GELS Achieves Closed-Form 6-DOF Electromagnetic Localization for Medical Tools

Zhiwei Wu and co-authors propose GELS, a gradiometer-based electromagnetic localization system that uses a compact magnetometer array as an embedded quasi-gradiometer to estimate the local magnetic field and gradient tensor, then maps displacement via Euler homogeneous relations, and uses Procrustes registration under at least three non-collinear sources to recover the array's orientation and position, achieving closed-form 6-DOF pose estimation. The algorithm requires only known source positions and array geometry, with no need for pre-calibrated workspace field maps, initial pose guesses, or calibrated source magnetic moments. The authors report that bench experiments validated the pipeline, with a median solver runtime of 172.00 microseconds. Perturbation analysis indicates that inter-sensor inconsistency and dipole model mismatch are the main accuracy limitations, which the authors say will guide future sensor array and source design to improve pose accuracy.

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