DOI QR코드

DOI QR Code

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

Kalman Filter Baded Pose Data Fusion with Optical Traking System and Inertial Navigation System Networks for Image Guided Surgery

  • Oh, Hyun Min (School of Electronics Engineering, Kyungpook National University) ;
  • Kim, Min Young (School of Electronics Engineering, Kyungpook National University)
  • 투고 : 2016.12.01
  • 심사 : 2016.12.16
  • 발행 : 2017.01.01

초록

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.

키워드

참고문헌

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