Tracking and control for handheld surgery tools

Handheld tools could be a valuable improvement to today´s computer-assisted surgery systems. For tracking such a tool, we propose a high-bandwidth optical-inertial tracking system which is lightweight and low-cost. In a simulation, we show the impact of the bandwidth of the tracking system and the use of inertial sensors on the performance of the servo-control. We present an Extended Kalman Filter to fuse sensor data with a low-latency approach. A test with an experimental setup shows that the optical-inertial system does indeed follow human motion correctly and faster than an optical tracking system with a low bandwidth as found in commercially available systems.