| Summary: | 碩士 === 國立中正大學 === 電機工程研究所 === 101 === Minimally invasive surgery has been more and more favored than traditional open surgery by patients for its benefits. However, there are some problems for minimally invasive surgery: the surgeons can not see and feel the anatomical structures directly as they used to in open surgery due to the small incision. So the instrument tracking systems are used as assistant tools for surgeons to perform an operation. In this thesis, we propose an improved marker for optical tracking system. This marker is called IR pattern and can accept up to 50% of occlusion so that we can reduce the requirement of line-of-sight during the procedure of instrument tracking. For the purpose of providing accurate instrument tracking results to help the surgeons manipulating minimally invasive surgery, we integrate both optical tracking and electromagnetic tracking methods into an image guided surgery system. Furthermore, in order to make the measurement of the system more stable and remove the noises from the environment, we use a sensor fusion algorithm to fuse the measurements from these subsystems.
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