A model for estimating initial transform matrix for using inertial sensors in surgical navigation

Eudong Seo, Euijeong Song, Minho Chang

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    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.

    Original languageEnglish
    Title of host publicationICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
    Pages347-349
    Number of pages3
    DOIs
    Publication statusPublished - 2013
    Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
    Duration: 2013 Oct 202013 Oct 23

    Publication series

    NameInternational Conference on Control, Automation and Systems
    ISSN (Print)1598-7833

    Other

    Other2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
    Country/TerritoryKorea, Republic of
    CityGwangju
    Period13/10/2013/10/23

    Keywords

    • Inertial Measurement Unit
    • Stereo Vision
    • Surgical Navigation
    • Tracking

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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