A method and apparatus for determining the position and orientation of a
remote object relative to a reference coordinate frame includes a plurality of field-generating elements for generating electromagnetic fields, a drive for applying, to the generating elements, signals that generate a plurality of electromagnetic fields that are distinguishable from one another, a remote sensor having one or more field-sensing elements for sensing the fields generated and a processor for
processing the outputs of the sensing element(s) into
remote object position and orientation relative to the generating element reference coordinate frame. The position and orientation solution is based on the exact formulation of the
magnetic field coupling as opposed to approximations used elsewhere. The
system can be used for locating the end of a
catheter or
endoscope, digitizing objects for computer databases,
virtual reality and motion tracking. The methods presented here can also be applied to other
magnetic tracking technologies as a final "
polishing" stage to improve the accuracy of their P&O solution.