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Pose estimation of surgical instrument using sensor data fusion with optical tracker and IMU based on Kalman filter

Title
Pose estimation of surgical instrument using sensor data fusion with optical tracker and IMU based on Kalman filter
Authors
Oh, Hyun MinChae, You SeongAn, Jin UngKim, Min Young
DGIST Authors
An, Jin Ung
Issue Date
2015
Citation
International Symposium of Optomechatronics Technology, ISOT 2015, 32
Type
Conference
Article Type
Conference Paper
ISSN
2261-236X
Abstract
Tracking system is essential for Image Guided Surgery(IGS). The Optical Tracking Sensor(OTS) has been widely used as tracking system for IGS due to its high accuracy and easy usage. However, OTS has a limit that tracking fails when occlusion of marker occurs. In this paper, sensor fusion with OTS and Inertial Measurement Unit(IMU) is proposed to solve this problem. The proposed algorithm improves the accuracy of tracking system by eliminating scattering error of the sensor and supplements the disadvantages of OTS and IMU through sensor fusion based on Kalman filter. Also, coordinate axis calibration method that improves the accuracy is introduced. The performed experiment verifies the effectualness of the proposed algorithm. © 2015 Owned by the authors, published by EDP Sciences.
URI
http://hdl.handle.net/20.500.11750/1741
DOI
10.1051/matecconf/20153204008
Publisher
EDP Sciences
Related Researcher
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness2. Conference Papers


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