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Special Section Technical Briefs

A Motion Tracking and Inertial Measurement Unit–Distance Sensor Fusion Module for Medical Simulation1

[+] Author and Article Information
Yunhe Shen

CREST,
University of Minnesota,
Minneapolis, MN 55455

Kuo-Shih Tseng

CSE,
University of Minnesota,
Minneapolis, MN 55455

Fan Wu

EECS,
University of Michigan,
Ann Arbor, MI 48109

DOI: 10.1115/1.4033207Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online May 12, 2016. Editor: William Durfee.

J. Med. Devices 10(2), 020916 (May 12, 2016) (2 pages) Paper No: MED-16-1156; doi: 10.1115/1.4033207 History: Received March 01, 2016; Revised March 17, 2016

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References

Figures

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Fig. 1

Left: IMU and IR tracking module; middle: a medical simulator with its instrument moving in a box space [1]; and right: grooved pattern for trajectory tracking test

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Fig. 2

Handheld motion estimated using IMU and IR fusion

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Fig. 3

Handheld motion recorded by digital encoders in the Novint Falcon haptic device

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Fig. 4

Estimation of handheld motion along a line

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Fig. 5

Trajectory estimation using the IMU and IR module: with and without Kalman filter

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