Multisensor Data Fusion in an Integrated Tracking System for Endoscopic Surgery
Multisensor Data Fusion in an Integrated Tracking System for Endoscopic Surgery
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DOI：
10.1109/titb.2011.2164088
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发表时间：
2012-01-01
影响因子：
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通讯作者：
Kazanzides, Peter
中科院分区：
文献类型：
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作者：
Ren, Hongliang;Rank, Denis;Kazanzides, Peter
手术规划和导航系统对于微创内窥镜手术至关重要，但在这些手术中跟踪体内手术器械的位置和方向具有挑战性。为了解决这个问题，我们提出了一种包括多传感器集成和数据融合的跟踪系统。所提出的跟踪方法不受视线限制，受环境失真影响较小，并且具有更高的更新率。通过结合电磁和惯性传感器，该系统可产生连续的六自由度信息。基于系统动态模型和估计理论，针对集成跟踪装置提出了一种新的多传感器融合算法——级联定向和位置估计算法。实验结果表明，所提算法实现了精确的定向和位置跟踪，且具有鲁棒性。
Surgical planning and navigation systems are vital for minimally invasive endoscopic surgeries but it is challenging to track the position and orientation of intrabody surgical instruments in these procedures. In order to address this problem, we propose a tracking system including multiple-sensor integration and data fusion. The proposed tracking approach is free of the constraints of line-of-sight, less subject to environmental distortion, and with higher update rate. By incorporating electromagnetic and inertial sensors, the system yields continuous 6-DOF information. Based on a system dynamic model and estimation theories, a new multisensor fusion algorithm, cascade orientation and position-estimation algorithm, is proposed for the integrated tracking device. The experimental results show that the proposed algorithms achieve accurate orientation and position tracking with robustness.