Positioning estimation of undetected marker using Kalman filter for colored reference markers based image-guided surgery system

Elsamnah, Fahed and Sediono, Wahju and Al Jeroudi, Yazan (2017) Positioning estimation of undetected marker using Kalman filter for colored reference markers based image-guided surgery system. In: International Exchange and Innovation Conference on Engineering & Sciences (IEICES), 19th-20tth October 2017, Fukuoka, Japan.

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Abstract

Image-guided surgery (IGS) is used in any surgical procedure where the optical image tracking, of the reference markers, indirectly guide the procedure. This paper proposed an optimal estimation algorithm to be used in image-guided surgery system to estimate the position of the undetected reference markers in space. Matlab simulation, using Kalman filter algorithm, on the proposed system showed an enhancement of the position accuracy of the colored reference markers less than 2.53mm root mean square error performance at the distance from 770 to 970 mm. The root mean square error of the three angles (α, θ, φ) was enhanced by less than 1.32 degree. Eventually, positioning estimation of undetected marker based on Kalman filter enhances the capabilities of image-guided surgery system.

Item Type:	Conference or Workshop Item (Invited Papers)
Additional Information:	6584/72372
Uncontrolled Keywords:	Kalman Filter; Image-guided Surgery; Colored Reference Markers; Positioning Estimation
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800 Electronics. Computer engineering. Computer hardware. Photoelectronic devices > TK7885 Computer engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr.-Ing. Wahju Sediono
Date Deposited:	28 May 2019 14:49
Last Modified:	28 May 2019 14:51
URI:	http://irep.iium.edu.my/id/eprint/72372

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