| Title |
Kalman Filter Baded Pose Data Fusion with Optical Traking System and Inertial Navigation System Networks for Image Guided Surgery |
| Authors |
오현민(Oh, Hyun Min) ; 김민영(Kim, Min Young) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.1.121 |
| Keywords |
Surgical navigation system ; Optical tracking system ; Sensor fusion ; Occlusion ; Kalman filter |
| 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. |