An indoor positioning method for robots is presented to improve the precision of displacement measurement using only low-cost inertial measurement units(IMUs).Firstly,a high-fidelity displacement estimation for linear...An indoor positioning method for robots is presented to improve the precision of displacement measurement using only low-cost inertial measurement units(IMUs).Firstly,a high-fidelity displacement estimation for linear motion is proposed.A new robot motion model is designed as well as an axis alignment that only uses a single axis of the accelerometer.The integral error of velocity is eliminated by a new subsection calculation method.Two complementary IMUs are combined by assigning them different weights to obtain high accuracy displacement results.Secondly,an orientation estimation based on a fusion filter for the steering motion is proposed.Experiments show that the proposed method significantly improves the accuracy of linear motion measurement and is effective for the indoor positioning of a robot.展开更多
Coronal plane alignment in total knee arthroplasty(TKA)is an important predictor of clinical outcomes including patient satisfaction and device longevity.Radiography and computer assisted navigation are the two primar...Coronal plane alignment in total knee arthroplasty(TKA)is an important predictor of clinical outcomes including patient satisfaction and device longevity.Radiography and computer assisted navigation are the two primary technologies currently available to surgeons for intraoperative assessment of alignment;however,neither is particularly well-suited for use in this increasingly high volume procedure.Herein we propose a novel gyroscopebased instrument for intraoperative validation of tibia coronal plane alignment,and provide initial analytical and experimental performance assessments.The gyroscope-based alignment estimate is derived from simplified joint geometry and verified experimentally using a custom tibial trial insert containing a consumer-grade inertial measurement unit(IMU).Average accuracy of the gyroscope-based tibia coronal angle estimate was found to be within1in mechanical leg jig and cadaver testing.These results indicate that the proposed gyroscope-based method shows promise for low cost,accurate intraoperative validation of limb alignment in TKA patients.Integrating IMU technology into the TKA surgical workflow via low-cost instrumentation will enable surgeons to easily validate implant alignment in real time,thereby reducing cost,operating room time,and future revision burden.展开更多
基金National Natural Science Foundation of China(61375103,61533004,61320106012,and 61321002)the 863 Program of China(2014AA041602,2015AA042305 and 2015AA043202)+2 种基金the Key Technologies Research and Development Program(2015BAF13B01 and 2015BAK35B01)the Beijing Municipal Science and Technology Project(D161100003016002)the "111" Project under Grant B08043
文摘An indoor positioning method for robots is presented to improve the precision of displacement measurement using only low-cost inertial measurement units(IMUs).Firstly,a high-fidelity displacement estimation for linear motion is proposed.A new robot motion model is designed as well as an axis alignment that only uses a single axis of the accelerometer.The integral error of velocity is eliminated by a new subsection calculation method.Two complementary IMUs are combined by assigning them different weights to obtain high accuracy displacement results.Secondly,an orientation estimation based on a fusion filter for the steering motion is proposed.Experiments show that the proposed method significantly improves the accuracy of linear motion measurement and is effective for the indoor positioning of a robot.
基金This work was supported by OrthoSensor,Inc.,Dania Beach,FL[grant number 20151001].
文摘Coronal plane alignment in total knee arthroplasty(TKA)is an important predictor of clinical outcomes including patient satisfaction and device longevity.Radiography and computer assisted navigation are the two primary technologies currently available to surgeons for intraoperative assessment of alignment;however,neither is particularly well-suited for use in this increasingly high volume procedure.Herein we propose a novel gyroscopebased instrument for intraoperative validation of tibia coronal plane alignment,and provide initial analytical and experimental performance assessments.The gyroscope-based alignment estimate is derived from simplified joint geometry and verified experimentally using a custom tibial trial insert containing a consumer-grade inertial measurement unit(IMU).Average accuracy of the gyroscope-based tibia coronal angle estimate was found to be within1in mechanical leg jig and cadaver testing.These results indicate that the proposed gyroscope-based method shows promise for low cost,accurate intraoperative validation of limb alignment in TKA patients.Integrating IMU technology into the TKA surgical workflow via low-cost instrumentation will enable surgeons to easily validate implant alignment in real time,thereby reducing cost,operating room time,and future revision burden.
