A Magnetic Tracking System based on Highly Sensitive Integrated Hall Sensors

摘要

A tracking system with five degrees of freedom based on a 2D-array of 16 Hall sensors and a permanent magnet is presented in this paper. The sensitivity of the Hall sensors is increased by integrated micro- and external macro-flux-concentrators. Detection distance larger than 20 cm (during one hour without calibration) is achieved using a magnet of 0.2 cm~3. This corresponds to a resolution of the sensors of 0.05 μT_(rms). The position and orientation of the marker is displayed in real time at least 20 times per second. The sensing system is small enough to be hand-held and can be used in a normal environment. This presented tracking system has been successfully applied to follow a small swallowed magnet through the entire human digestive tube. This approach is extremely promising as a new non-invasive diagnostic technique in gastro-enterology.