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Optoelectronic Navigation System for a Flexible Surgical Instrument Based on Inertial Microelectromechanical Sensors

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Bulletin of the Russian Academy of Sciences: Physics Aims and scope

Abstract

A design is proposed for an optoelectronic system used to determine the position of a flexible surgical (endoscopic) instrument in three-dimensional space, based on a set of inertial microelectromechanical sensors. A way of calibrating the sensors based on the Levenberg–Marquardt algorithm is proposed, and experimental results from calibrating and measuring parameters of the movement of a surgical instrument are presented. A procedure for matching the coordinate systems of the instrument, patient, and imaging system is described.

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ACKNOWLEDGMENTS

The work was carried out using the resources of the Center for Collective Use “Ecology, Biotechnology and Processes for Obtaining Environmentally Friendly Energy” of the Volga State Technological University, Yoshkar-Ola.

Funding

The study was supported by the RF Ministry of Science and Higher Education (grant no. 075-15-2021-674).

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Authors and Affiliations

  1. Volga State University of Technology, 420000, Yoshkar-Ola, Russia

    A. A. Rozhentsov, A. A. Baev & M. Halimov

  2. OOO Endoscopic Diagnostics of the Stomach and Colon, 603000, Nizhny Novgorod, Russia

    N. N. Mitrakova

Authors
  1. A. A. Rozhentsov
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  2. A. A. Baev
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  3. M. Halimov
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  4. N. N. Mitrakova
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Corresponding author

Correspondence to A. A. Baev.

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The authors declare that they have no conflicts of interest.

Additional information

Translated by E. Bondareva

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Cite this article

Rozhentsov, A.A., Baev, A.A., Halimov, M. et al. Optoelectronic Navigation System for a Flexible Surgical Instrument Based on Inertial Microelectromechanical Sensors. Bull. Russ. Acad. Sci. Phys. 85, 1434–1438 (2021). https://doi.org/10.3103/S1062873821120273

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  • DOI: https://doi.org/10.3103/S1062873821120273

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