Portable Surgery Navigation System With Inertial Sensing And ARM+DSP Platform

As a new kind of surgery,Interventional endoscopic surgery(IES)has caused wide interests,as its benefits of small wound and low infection risk.Despite of such convenience,IES also has defects that cannot be ignored,which is its high accuracy requirements.Traditionally,surgeons can only guess endoscopes' orientation and position by imaging results and their own experiences.Such process may have unavoidable errors,which might bring about unnecessary pains to patients,and also has hidden danger for medical negligence.As a result,surgical navigation technique has become a focus in relative field.By now,the most applied method for surgical navigation is to use radiation angiography to determine instruments' position.However,it will lose position information,and also bring unnecessary radiation damage.At the same time,electromagnetic position is also well developed.In such systems,electromagnetic sensing technique is adopted to determine the position and orientation.However,electromagnetic sensing has a high response to magnetic disturbance,which makes it hard to handle with the complex electromagnetic environment in operating rooms.To overcome problems mentioned above,this paper proposes a new surgical navigation method based on inertial sensing.In our system,inertial sensor is fixed on the front end of the instruments.Compared with electromagnetic systems,our system has higher robustness and lower cost.The main work in this paper is listed below:1.Based on inertial sensing,this paper proposes a navigation algorithm.In the algorithm,disturbances are fully considered and well managed.2.Based on OMAP-L138 ARM+DSP dual-core platform,the surgical navigation system is developed.Through Linux,ARM is responsible for controlling and UI,while DSP deal with digital signal processing.3.An evaluating platform is built,beyond which,we fully test the algorithm and the system proposed by this paper.