TY - GEN
T1 - A model for estimating initial transform matrix for using inertial sensors in surgical navigation
AU - Seo, Eudong
AU - Song, Euijeong
AU - Chang, Minho
PY - 2013
Y1 - 2013
N2 - Because targets attached to surgical instruments can be obscured from view, surgical instruments should be tracked in the case of vision-based navigation system failure. To this end, we present a model capable of translating the orientation data from an inertial measurement unit (IMU), rigidly fixed to the surgical instrument, to the camera coordinate system. The model works by calculating the fixed rotation matrix between the IMU and the surgical instrument. Here, we use the direction of gravity measured using the IMU and surgical instrument coordinates in the algorithm for calculating the rotation matrix between the different coordinates. We then compare the orientation data of surgical instruments obtained from the IMU and a vision-based navigation system.
AB - Because targets attached to surgical instruments can be obscured from view, surgical instruments should be tracked in the case of vision-based navigation system failure. To this end, we present a model capable of translating the orientation data from an inertial measurement unit (IMU), rigidly fixed to the surgical instrument, to the camera coordinate system. The model works by calculating the fixed rotation matrix between the IMU and the surgical instrument. Here, we use the direction of gravity measured using the IMU and surgical instrument coordinates in the algorithm for calculating the rotation matrix between the different coordinates. We then compare the orientation data of surgical instruments obtained from the IMU and a vision-based navigation system.
KW - Inertial Measurement Unit
KW - Stereo Vision
KW - Surgical Navigation
KW - Tracking
UR - http://www.scopus.com/inward/record.url?scp=84893546835&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893546835&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2013.6703921
DO - 10.1109/ICCAS.2013.6703921
M3 - Conference contribution
AN - SCOPUS:84893546835
SN - 9788993215052
T3 - International Conference on Control, Automation and Systems
SP - 347
EP - 349
BT - ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
T2 - 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
Y2 - 20 October 2013 through 23 October 2013
ER -