Manipulator-based Position Tracking System for Freehand 3D Ultrasound Imaging : IMU Sensor Analysis and Experiment

抄録

This paper presents an Inertial Measurement Unit (IMU) sensor analysis system for manipulator-based position tracking system. Later, the position tracking system will be used for a three-dimensional ultrasound (3DUS) imaging application. To obtain better accuracy, the proposed experiment was done using 3D-printed gimbal mechanism. Comparison between accelerometer, gyroscope, complimentary and Kalman filter reading was done using 3 different rotations; roll, pitch and yaw. Results show that complimentary and Kalman filter are better than the accelerometer and gyroscope reading.