Pose estimation of surgical instrument using sensor data fusion with optical tracker and IMU based on Kalman filter
1 Kyungpook National University, School of Electrical Engineering and Computer Science, 80 Daehakro Buk-gu Daegu 702-701, Republic of Korea
2 IoT-Robot Convergence Research Division, Daegu Gyeongbuk Institute of Science & Technology, 333 Techno jungang-daero, Hueonpung-myeon, Dalseong-gun, Daegu 711-873, Republic of Korea
a Corresponding author: email@example.com
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.
© Owned by the authors, published by EDP Sciences, 2015
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