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Tracking and control for handheld surgery tools

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.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-00686374
Contributor : François Chaplais <>
Submitted on : Tuesday, April 10, 2012 - 9:28:33 AM
Last modification on : Thursday, January 7, 2021 - 9:28:03 AM

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Göntje Caroline Claasen, Philippe Martin, Frédéric Picard. Tracking and control for handheld surgery tools. Biomedical Circuits and Systems Conference (BioCAS), 2011, Nov 2011, San Diego, United States. pp.428 - 431, ⟨10.1109/BioCAS.2011.6107819⟩. ⟨hal-00686374⟩

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