MATEC Web of Conferences
Volume 32, 2015International Symposium of Optomechatronics Technology (ISOT 2015)
|Number of page(s)||5|
|Section||Optomechatronics for Bio-Medical Applications|
|Published online||02 December 2015|
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: firstname.lastname@example.org
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
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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