Validation of a new method for bone motion measurement by soft-tissue artifact compensation through spatial interpolation

Simon Bouvel; Viviane Pasqui; Guillaume Morel

IROS 2015poster0 citations

Validation of a new method for bone motion measurement by soft-tissue artifact compensation through spatial interpolation

Simon Bouvel, Viviane Pasqui, Guillaume Morel

Abstract

Localizing a bone hidden behind soft tissue is crucial in biomechanics. A typical approach consists in placing markers on the skin, measuring their position/orientation, and from these measurements, estimating the position and orientation of the bone hidden behind the skin while compensating of soft tissue deformations. In this paper, we present a new method to address this problem. It requires to initially record scattered spacial transformations between the rigid body and the markers. Then, a natural neighbors interpolation algorithm, modified to apply to homogeneous transformations, is proposed. The presented method is validated on a robot manipulator on which soft tissue is placed.

BibTeX

@inproceedings{iros2015_validationofanew,
  title = {Validation of a new method for bone motion measurement by soft-tissue artifact compensation through spatial interpolation},
  author = {Simon Bouvel and Viviane Pasqui and Guillaume Morel},
  booktitle = {IROS 2015},
  year = {2015}
}