Attitude Tracking Compensation by fusion of Position Sensor and Gyroscope for Surgical Navigation

抄録

Position tracking is the key of surgical navigation systems to measure relative positions of a patient and surgical tools. As a tracking device, an optical or electro-magnetic position sensor is generally used in clinical application; however, measurement failure often occurs by line-of-sight occlusion or magnetic field disturbance. To address the issue, we propose that attitude compensation by integration of position sensor and gyroscope. Firstly, gyroscope provides 3-axis angular velocity and its integration gives attitude of sensor body. Secondly, position sensor provides absolute attitude. Then, attitude error and gyroscope bias noise are estimated from the attitude difference between the position sensor and gyroscope by using Kalman filter technique. Experiments are performed to validate the proposed methods. The results demonstrate a well compensation of attitude when measurement failure occurs in a position sensor.