Medical magnetic positioning system and method for determining the position of a magnetic probe

A method for determining the position of a magnetic probe inside a body of an individual comprising the steps of:

• (a) placing said magnetic probe inside the body of the individual, said magnetic probe having an a priori known magnetic moment magnitude;
• (b) measuring the probe's three-dimensional magnetic field by using a magnetic gradiometer external to the body of the individual;
• and
• (c) determining the position, as well as the angular orientation of the probe by a non-linear computer algorithm using the results of said measuring and said magnetic moment magnitude.

A medical magnetic positioning system comprising:

• (a) a magnetic probe adapted to be inserted into a body of an individual, said probe having an a priori known magnetic moment magnitude;
• (b) at least two triaxial magnetometers adapted to be mounted on an external portion of the body proximate to an inserted location of the probe so that said magnetometers measure and provide output signals indicative of the three-dimensional magnetic field of the probe;
• and
• (c) a computer for calculating and storing information relative to the position of said probe, including its angular orientation, by using said output signals and said magnetic moment magnitude in a non-linear algorithm;
• and
• (d) a display system for displaying the position and angular orientation of said probe.