Hybrid position-posture tracking method based on inertia and optical tracking systems
An optical tracking and pose technology, applied in measuring devices, instruments, surveying and navigation, etc., can solve problems such as inability to achieve accurate tracking, offset errors, linear acceleration errors, etc.
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[0043] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0044] The present invention is described by taking the long-term position and posture tracking of surgical tools during surgery as an example. During the operation, it is necessary to accurately calculate the position and posture of the surgical tool relative to the lesion in real time, so as to guide the smooth progress of the operation. The optical tracking system locates and tracks the surgical tool through the markers set on the surgical tool. However, during the operation, the landmarks are often blocked. When only two or one landmarks on the landmarks are not blocked, the optical tracking system can only use the landmarks to obtain position information, but cannot obtain attitude information. Therefore, the present invention proposes a hybrid pose tracking method based on inertial and optical tracking systems, which can solve the problem of accurat...
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