Zhang, Yifan and Clark, William and Tillman, Bryan
(2025)
High Accuracy Location Tracking for a Hemostasis Stent Achieved by Fusing Magnetic and Inertial Measurements.
Doctoral Dissertation, University of Pittsburgh.
(Unpublished)
Abstract
This dissertation will introduce a location tracking system that aims to track a stent when it is deployed into the human artery to achieve hemostasis. This system is proposed to be applied in emergent conditions where common surgical devices such as a fluoroscopy system are not available, such as treating injured soldiers on the battlefield. The locating approach is based on both magnetic measurements and inertial measurements. Each approach can work individually to achieve locating. The magnetic locating approach applies a magnetic source, and the sensor can detect its location in a coordinate system centered with the reference magnet. The inertial locating approach integrates the linear acceleration and angular velocity measured by the sensor to obtain the angular and linear displacement in a period. These two approaches are then fused to remove the measurement error and the background noise which are random variables. A Kalman filter is applied in most studies as an effective approach for the fusion. In practice, the accuracy of the locating result can be impaired by many factors, such as the disturbing magnetic sources for the magnetic approach, and accumulated measurement error for the inertial approach. Therefore, the focus of this dissertation is to identify all potential causes of the error especially for this application, and then give solutions to correct the errors in real-time and to enhance the location measurement reliability in all conditions. Validation experiments for each improvement approach and the overall locating performance will be introduced. The feasibility of this locating system to as a rescuing device will be proven at last.
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Details
| Item Type: |
University of Pittsburgh ETD
|
| Status: |
Unpublished |
| Creators/Authors: |
|
| ETD Committee: |
|
| Date: |
7 January 2025 |
| Date Type: |
Publication |
| Defense Date: |
13 August 2024 |
| Approval Date: |
7 January 2025 |
| Submission Date: |
17 September 2024 |
| Access Restriction: |
No restriction; Release the ETD for access worldwide immediately. |
| Number of Pages: |
128 |
| Institution: |
University of Pittsburgh |
| Schools and Programs: |
Swanson School of Engineering > Mechanical Engineering and Materials Science |
| Degree: |
PhD - Doctor of Philosophy |
| Thesis Type: |
Doctoral Dissertation |
| Refereed: |
Yes |
| Uncontrolled Keywords: |
Location tracking, Magnetic field, Inertial sensors, Sensor fusion, Neural network |
| Date Deposited: |
07 Jan 2025 20:56 |
| Last Modified: |
07 Jan 2025 20:56 |
| URI: |
http://d-scholarship.pitt.edu/id/eprint/46971 |
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