Performance study for an acoustic-inertial close range navigation system used in minimally-invasive surgical interventions

摘要

The present contribution is concerned with the design of a 3D real-time navigation system for minimally-invasive surgical interventions. We employ an absolute positioning system based on short range acoustic positioning technology together with an inertial navigation system. Both of the signals are fused using hybrid extended Kalman filtering in order to obtain a precise pose estimation of the surgical instrument. Simulation studies provide specification of the demands for the acoustic sensor system and the margins of usability for such a surgical navigation system.