Performance study for an acoustic-inertial close range navigation system used in minimally-invasive surgical interventions

Author

Rapp, Philipp ; Hagele, Lena ; Sawodny, Oliver ; Tarin, C.

Author_Institution

Inst. for Syst. Dynamics, Univ. of Stuttgart, Stuttgart, Germany

fYear

2014

fDate

24-27 June 2014

Firstpage

344

Lastpage

351

Abstract

The present contribution is concerned with the design of a 3D real-time navigation system for minimally-invasive surgical interventions. We employ an absolute positioning system based on short range acoustic positioning technology together with an inertial navigation system. Both of the signals are fused using hybrid extended Kalman filtering in order to obtain a precise pose estimation of the surgical instrument. Simulation studies provide specification of the demands for the acoustic sensor system and the margins of usability for such a surgical navigation system.

Keywords

Kalman filters; biomedical ultrasonics; inertial navigation; medical signal processing; nonlinear filters; pose estimation; real-time systems; sensor fusion; surgery; 3D real-time navigation system; absolute positioning system; acoustic sensor system; acoustic-inertial close range navigation system; hybrid extended Kalman filtering; inertial navigation system; minimally-invasive surgical interventions; precise pose estimation; short range acoustic positioning technology; surgical instrument; surgical navigation system; Acoustics; Instruments; Mathematical model; Noise; Sensors; Surgery; Ultrasonic variables measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2014 European

Conference_Location

Strasbourg

Print_ISBN

978-3-9524269-1-3

Type

conf

DOI

10.1109/ECC.2014.6862302

Filename

6862302