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. 2017 Dec 7;7:17149. doi: 10.1038/s41598-017-17464-1

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Online performance of the myokinetic control interface. Three-dimension representation of the trajectories of the four MMs reconstructed by the localizer. The system was able to track all MMs along their ROM. Magnets were never confused with each other. The relative position of the two PCBs with the magnetic field sensors are represented as green rectangles and black dots, respectively. The inset shows the distribution of the computation time (CT) i.e., the time required to compute the positions of four MMs resolving the inverse magnetic problem (Equation 2) using the Levenberg-Marquardt optimization method on the PC (Intel i7-6700 CPU running at 3.4 GHz, 16 GB of RAM, Windows 7). The red curve represents the cumulative distribution.