Abstract: Devices, systems and methods for estimating a position and an orientation of a dental tool are described. An example system for estimating a position and an orientation of a dental tool includes multiple electromagnets or magnetometers (but not both) are removably affixed to an object positioned in a patient's mouth, the object being movable at least based on movements of the patient's mouth, and multiple magnetometers or electromagnets (but not both) affixed to a dental tool that is non-stationary. The system further includes at least one processor configured to drive the plurality of electromagnets with at least one programmed signal, receive, from the plurality of magnetometers, magnetic field measurements, and determine, based on the magnetic field measurements, the position and the orientation of the dental tool relative to the object.

Abstract: Devices, systems and methods for estimating a position and an orientation of a dental tool are described. An example system for estimating a position and an orientation of a dental tool includes multiple electromagnets are removably affixed to an object positioned in a patient's mouth, the object being movable at least based on movements of the patient's mouth, and multiple magnetometers affixed to a dental tool that is non-stationary. The system further includes at least one processor configured to drive the plurality of electromagnets with at least one programmed signal, receive, from the plurality of magnetometers, magnetic field measurements, and determine, based on the magnetic field measurements, the position and the orientation of the dental tool relative to the object.

Abstract: Devices, systems and methods for monitoring of fetal health through determination of fetal heart rate are described. In an example, beat-to-beat decelerations and accelerations are monitored to estimate fetal position and orientation within the womb using magnetometer sensors. The described embodiments enable long-term monitoring that can be remote from a clinical setting, and is sufficiently portable to be operable while the mother engages in substantial motion during daily activity. An example method includes receiving, from a magnetic sensor, a combined heart signal comprising a mixture of a maternal heart signal and the fetal heart signal, estimating, based on the combined heart signal, one or more parameters associated with a location/motion of the magnetic sensor, generating a de-noised combined heart signal by performing a de-noising operation on the combined heart signal, and tracking, based on the de-noised combined heart signal, an estimate of the fetal heart signal.