{"id":{"repo_id":"cork","oai_identifier":"oai:cora.ucc.ie:10468/18050"},"canonical_url":"https://search.dev.ndltd.org/etd/cork/oai:cora.ucc.ie:10468/18050","repository":{"repo_id":"cork","name":"University College Cork","base_url":"https://cora.ucc.ie/server/oai/request"},"display":{"title":"On-chip magnetic sensor and readout design for 3D position tracking in image-guided interventions","abstract":"Electromagnetic tracking (EMT) technology is integral to complex medical procedures, providing precise real-time tracking of surgical instruments while reducing dependence on radiation-based imaging. EMT is particularly beneficial in various image-guided interventions, enhancing accuracy and safety. Despite its advantages, EMT has not been widely adopted in common procedures such as laparoscopic surgery and non-robotic endoscopy due to the prohibitive cost of the sensors, which range from approximately $25 for 5-degrees-of-freedom (DoF) devices to around $250 for 6-DoF devices. This thesis proposes a cost-effective solution using compact 0.5 mm wide and 2.3 mm long on-chip magnetic sensors. The on-chip magnetic sensor includes a state-of-the-art low-noise analog-front-end (2.07 nV/√Hz) and a low-area continuous-time delta-sigma analog-to-digital converter (ADC) (0.07 mm2). The readout circuit also incorporates essential power management blocks such as a bandgap reference (BGR) and a low-dropout regulator (LDO), along with a low-voltage differential signaling (LVDS) driver for minimal signal distortion and an on-chip clock source. These integrated components reduce the pin count and contribute to the compactness of the on-chip sensor. This on-chip magnetic sensor is employed for 5-DoF magnetic tracking (x, y,z, yaw, and pitch). These sensors are both affordable and practical for real-world applications. The proposed on-chip sensor’s small size and cost-effectiveness facilitate seamless integration into existing magnetic navigation systems without significant modifications, reducing the scalable cost to an estimated $1.50, compared to approximately $25 for existing discrete 5-DoF sensors. Furthermore, the on-chip sensor offers a digital readout, enhancing robustness compared to wire-wound sensors with analog readouts. This work also presents 6-DoF tracking (x, y, z, yaw, pitch, and roll angles) that combines low-cost on-chip sensors with wire-wound sensors featuring ferromagnetic core devices. This hybrid system provides a cost-effective, compact, and competitive solution in terms of form factor. Utilising low-frequency magnetic fields to detect the position and orientation of instruments, this sensor provides a viable alternative to X-rays in image-guided surgery. Fabricated using 65 nm CMOS technology and occupying an area of 1.06 mm2, the 5-DoF system navigates with a precision of 1.1 mm within a 15×15×15 cm3 volume of interest, while the 6-DoF system achieves a navigation accuracy of 0.8 mm and an angular error of 1.1◦. The prototype sensor successfully demonstrated its ability to accurately track positions for in vivo settings, with a worst-case registration accuracy of 5.8 mm, primarily due to patient motion artifacts rather than tracking inaccuracies. These advancements significantly enhance the precision and cost-effectiveness of electromagnetic tracking in medical procedures, offering new possibilities for improving patient care.","abstract_html":"Electromagnetic tracking (EMT) technology is integral to complex medical procedures, providing precise real-time tracking of surgical instruments while reducing dependence on radiation-based imaging. EMT is particularly beneficial in various image-guided interventions, enhancing accuracy and safety. Despite its advantages, EMT has not been widely adopted in common procedures such as laparoscopic surgery and non-robotic endoscopy due to the prohibitive cost of the sensors, which range from approximately $25 for 5-degrees-of-freedom (DoF) devices to around $250 for 6-DoF devices. This thesis proposes a cost-effective solution using compact 0.5 mm wide and 2.3 mm long on-chip magnetic sensors. The on-chip magnetic sensor includes a state-of-the-art low-noise analog-front-end (2.07 nV/√Hz) and a low-area continuous-time delta-sigma analog-to-digital converter (ADC) (0.07 mm2). The readout circuit also incorporates essential power management blocks such as a bandgap reference (BGR) and a low-dropout regulator (LDO), along with a low-voltage differential signaling (LVDS) driver for minimal signal distortion and an on-chip clock source. These integrated components reduce the pin count and contribute to the compactness of the on-chip sensor. This on-chip magnetic sensor is employed for 5-DoF magnetic tracking (x, y,z, yaw, and pitch). These sensors are both affordable and practical for real-world applications. The proposed on-chip sensor’s small