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.
In this paper, we propose an artificial neural network fitting model to estimate contact position an image-based areal touch sensor (IATS) with soft physical contact. First, the principle of the proposed artificial neural network fitting model for contact position estimation is described. Then, the structure of the IATS for verifying the algorithm is described. Second, an experiment was conducted to verify the model. Experimental data was obtained and analyzed for accuracy. Accuracy is estimated based on the relative error rate to show the accuracy between actual and estimated contact positions. As a result, the accuracy for each axis is as follows. The accuracy for the X-axis is 86.7% on average and the accuracy for the Y-axis is 96.5% on average. The depth accuracy is 94.9%. It is analyzed to solve various problems and it is expected that it will be possible to develop a sensor with accuracy similar to the actual contact position in the future.
In this paper multiple optic sensor system and algorithms to match coordinate systems for neurosurgery robot is proposed for O-arm or C-arm fluoroscopy. As a specific device mounted on fluoroscopy we make the optical axis of X-ray source and the optical sensor identical. This makes it capable of achieving simultaneously X-ray vision and camera vision of the same area without any other complex mapping between two images. This can be used to make augmented vision to show X-ray vision to surgeons under operation. Also because of the characteristic of neurosurgery the required measurement area is relatively small but neurosurgery is very demanding in terms of accuracy, so the measurement should be within small numbers of micrometers. For accurate measurement specially designed stereo vision is implemented with IR illumination and retro-reflective marker spheres. With a pair of stereo images from the sensor system the three-dimensional coordinates and pose of the markers are calculated. By attaching these markers to patient, surgical instruments, and robot each set of the coordinate systems can be tracked with the proposed sensor system.
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