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Design and Implementation of an Improved Real-Time Tracking System for Navigation Surgery by Fusion of Optical and Inertial Tracking Methods

Sorosh, Ali | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41908 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam; Salarieh, Hassan
  7. Abstract:
  8. In the navigation surgery, the real time tracking of surgeon tools and patient body are done in order to measure the precise information about the relative position of instruments, tissues and organs during surgery. Optical tracking is the most common system in the real time navigation surgery. The most important problem of the optical tracker is shadowing that obstacle between a marker and camera causes the data loose. It is obvious that in precise and sensitive surgery such as brain and neural surgery, losing the data of surgeon tool may cause irrecoverable injury for patient.The main goal of this study is design and implementation of new model for navigation surgery.We hope to significantly reduce the error of optical tracking with combination of Inertial and optical tracking system, and the inertial system can be considered as a backup tracking system whenever the optical system fails to work properly.The reliable Kalman filter method is used to combine two optical and inertial tracking systems.For time and space coordination of two tracking sensor measurements a new method has been developed. In the synchronization level, the mean error of synchronized Euler angles was less than 0.28 degree. While the Inertial tracking system worked normally and optical tracking loosed some data, then the designed complementary process could improves the errors of roll, pitch and yaw with 75, 76 and 82 percent respectively. In simulated tests, 1280 signals with 5 types of gap were made. The designed process could successfully reduce the measurement error around 91 percent
  9. Keywords:
  10. Kalman Filters ; Optical Tracking ; Navigation ; Real Time Tracking ; Intertial Navigation ; Intertial Microsensors

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