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

Hyunmin Oh; You Seong Chae; Jinung An; Min Young Kim

doi:10.1051/matecconf/20153204008

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

Hyunmin Oh, You Seong Chae, Jinung An, Min Young Kim

School of Electronics Engineering

Research output: Contribution to journal › Conference article › peer-review

3 Scopus citations

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.

Original language	English
Article number	04008
Journal	MATEC Web of Conferences
Volume	32
DOIs	https://doi.org/10.1051/matecconf/20153204008
State	Published - 2 Dec 2015
Event	International Symposium of Optomechatronics Technology, ISOT 2015 - Neuchatel, Switzerland Duration: 14 Oct 2015 → 16 Oct 2015

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10.1051/matecconf/20153204008

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

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.",

author = "Hyunmin Oh and Chae, {You Seong} and Jinung An and Kim, {Min Young}",

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doi = "10.1051/matecconf/20153204008",

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T1 - Pose estimation of surgical instrument using sensor data fusion with optical tracker and IMU based on Kalman filter

AU - Oh, Hyunmin

AU - Chae, You Seong

AU - An, Jinung

AU - Kim, Min Young

PY - 2015/12/2

Y1 - 2015/12/2

N2 - 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.

AB - 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.

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U2 - 10.1051/matecconf/20153204008

DO - 10.1051/matecconf/20153204008

M3 - Conference article

AN - SCOPUS:84976561433

SN - 2261-236X

VL - 32

JO - MATEC Web of Conferences

JF - MATEC Web of Conferences

M1 - 04008

T2 - International Symposium of Optomechatronics Technology, ISOT 2015

Y2 - 14 October 2015 through 16 October 2015

ER -

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

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