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Tracking and control for handheld surgery tools

Authors: Gontje C. Claasen, Philippe Martin, Frederic Picard, Biomedical Circuits and Systems Conference (BioCAS), 2011, pp. 428 - 431, 10-12 Nov. 2011, San Diego USA DOI: 10.1109/BioCAS.2011.6107819
Handheld tools could be a valuable improvement to today's computer-assisted surgery systems. For tracking such a tool, we propose a high-bandwidth optical-inertial tracking system which is lightweight and low-cost. In a simulation, we show the impact of the bandwidth of the tracking system and the use of inertial sensors on the performance of the servo-control. We present an Extended Kalman Filter to fuse sensor data with a low-latency approach. A test with an experimental setup shows that the optical-inertial system does indeed follow human motion correctly and faster than an optical tracking system with a low bandwidth as found in commercially available systems.
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BibTeX:
@Proceedings{,
author = {Gontje C. Claasen, Philippe Martin, Frederic Picard},
editor = {},
title = {Tracking and control for handheld surgery tools},
booktitle = {Biomedical Circuits and Systems Conference (BioCAS), 2011},
volume = {},
publisher = {},
address = {San Diego},
pages = {428 - 431},
year = {2011},
abstract = {Handheld tools could be a valuable improvement to today’s computer-assisted surgery systems. For tracking such a tool, we propose a high-bandwidth optical-inertial tracking system which is lightweight and low-cost. In a simulation, we show the impact of the bandwidth of the tracking system and the use of inertial sensors on the performance of the servo-control. We present an Extended Kalman Filter to fuse sensor data with a low-latency approach. A test with an experimental setup shows that the optical-inertial system does indeed follow human motion correctly and faster than an optical tracking system with a low bandwidth as found in commercially available systems.},
keywords = {}}