A Differential Signal and Extended-Kalman-Filter-Based Anti-Interference Magnetic Tracking Method for Surgical Scenes
Magnetic tracking is a promising technique for surgery navigation. However, the magnetic interference (MI) generated in the operating room causes great disturbances to the magnetic tracking system. To attenuate the influence of the MI and improve the tracking performance, this article proposes a dif...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 2024-11, Vol.71 (11), p.15140-15150 |
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| container_title | IEEE transactions on industrial electronics (1982) |
| container_volume | 71 |
| creator | Lv, Bowen Qin, Yanding Dai, Houde Han, Jianda |
| description | Magnetic tracking is a promising technique for surgery navigation. However, the magnetic interference (MI) generated in the operating room causes great disturbances to the magnetic tracking system. To attenuate the influence of the MI and improve the tracking performance, this article proposes a differential-based extended Kalman filter (D-EKF) algorithm. Different from conventional algorithms, in the D-EKF, differential units are constructed using the Hamiltonian circle method with the help of a dummy vertex. This helps to attenuate the influence of the MI. Furthermore, an extended Kalman filter is used to estimate the magnet states via the differential signals. The performance of the proposed algorithm is tested in a surgical scene equipped with common surgical instruments and a surgical robot. The experimental results show that the disturbances of MIs can be well attenuated by the proposed algorithm, and high robustness against MI is achieved. |
| doi_str_mv | 10.1109/TIE.2024.3366214 |
| format | Article |
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However, the magnetic interference (MI) generated in the operating room causes great disturbances to the magnetic tracking system. To attenuate the influence of the MI and improve the tracking performance, this article proposes a differential-based extended Kalman filter (D-EKF) algorithm. Different from conventional algorithms, in the D-EKF, differential units are constructed using the Hamiltonian circle method with the help of a dummy vertex. This helps to attenuate the influence of the MI. Furthermore, an extended Kalman filter is used to estimate the magnet states via the differential signals. The performance of the proposed algorithm is tested in a surgical scene equipped with common surgical instruments and a surgical robot. 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However, the magnetic interference (MI) generated in the operating room causes great disturbances to the magnetic tracking system. To attenuate the influence of the MI and improve the tracking performance, this article proposes a differential-based extended Kalman filter (D-EKF) algorithm. Different from conventional algorithms, in the D-EKF, differential units are constructed using the Hamiltonian circle method with the help of a dummy vertex. This helps to attenuate the influence of the MI. Furthermore, an extended Kalman filter is used to estimate the magnet states via the differential signals. The performance of the proposed algorithm is tested in a surgical scene equipped with common surgical instruments and a surgical robot. The experimental results show that the disturbances of MIs can be well attenuated by the proposed algorithm, and high robustness against MI is achieved.</description><subject>Distortion measurement</subject><subject>Frequency modulation</subject><subject>Layout</subject><subject>Magnetic interference (MI)</subject><subject>Magnetic resonance imaging</subject><subject>Magnetic susceptibility</subject><subject>Magnetometers</subject><subject>permanent-magnet tracking (PMT)</subject><subject>Surgery</subject><subject>surgical