Methodology for space localization of surgical instruments. Equipment and Functional Assessment

      Аннотация: This work deals with the problem of surgical navigation, that is the spatial location of patient and surgical instruments while performing an operation, and tools used to track position and orientation in the operating room of each monitored object. The devices currently used are the optoelectronic, electromagnetic and ultrasound tracking system that have clear advantages but also some disadvantages. To remedy these shortcomings, the clinical use of inertial sensors, as accelerometers and gyroscopes, which combine the accuracy needed to the surgical navigation, low cost of production and management, has been investigated. A so-called Inertial Measurement Unit (IMU) that incorporates different combinations of accelerometers and gyroscopes is used to obtain a more accurate measurement and provide the surgeon tools with better performance than those in use. This work focused on the analysis of 2 different types of IMU and its data processing algorithms. Results shows that inertial sensors in the configuration described are a valid solution in spatial localization for surgical navigation to obtain position and orientation of a body ensuring accuracy, low costs and practicality.

Ключевые слова: biomedical, Engineer, gyroscopes, IMU, Surgical Instruments, space localization, unscented kalman filter, ukf