3D instrument localization and tracking with the integration of image-based and electromagnetic techniques

In this paper, we present an improved marker for optical tracking. The proposed IR pattern can accept up to 50% of occlusion so that we can reduce the requirement of line-of-sight during the instrument tracking. To provide the accurate instrument tracking results for surgeons to manipulate minimally invasive surgery, we integrate both optical tracking and electromagnetic tracking methods into an image guided surgery system. Furthermore, we use a sensor fusion algorithm to fuse the measurements from these subsystems to make the measurement of the system more stable.