Catheterization used for the minimally invasive therapy requires a real time information about position and orientation of a catheter tip for navigation. It has been necessary to use X-ray radioscopy to image the catheter in a blood vessel. In this paper, a simple sensor system for detecting the position and orientation utilizing earth magnetic field and AC (10kHz) magnetic field generated by a two-axis source coil is proposed. Real time information about the position and orientation and map of blood vessels make the navigation possible. The map can be obtained in advance using X-ray CT or MRI. A three-axis MI sensor (Magneto-Impedance effect sensor) for measuring earth magnetic field and AC magnetic field is mounted on the catheter tip. The sensor signal is used to calculate the position and orientation in a computer. On the display, a figure of the catheter is superimposed on the map of the blood vessel. Detecting position and orientation using this sensor system was succeeded.
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