System and a method for mapping a magnetic field

A method for mapping a magnetic field in a volume of interest, the method comprising the procedures of:

• freely moving at least one magnetic field detector within a volume of interest, said magnetic field detector including at least one magnetic field sensor;
• acquiring measurements of magnetic field flux at a plurality of poses of the freestanding magnetic field detectors in the volume of interest, the magnetic field being generated by and magnetic field transmitter, said magnetic field transmitter including at least one magnetic field generator;
• and
• re-estimating parameters characterizing a magnetic field model, according deviations between said measurements of said magnetic field flux and predictions of said magnetic field flux at said poses of said at least one magnetic field detector,
• wherein, the number of the generators times the number of the sensors is larger then the number of degrees of freedom required to track an object in said volume of interest, and
• wherein, the combined number of said at least one magnetic field generator and said least one magnetic field sensor is at least three.

A system for mapping a magnetic field in a volume of interest, the system comprising:

• a magnetic field transmitter, generating a magnetic field in the volume of interest;
• two freestanding magnetic field detectors, firmly coupled with a freestanding mapping handle, said two freestanding magnetic field detectors operative to freely move within said volume of interest, said two freestanding magnetic field detectors acquiring measurements of the flux of said magnetic field at a plurality of poses;
• and
• a processor, coupled with said magnetic field detector, said processor re-estimating parameters characterizing said magnetic field model according to deviations between said measurements of said flux of said magnetic field and according to predictions of said flux, said predictions being determined according to a stored magnetic field model, thereby, said processor estimating a new magnetic field model.