A Portable 6D Surgical Instrument Magnetic Localization Dataset

This dataset contains multiple experimental data files, each corresponding to a specific experiment. The data format is Excel (.xlsx). Below is a detailed description of each folder:

1. Dynamic_error_correction_verification
   This folder contains data for verifying the effect of physical priors on adaptive filtering performance. Two Monte Carlo experiments were conducted to analyze the impact of distance priors and direction priors on filtering accuracy. The data is stored in two Excel files, each containing:

• Overall error analysis: Comparison of adaptive filtering with and without physical priors, including RMSE (Root Mean Square Error) and MAE (Mean Absolute Error).
• 30 Monte Carlo experiment datasets: Includes true magnetic field values, added noise, adaptive filtering results without physical priors, and adaptive filtering results with physical priors, which help evaluate error correction performance.

2. Dot_Data
   This folder contains data from a grid-based experiment used to test the system’s accuracy. Measurements were recorded at 45 spatial points, including position and orientation data, along with overall error calculations. The dataset is useful for analyzing the static localization accuracy of the magnetic positioning system.

3. Square_Trajectory
   This folder contains coordinate data of a square trajectory, where the surgical instrument moves along a 30mm × 30mm square path. The dataset is used to evaluate the system’s accuracy in 2D structured motion tracking.

4. Circular_Trajectory
   This folder contains coordinate data of a circular trajectory, where the surgical instrument follows a 12mm radius circular path. The experiment tests the system’s tracking accuracy and stability in curved trajectories.

5. Saddle-shaped_Trajectory
   This folder contains coordinate data of a saddle-shaped trajectory, used to evaluate the system’s tracking performance in spatial paths and assess its localization ability in 3D motion trajectories.

6. Helical_Trajectory
   This folder contains coordinate data of a helical trajectory, with a 12mm radius and 20mm pitch. The dataset is used to assess the system’s ability to track spiral motion in 3D space.

7. Simulated_minimally_invasive_knee_surgery
   This folder contains data from a simulated minimally invasive knee surgery experiment, which records the number of times the surgical instrument touches healthy tissue and the completion time, with and without assistance from the magnetic localization system. The dataset is used to evaluate the system’s effectiveness in surgical navigation and precision control.

8. Sampling_needle_Trajectory
   This folder contains data from a tissue sampling experiment using pork tissue, recording the complete trajectory of the biopsy needle as tracked by the system. The dataset can be used to compare magnetic localization with ultrasound imaging, assessing the potential of the system for real-time biopsy guidance in medical applications.

This dataset can be used for evaluating magnetic localization accuracy, error correction research, surgical navigation, and robotic-assisted minimally invasive surgery. It is intended for academic research only.