scene</subject><issn>0278-0046</issn><issn>1557-9948</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkL1OwzAYRS0EEqWwMzD4BVz8EzvxWEoLFa0YGubIsT8HQ-oiJ5Xg7UlpB6YrXd1zh4PQLaMTxqi-L5fzCac8mwihFGfZGRoxKXOidVacoxHleUEozdQluuq6D0pZJpkcof0UPwbvIUHsg2nxJjRxCBMdnn_3EB048mLarYlkEdoeEnkwHTg8HeZkGYfij7WA16aJ0AeLy2TsZ4gNXkP_vnPY7xLe7FMT7OHfQoTuGl1403Zwc8oxelvMy9kzWb0-LWfTFbGc5T3Jaw3UMq8ZWCdrcFbJ2nPHc66V1lIzLnKprFHAnOC2tp7mwmRMcsM9F2KM6PHXpl3XJfDVVwpbk34qRquDtmrQVh20VSdtA3J3RAIA_JtniquiEL_ytGpA</recordid><startdate>20241101</startdate><enddate>20241101</enddate><creator>Lv, Bowen</creator><creator>Qin, Yanding</creator><creator>Dai, Houde</creator><creator>Han, Jianda</creator><general>IEEE</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><orcidid>https://orcid.org/0000-0003-3551-3474</orcidid><orcidid>https://orcid.org/0000-0001-7417-7974</orcidid><orcidid>https://orcid.org/0000-0001-5162-1665</orcidid><orcidid>https://orcid.org/0000-0002-9664-4534</orcidid></search><sort><creationdate>20241101</creationdate><title>A Differential Signal and Extended-Kalman-Filter-Based Anti-Interference Magnetic Tracking Method for Surgical Scenes</title><author>Lv, Bowen ; Qin, Yanding ; Dai, Houde ; Han, Jianda</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c217t-7b9e0c1f91ecd5bedc65bf2d272969959123756ca6e1d32cbcf073a4152a2f233</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2024</creationdate><topic>Distortion measurement</topic><topic>Frequency modulation</topic><topic>Layout</topic><topic>Magnetic interference (MI)</topic><topic>Magnetic resonance imaging</topic><topic>Magnetic susceptibility</topic><topic>Magnetometers</topic><topic>permanent-magnet tracking (PMT)</topic><topic>Surgery</topic><topic>surgical scene</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Lv, Bowen</creatorcontrib><creatorcontrib>Qin, Yanding</creatorcontrib><creatorcontrib>Dai, Houde</creatorcontrib><creatorcontrib>Han, Jianda</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE/IET Electronic Library (IEL)</collection><collection>CrossRef</collection><jtitle>IEEE transactions on industrial electronics (1982)</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Lv, Bowen</au><au>Qin, Yanding</au><au>Dai, Houde</au><au>Han, Jianda</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A Differential Signal and Extended-Kalman-Filter-Based Anti-Interference Magnetic Tracking Method for Surgical Scenes</atitle><jtitle>IEEE transactions on industrial electronics (1982)</jtitle><stitle>TIE</stitle><date>2024-11-01</date><risdate>2024</risdate><volume>71</volume><issue>11</issue><spage>15140</spage><epage>15150</epage><pages>15140-15150</pages><issn>0278-0046</issn><eissn>1557-9948</eissn><coden>ITIED6</coden><abstract>Magnetic tracking is a promising technique for surgery navigation. However, the magnetic interference (MI) generated in the operating room causes great disturbances to the magnetic tracking system. To attenuate the influence of the MI and improve the tracking performance, this article proposes a differential-based extended Kalman filter (D-EKF) algorithm. Different from conventional algorithms, in the D-EKF, differential units are constructed using the Hamiltonian circle method with the help of a dummy vertex. This helps to attenuate the influence of the MI. Furthermore, an extended Kalman filter is used to estimate the magnet states via the differential signals. The performance of the proposed algorithm is tested in a surgical scene equipped with common surgical instruments and a surgical robot. The experimental results show that the disturbances of MIs can be well attenuated by the proposed algorithm, and high robustness against MI is achieved.</abstract><pub>IEEE</pub><doi>10.1109/TIE.2024.3366214</doi><tpages>11</tpages><orcidid>https://orcid.org/0000-0003-3551-3474</orcidid><orcidid>https://orcid.org/0000-0001-7417-7974</orcidid><orcidid>https://orcid.org/0000-0001-5162-1665</orcidid><orcidid>https://orcid.org/0000-0002-9664-4534</orcidid></addata></record> |
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| subjects | Distortion measurement Frequency modulation Layout Magnetic interference (MI) Magnetic resonance imaging Magnetic susceptibility Magnetometers permanent-magnet tracking (PMT) Surgery surgical scene |
| title | A Differential Signal and Extended-Kalman-Filter-Based Anti-Interference Magnetic Tracking Method for Surgical Scenes |
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