Optoelectronic Navigation System for a Flexible Surgical Instrument Based on Inertial Microelectromechanical Sensors
A design is proposed for an optoelectronic system used to determine the position of a flexible surgical (endoscopic) instrument in three-dimensional space, based on a set of inertial microelectromechanical sensors. A way of calibrating the sensors based on the Levenberg–Marquardt algorithm is propos...
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| Veröffentlicht in: | Bulletin of the Russian Academy of Sciences. Physics 2021-12, Vol.85 (12), p.1434-1438 |
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| container_title | Bulletin of the Russian Academy of Sciences. Physics |
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| creator | Rozhentsov, A. A. Baev, A. A. Halimov, M. Mitrakova, N. N. |
| description | A design is proposed for an optoelectronic system used to determine the position of a flexible surgical (endoscopic) instrument in three-dimensional space, based on a set of inertial microelectromechanical sensors. A way of calibrating the sensors based on the Levenberg–Marquardt algorithm is proposed, and experimental results from calibrating and measuring parameters of the movement of a surgical instrument are presented. A procedure for matching the coordinate systems of the instrument, patient, and imaging system is described. |
| doi_str_mv | 10.3103/S1062873821120273 |
| format | Article |
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A procedure for matching the coordinate systems of the instrument, patient, and imaging system is described.</description><subject>Algorithms</subject><subject>Calibration</subject><subject>Coordinates</subject><subject>Hadrons</subject><subject>Heavy Ions</subject><subject>Inertial sensing devices</subject><subject>Navigation systems</subject><subject>Nuclear Physics</subject><subject>Optoelectronics</subject><subject>Physics</subject><subject>Physics and Astronomy</subject><subject>Sensors</subject><subject>Surgical apparatus & instruments</subject><subject>Surgical instruments</subject><issn>1062-8738</issn><issn>1934-9432</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><recordid>eNp1kM1OwzAQhC0EEqXwANwscQ547ThNjlDxU6nQQ-Acuc6muEqcYjuIvj0uBXFAnNar2W_WO4ScA7sUwMRVCSzj-UTkHIAzPhEHZASFSJMiFfwwvqOc7PRjcuL9mjEpCy5HJCw2occWdXC9NZo-qXezUsH0lpZbH7CjTe-oonctfphli7Qc3Mpo1dKZ9cENHdpAb5THmkZkZtEFE8VHo92PbYf6VdkvpkTre-dPyVGjWo9n33VMXu5un6cPyXxxP5tezxMNIESiRYNc5vGaOt6VZnXNEVSaqwI0csWZwBQzqAvVMBnbOkszLfN6KfmSZ40UY3Kx9924_m1AH6p1PzgbV1Y8g0LKHGIkYwL7qfhl7x021caZTrltBazahVv9CTcyfM_4OGtX6H6d_4c-ARDmfNQ</recordid><startdate>20211201</startdate><enddate>20211201</enddate><creator>Rozhentsov, A. 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| source | Springer Nature - Complete Springer Journals |
| subjects | Algorithms Calibration Coordinates Hadrons Heavy Ions Inertial sensing devices Navigation systems Nuclear Physics Optoelectronics Physics Physics and Astronomy Sensors Surgical apparatus & instruments Surgical instruments |
| title | Optoelectronic Navigation System for a Flexible Surgical Instrument Based on Inertial Microelectromechanical Sensors |
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