size and cost-effectiveness facilitate seamless integration into existing magnetic navigation systems without significant modifications, reducing the scalable cost to an estimated $1.50, compared to approximately $25 for existing discrete 5-DoF sensors. Furthermore, the on-chip sensor offers a digital readout, enhancing robustness compared to wire-wound sensors with analog readouts. This work also presents 6-DoF tracking (x, y, z, yaw, pitch, and roll angles) that combines low-cost on-chip sensors with wire-wound sensors featuring ferromagnetic core devices. This hybrid system provides a cost-effective, compact, and competitive solution in terms of form factor. Utilising low-frequency magnetic fields to detect the position and orientation of instruments, this sensor provides a viable alternative to X-rays in image-guided surgery. Fabricated using 65 nm CMOS technology and occupying an area of 1.06 mm2, the 5-DoF system navigates with a precision of 1.1 mm within a 15×15×15 cm3 volume of interest, while the 6-DoF system achieves a navigation accuracy of 0.8 mm and an angular error of 1.1◦. The prototype sensor successfully demonstrated its ability to accurately track positions for in vivo settings, with a worst-case registration accuracy of 5.8 mm, primarily due to patient motion artifacts rather than tracking inaccuracies. These advancements significantly enhance the precision and cost-effectiveness of electromagnetic tracking in medical procedures, offering new possibilities for improving patient care.","abstract_has_math":true,"creators":["Srivastava, Manish"],"institution":"University College Cork","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":["Cantillon-Murphy, Padraig","O'Hare, Daniel"],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025","date_published":"2025","updated_at":"2026-07-24T01:46:55Z","subjects":["Electromagnetic tracking","On chip magnetic sensor","Image guided interventions","Analog front end readout","CCIA","Adder-Less Continuous-Time ΔΣ Modulator"],"languages":["en"],"rights":["© 2025, Manish Srivastava."],"rights_urls":["https://creativecommons.org/licenses/by-nc-nd/4.0/"],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/10468/18050","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Cantillon-Murphy, Padraig","O'Hare, Daniel"]},{"key":"dc:creator","label":"Author","values":["Srivastava, Manish"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2025-10-16T14:27:36Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2025-10-16T14:27:36Z"]},{"key":"dc:date.issued","label":"Date","values":["2025"]},{"key":"dc:publisher","label":"Institution","values":["University College Cork"]},{"key":"dc:type","label":"Dc Type","values":["Doctoral thesis"]},{"key":"dc:type.qualificationlevel","label":"Dc Type Qualificationlevel","values":["Doctoral"]},{"key":"dc:type.qualificationname","label":"Dc Type Qualificationname","values":["PhD - Doctor of Philosophy"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Electromagnetic tracking","On chip magnetic sensor","Image guided interventions","Analog front end readout","CCIA","Adder-Less Continuous-Time ΔΣ Modulator"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["© 2025, Manish Srivastava."]},{"key":"dc:rights.uri","label":"Rights URI","values":["https://creativecommons.org/licenses/by-nc-nd/4.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/10468/18050"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Electromagnetic tracking (EMT) technology is integral to complex medical procedures, providing precise real-time tracking of surgical instruments while reducing dependence on radiation-based imaging. EMT is particularly beneficial in various image-guided interventions, enhancing accuracy and safety. Despite its advantages, EMT has not been widely adopted in common procedures such as laparoscopic surgery and non-robotic endoscopy due to the prohibitive cost of the sensors, which range from approximately $25 for 5-degrees-of-freedom (DoF) devices to around $250 for 6-DoF devices. This thesis proposes a cost-effective solution using compact 0.5 mm wide and 2.3 mm long on-chip magnetic sensors. The on-chip magnetic sensor includes a state-of-the-art low-noise analog-front-end (2.07 nV/√Hz) and a low-area continuous-time delta-sigma analog-to-digital converter (ADC) (0.07 mm2). The readout circuit also incorporates essential power management blocks such as a bandgap reference (BGR) and a low-dropout regulator (LDO), along with a low-voltage differential signaling (LVDS) driver for minimal signal distortion and an on-chip clock source. These integrated components reduce the pin count and contribute to the compactness of the on-chip sensor. This on-chip magnetic sensor is employed for 5-DoF magnetic tracking (x, y,z, yaw, and pitch). These sensors are both affordable and practical for real-world