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, Y. Bellouard
2015 MATEC Web of Conferences  
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
more » ... d 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. 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.
doi:10.1051/matecconf/20153204008 fatcat:l66fwh6qdvb6lcjghcm4d7smtm