Hand-eye calibration for surgical cameras: a Procrustean Perspective-n-Point solution

Autor: Elvis C. S. Chen, Terry M. Peters, Isabella Morgan, Uditha L. Jayarathne, Adam Rankin
Rok vydání: 2017
Předmět:
Registration
Computer science
0206 medical engineering
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Biomedical Engineering
Health Informatics
02 engineering and technology
Tracking (particle physics)
030218 nuclear medicine & medical imaging
03 medical and health sciences
0302 clinical medicine
Minimally invasive surgery
Orthogonal Procrustes analysis
Image Processing
Computer-Assisted
Calibration
Humans
Minimally Invasive Surgical Procedures
Surgical navigation
Radiology
Nuclear Medicine and imaging
Point (geometry)
Computer vision
Computer Peripherals
Projection (set theory)
business.industry
Hand-eye calibration
Perspective (graphical)
Perspective-n-Point
Reproducibility of Results
General Medicine
020601 biomedical engineering
Computer Graphics and Computer-Aided Design
Computer Science Applications
Metric (mathematics)
Surgery
Computer Vision and Pattern Recognition
Hand eye calibration
Artificial intelligence
Camera
Stylus
business
Algorithms
Zdroj: Medical Biophysics Publications
ISSN: 1861-6429
1861-6410
Popis: © 2017, CARS. Purpose: Surgical cameras are prevalent in modern operating theatres often used as surrogates for direct vision. A surgical navigational system is a useful adjunct, but requires an accurate “hand-eye” calibration to determine the geometrical relationship between the surgical camera and tracking markers. Methods: Using a tracked ball-tip stylus, we formulated hand-eye calibration as a Perspective-n-Point problem, which can be solved efficiently and accurately using as few as 15 measurements. Results: The proposed hand-eye calibration algorithm was applied to three types of camera and validated against five other widely used methods. Using projection error as the accuracy metric, our proposed algorithm compared favourably with existing methods. Conclusion: We present a fully automated hand-eye calibration technique, based on Procrustean point-to-line registration, which provides superior results for calibrating surgical cameras when compared to existing methods.
Databáze: OpenAIRE
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