applications. The proposed on-chip sensor’s small size and cost-effectiveness facilitate seamless integration into existing magnetic navigation systems without significant modifications, reducing the scalable cost to an estimated $1.50, compared to approximately $25 for existing discrete 5-DoF sensors. Furthermore, the on-chip sensor offers a digital readout, enhancing robustness compared to wire-wound sensors with analog readouts. This work also presents 6-DoF tracking (x, y, z, yaw, pitch, and roll angles) that combines low-cost on-chip sensors with wire-wound sensors featuring ferromagnetic core devices. This hybrid system provides a cost-effective, compact, and competitive solution in terms of form factor. Utilising low-frequency magnetic fields to detect the position and orientation of instruments, this sensor provides a viable alternative to X-rays in image-guided surgery. Fabricated using 65 nm CMOS technology and occupying an area of 1.06 mm2, the 5-DoF system navigates with a precision of 1.1 mm within a 15×15×15 cm3 volume of interest, while the 6-DoF system achieves a navigation accuracy of 0.8 mm and an angular error of 1.1◦. The prototype sensor successfully demonstrated its ability to accurately track positions for in vivo settings, with a worst-case registration accuracy of 5.8 mm, primarily due to patient motion artifacts rather than tracking inaccuracies. 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Despite its advantages, EMT has not been widely adopted in common procedures such as laparoscopic surgery and non-robotic endoscopy due to the prohibitive cost of the sensors, which range from approximately $25 for 5-degrees-of-freedom (DoF) devices to around $250 for 6-DoF devices. This thesis proposes a cost-effective solution using compact 0.5 mm wide and 2.3 mm long on-chip magnetic sensors. The on-chip magnetic sensor includes a state-of-the-art low-noise analog-front-end (2.07 nV/√Hz) and a low-area continuous-time delta-sigma analog-to-digital converter (ADC) (0.07 mm2). The readout circuit also incorporates essential power management blocks such as a bandgap reference (BGR) and a low-dropout regulator (LDO), along with a low-voltage differential signaling (LVDS) driver for minimal signal distortion and an on-chip clock source. These integrated components reduce the pin count and contribute to the compactness of the on-chip sensor. This on-chip magnetic sensor is employed for 5-DoF magnetic tracking (x, y,z, yaw, and pitch). These sensors are both affordable and practical for real-world applications. The proposed on-chip sensor’s small size and cost-effectiveness facilitate seamless integration into existing magnetic navigation systems without significant modifications, reducing the scalable cost to an estimated $1.50, compared to approximately $25 for existing discrete 5-DoF sensors. Furthermore, the on-chip sensor offers a digital readout, enhancing robustness compared to wire-wound sensors with analog readouts. This work also presents 6-DoF tracking (x, y, z, yaw, pitch, and roll angles) that combines low-cost on-chip sensors with wire-wound sensors featuring ferromagnetic core devices. This hybrid system provides a cost-effective, compact, and competitive solution in terms of form factor. Utilising low-frequency magnetic fields to detect the position and orientation of instruments, this sensor provides a viable alternative to X-rays in image-guided surgery. Fabricated using 65 nm CMOS technology and occupying an area of 1.06 mm2, the 5-DoF system navigates with a precision of 1.1 mm within a 15×15×15 cm3 volume of interest, while the 6-DoF system achieves a navigation accuracy of 0.8 mm and an angular error of 1.1◦. The prototype sensor successfully demonstrated its ability to accurately track positions for in vivo settings, with a worst-case registration accuracy of 5.8 mm, primarily due to patient motion artifacts rather than tracking inaccuracies. These advancements significantly enhance the precision and cost-effectiveness of electromagnetic tracking in medical procedures, offering new possibilities for improving patient care."],"dc:format.mimetype":["application/pdf"],"dc:identifier.uri":["https://hdl.handle.net/10468/18050"],"dc:language.iso":["en"],"dc:publisher":["University College Cork"],"dc:rights":["© 2025, Manish Srivastava."],"dc:rights.uri":["https://creativecommons.org/licenses/by-nc-nd/4.0/"],"dc:subject":["Electromagnetic tracking","On chip magnetic sensor","Image guided interventions","Analog front end readout","CCIA","Adder-Less Continuous-Time ΔΣ Modulator"],"dc:title":["On-chip magnetic sensor and readout design for 3D position tracking in image-guided interventions"],"dc:type":["Doctoral thesis"],"dc:type.qualificationlevel":["Doctoral"],"dc:type.qualificationname":["PhD - Doctor of Philosophy"]},"updated_at":"2026-07-24T01:46:55Z"}