지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 290 - 293 (4page)
이용수
초록· 키워드
오류제보하기
Navigation devices are essential components for Image Guided Surgeries(IGS). The optical navigation system has been widely used to guide surgical tools in image-based navigation surgery due to its easy usage and high accuracy. However, optical tracking becomes frequently blind when its line-of-sight between the cameras and the optical markers is occluded. In this paper, a sensor fusion system with inertial navigation and optical navigation systems is proposed to estimate the attitude of surgical tools with markers in spite of optical occlusion situations. Specially, sensor fusion algorithms based on Extended Kalman Filter and sensor calibration algorithms are proposed. To resolve an axis alignment problem between optical tracker and IMU sensor, a coordinate axis calibration method are presented. A series of experimental results shows its effectiveness under optical occlusion.
목차
Abstract
1. INTRODUCTION
2. COOORDINATE SYSTEM & AXIS
3. SENSOR FUSION
4. RESULTS
5. CONCLUSION
REFERENCES
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