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 publicationInternational Conference on Control, Automation and Systems
Pages347-349
Number of pages3
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
Duration: 2013 Oct 202013 Oct 23

Other

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

Fingerprint

Navigation
Units of measurement
Sensors
Navigation systems
Gravitation
Cameras

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

Cite this

Seo, E., Song, E., & Chang, M. (2013). A model for estimating initial transform matrix for using inertial sensors in surgical navigation. In International Conference on Control, Automation and Systems (pp. 347-349). [6703921] https://doi.org/10.1109/ICCAS.2013.6703921

A model for estimating initial transform matrix for using inertial sensors in surgical navigation. / Seo, Eudong; Song, Euijeong; Chang, Minho.

International Conference on Control, Automation and Systems. 2013. p. 347-349 6703921.

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

Seo, E, Song, E & Chang, M 2013, A model for estimating initial transform matrix for using inertial sensors in surgical navigation. in International Conference on Control, Automation and Systems., 6703921, pp. 347-349, 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013, Gwangju, Korea, Republic of, 13/10/20. https://doi.org/10.1109/ICCAS.2013.6703921
Seo E, Song E, Chang M. A model for estimating initial transform matrix for using inertial sensors in surgical navigation. In International Conference on Control, Automation and Systems. 2013. p. 347-349. 6703921 https://doi.org/10.1109/ICCAS.2013.6703921
Seo, Eudong ; Song, Euijeong ; Chang, Minho. / A model for estimating initial transform matrix for using inertial sensors in surgical navigation. International Conference on Control, Automation and Systems. 2013. pp. 347-349
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