The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Kalman Filter Baded Pose Data Fusion with Optical Traking System and Inertial Navigation System Networks for Image Guided Surgery

영상유도수술을 위한 광학추적 센서 및 관성항법 센서 네트웍의 칼만필터 기반 자세정보 융합

  • Oh, Hyun Min (School of Electronics Engineering, Kyungpook National University) ;
  • Kim, Min Young (School of Electronics Engineering, Kyungpook National University)
  • Received : 2016.12.01
  • Accepted : 2016.12.16
  • Published : 2017.01.01
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Abstract

Tracking system is essential for Image Guided Surgery(IGS). Optical Tracking System(OTS) is widely used to IGS for its high accuracy and easy usage. However, OTS doesn't work when occlusion of marker occurs. In this paper sensor data fusion with OTS and Inertial Navigation System(INS) is proposed to solve this problem. The proposed system improves the accuracy of tracking system by eliminating gaussian error of the sensor and supplements the disadvantages of OTS and IMU through sensor fusion based on Kalman filter. Also, sensor calibration method that improves the accuracy is introduced. The performed experiment verifies the effectualness of the proposed algorithm.

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References

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