Objective: This paper proposes the development of a novel electromagnetic tracking system for navigation surgery. Main objective is to provide a system able to operate in a wide tracking volume to make easier and efficient the surgical procedures by assuring high measurement accuracy.

Methods: A new field generator consisting in five transmitting coils excited with Frequency Division Multiplexing technique has been developed. Attention is devoted to designing and arrangement of the coils to assure high sensitivity, system scalability and a homogeneous magnetic field inside working volume. A suitable technique based on Look-Up-Table is applied for sensor position calculation and an anthropomorphic robot is used for table calibration.

Results: Experimental tests highlight a good repeatability of the measurement data and a negligible noise influence for the proposed system. The obtained tracking volume is wider with respect to the commercial tracking device used in surgical applications and seem promising.

Conclusion: The main characteristic of the developed system consists of: scalable and modular configuration of Field Generator, high measured sensitivity due to the increased number of transmitting coils with respect to the classical configuration and large tracking volume.

The development of the proposed magnetic tracking systems with high accuracy and wide working volume allows to promote broader utilization of advantaged techniques in surgery procedures for both improving the effectiveness and decreasing the invasiveness of medical interventions.

目的：本文提出了一种新型的导航手术电磁跟踪系统。主要目的是提供一种能够在宽范围的跟踪范围内运行的系统，以确保高测量精度，从而使手术过程变得更加轻松有效。

方法：研制了一种新的磁场发生器，该发生器由五个用频分复用技术激励的发射线圈组成。致力于线圈的设计和布置，以确保高灵敏度，系统可扩展性和工作空间内的均匀磁场。将基于查找表的合适技术应用于传感器位置计算，并使用拟人机器人进行表校准。

结果：实验测试表明，对于所建议的系统而言，测量数据具有良好的可重复性，并且噪声影响可忽略不计。相对于外科应用中使用的商用跟踪装置，所获得的跟踪量更宽，并且似乎很有希望。

结论：所开发系统的主要特征包括：磁场发生器的可扩展和模块化配置，相对于经典配置和较大的跟踪量，由于发射线圈数量的增加，测量灵敏度高。

所提出的具有高精度和宽工作量的磁跟踪系统的发展允许在手术过程中促进优势技术的更广泛利用，以提高有效性和降低医学干预的侵入性。