Journal
PLOS ONE
Volume 16, Issue 12, Pages -Publisher
PUBLIC LIBRARY SCIENCE
DOI: 10.1371/journal.pone.0261933
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Funding
- DGIST R&D Program of the Ministry of Science, ICT and Technology of Korea [21-RT-01]
- National Research Foundation of Korea [21-RT-01] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This study introduces a VR-based framework and sensor fusion algorithm to improve microposition tracking performance of microsurgical tools. The experiments show that the Kalman filter can provide greater precision and stability during micro-manipulation in small scale VR scenarios.
Virtual reality (VR) technology plays a significant role in many biomedical applications. These VR scenarios increase the valuable experience of tasks requiring great accuracy with human subjects. Unfortunately, commercial VR controllers have large positioning errors in a micro-manipulation task. Here, we propose a VR-based framework along with a sensor fusion algorithm to improve the microposition tracking performance of a microsurgical tool. To the best of our knowledge, this is the first application of Kalman filter in a millimeter scale VR environment, by using the position data between the VR controller and an inertial measuring device. This study builds and tests two cases: (1) without sensor fusion tracking and (2) location tracking with active sensor fusion. The static and dynamic experiments demonstrate that the Kalman filter can provide greater precision during micro-manipulation in small scale VR scenarios.
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