensor By Regular Tetrhedron Shaped Differential Magnetic Dipoles

For many treatment modalities in minimal invasive medicine, the conventional localizing methods of the endoscope have a lot of disadvantages. Recently, many companies and scholars abroad think highly of magnetic localization. This paper describes a method of miniaturizing the endoscope sensor by regular tetrhedron shaped differential magnetic dipoles. We derive particularly the expression of magnetic induction intensity of six differential magnetic dipoles. We also derive the expression of the signal obtained from random position by the magnetic field sensor. Then we construct five-dimension nonlinear equation group for the signal obtained by themagnetic field sensor and solve them, so that we can realize 3D localizing and navigation for endoscope probe . we design the system circuit which is composed of emission and receiving circuit. The results of experiments show that the system can localize the magnetic sensor and it can be expected to play a roll in medical treatment after further research.