Title :
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
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;
Conference_Titel :
Control Conference (ECC), 2014 European
Conference_Location :
Strasbourg
Print_ISBN :
978-3-9524269-1-3
DOI :
10.1109/ECC.2014.6862302
