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Attitude Tracking Using an Integrated Inertial and Optical Navigation System for Hand-Held Surgical Instruments |
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Hyoun Min OH, Min Young Kim(Kyungpook national university, Republic of Korea) |
| Navigation devices are essential components for Image Guided Surgeries(IGS). The optical navigation system has been widely used to guide surgical tools in image-based navigation surgery due to its easy usage and high accuracy. However, optical tracking becomes frequently blind when its line-of-sight between the cameras and the optical markers is occluded. In this paper, a sensor fusion system with inertial navigation and optical navigation systems is proposed to estimate the attitude of surgical tools with markers in spite of optical occlusion situations. Specially, sensor fusion algorithms ba |
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A Verification Method of Image Registration for Image-guided Therapy (IGT) |
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Young-gi Jung, Myeongjin Kim, Thinh Tien Nguyen, Doo Yong Lee(KAIST, Republic of Korea) |
| Image-guided therapy (IGT) provides an image data (CT, MRI and PET) to overcome a deficiency of sight during operation by using augmented reality thus tracking performance is important. However, it is difficult to verify the tracking performance in medical applications because makers which can detect the pose in image registration cannot be attached to the patient’s bodies. This paper proposes a method to verify the tracking performance of image registration method for IGT and shows one verification example. |
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A Tele-operated Robotic Platform for Cardiovascular Catheter Intervention with Haptic Guidance |
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Youngjin Moon, Jaesoon Choi(Asan Medical Center, Republic of Korea) |
| This paper presents a tele-operated robotic platform for cardiac catheterization that is one of minimally invasive intervention procedures mostly used in cardiac ablation and stent implantation. The robotic cardiac catheter navigation systems have been developed to facilitate more accurate and precise catheter navigation. The system proposed in this study was designed to be compatible with conventional cardiac ablation catheters. The master manipulator implements force feedback using force/torque signal either measured by a sensor or estimated from the motor current signal in the slave manipul |
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Development of a 4 DOF Exoskeleton Robot for Elbow and Wrist Rehab |
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Hyun Soo Woo, Jang Ho Cho, Chul Seung Kim, Hyuk Jin Lee(KIMM, Republic of Korea) |
| This paper presents a 4 DOF exoskeleton robot for elbow and wrist rehabilitation, which includes a unified actuator module per each joint. The interaction force between a patient and the robot can be computed based on the torque signal of each joint. This enables us to design impedance controller to implement proper impedance to the patient. All the components of the unified actuator module were carefully selected to minimize overall weight and size. A H2 optimal controller was designed based on the state-space model. |
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