针对介入式内窥手术中手术器械实时定位的需要，提出基于惯性导航的手术定位方法，该方法既能够有效避免传统光学定位(OPT)中视线遮挡引发的定位区域受限问题，又能够克服电磁定位(EMT)对磁场干扰过于敏感的问题。从姿态估计与位置定位两个方面分析了传感器干扰的影响，并改进了已有的抗干扰技术。实验结果表明，在磁干扰情况下，姿态估计的误差在3°以内，位置测量的误差在4 mm 以内，均达到临床应用要求。

Real-time tracking for surgical instruments is required in modern inversion endoscope surgery. Compared with traditional tracking methods, the surgical navigation method based on inertial sensing can effectively avoid the limited tracking region caused by optical tracking (OPT), and overcome high sensitivity to magnetic disturbance in electromagnetic tracking (EMT). Meanwhile, the effect from the sensors’interference in both of orientation estimate and position determination is considered and the anti-interference technique achieving more stable output is improved. The experimental results show that even under magnetic disturbance, the orientation error is less than 3° and position error is less than 4 mm. Both of them meet the requirements of clinical applications.