公开(公告)号：WO2022018691A1

公开(公告)日：2022-01-27

申请号：PCT/IB2021/056657

申请日：2021-07-22

Applicant: UNIVERSITA' DEGLI STUDI DI SIENA

Inventor： BIANCALANA, Valerio ,  CHESSA, Piero ,  CECCHI, Roberto ,  MANDALA', Marco ,  PRATTICHIZZO, Domenico

IPC: G06F3/01 ,  G01B7/004 ,  G01R33/02 ,  G01V3/40 ,  G06F3/0346 ,  G06F3/046 ,  A61B5/06 ,  G06F3/0354

Abstract: A system (50) for tracking an object (1) comprises a magnetic field source (10) configured to be fixed to this object (1); a magnetometric data collection unit (20) that uses magnetic field sensors (22) fixed at predetermined positions on a support (23) to form an array (21 ), and that includes a sensor control unit (25) for controlling the magnetic field sensors (22); a data processing unit (30) configured to receive the magnetic field data from the sensor control unit (25) and to calculate from these data position coordinates of the magnetic field source (10) with respect to the array (21 ) forming a vector of such position coordinates which minimizes the distance between magnetic field values expected at the sensor positions (22) and magnetic field values collected by the collection unit (20), wherein the magnetic field source (10) is arranged to generate a local magnetic field (4), at the magnetic field sensors (22), of intensity set between 5 and 500 microtesla, so that the magnetic field sensors (22) detect both the local magnetic field (4) and the geomagnetic field (5), and wherein the data processing unit (30) is configured to recognize contributes of the local magnetic field (4) and of the geomagnetic field (5) in the magnetic field data, and is configured to determine location and of orientation coordinates of the magnetic field source (10) with respect to the array (21), as well as orientation coordinates of the array (21) with respect to the geomagnetic field (5). This way, an accurate tracking can be obtained of the displacements of the object (1) even if the array (21) is connected to a support that is movable with respect to an absolute reference system integral to the geomagnetic by fixing array to the subject's head.