Special Section Technical Briefs

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

[+] Author and Article Information
Yunhe Shen

University of Minnesota,
Minneapolis, MN 55455

Kuo-Shih Tseng

University of Minnesota,
Minneapolis, MN 55455

Fan Wu

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

First Page Preview

View Large
First page PDF preview
Copyright © 2016 by ASME
Your Session has timed out. Please sign back in to continue.


Shen, Y. , Vasandani, P. , Iyer, J. , Gunasekaran, A. , Zhang, Y. , Burke, D. , Dykstra, D. , and Sweet, R. , 2012, “ Virtual Trainer for Intra-Detrusor Injection of Botulinum Toxin to Treat Urinary Incontinence,” Stud. Health Technol. Inf., 173, pp. 457–462.
Shen, Y. , Konchada, V. , Zhang, N. , Jain, S. , Zhou, X. , Burke, D. , Wong, C. , Carson, C. , Roehrborn, C. , and Sweet, R. , 2011, “ Laser Surgery Simulation Platform: Toward Full-Procedure Training and Rehearsal for Benign Prostatic Hyperplasia (BPH) Therapy,” Stud. Health Technol. Inf., 163, pp. 574–580.
Yun, X. , Bachmann, E. R. , Moore, H. , and Calusdian, J. , 2007, “ Self-Contained Position Tracking of Human Movement Using Small Inertial/Magnetic Sensor Modules,” IEEE International Conference on Robotics and Automation (ICRA), Rome, Apr. 10–14, pp. 2526–2533.
Carberry, J. , Hinchly, G. , Buckerfield, J. , Tayler, E. , Burton, T. , Madgwick, S. , and Vaidyanathan, R. , 2011, “ Parametric Design of an Active Ankle Foot Orthosis With Passive Compliance,” 24th International Symposium on Computer-Based Medical Systems (CBMS), Bristol, UK, June 27–30.
Agarwal, S. , Garza, A. , Garcia, S. , Kumar, V. , and Schober, A. , 2014, “ Motion Path Analysis Tool for Cerebral Palsy Patients,” Rehabilitation Engineering and Assistive Technology Society of North America Annual Conference (RESNA 2014), Indianapolis, IN, June 11–15.
Bishop, G. , and Welch, G. , 2001, “ An Introduction to the Kalman Filter,” Proceedings of SIGGRAPH, Course 8, pp. 12–17.
Chmarra, M. K. , Bakker, N. H. , Grimbergen, C. A. , and Dankelman, J. , 2006, “ TrEndo: A Device for Tracking Minimally Invasive Surgical Instruments in Training Setups,” Sens. Actuators A, 126(2), pp. 328–334. [CrossRef]
Evans, R. L. , Partridge, R. W. , and Arvind, D. K. , 2014, “ Demonstration Paper: A Comparative Study of Surgical Skills Assessment in a Physical Laparoscopy Simulator Using Wireless Inertial Sensors,” Wireless Health 2014 Scientific Conference, Bethesda, MD, Oct. 29–31.


Grahic Jump Location
Fig. 5

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

Grahic Jump Location
Fig. 4

Estimation of handheld motion along a line

Grahic Jump Location
Fig. 3

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

Grahic Jump Location
Fig. 2

Handheld motion estimated using IMU and IR fusion

Grahic Jump Location
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



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In