A computationally efficient method for hand–eye calibration

Autor: Lin Zhang, Guang-Zhong Yang, Zhiqiang Zhang
Přispěvatelé: Engineering & Physical Science Research Council (EPSRC), Commission of the European Communities, Engineering & Physical Science Research Council (E
Rok vydání: 2017
Předmět:
Robot-camera calibration
Technology
0209 industrial biotechnology
Robot–camera calibration
Computer science
02 engineering and technology
Translation (geometry)
User-Computer Interface
Engineering
020901 industrial engineering & automation
Image Processing
Computer-Assisted
Computer vision
Radiology
Nuclear Medicine & Medical Imaging
3D TRACKING
Equipment Design
Robotics
General Medicine
Hand–eye calibration
QUATERNIONS
Computer Graphics and Computer-Aided Design
Laparoscopes
Computer Science Applications
Nuclear Medicine & Medical Imaging
Surgery
Computer-Assisted
Calibration
Original Article
Computer Vision and Pattern Recognition
Life Sciences & Biomedicine
Algorithms
Optimization
Robot calibration
Iterative method
0206 medical engineering
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Biomedical Engineering
Health Informatics
Online Systems
Minimally invasive surgery
Humans
Radiology
Nuclear Medicine and imaging
ALGORITHM
Quaternion
Engineering
Biomedical
Rigid transformation
Science & Technology
business.industry
Hand-eye calibration
SENSOR
1103 Clinical Sciences
020601 biomedical engineering
Transformation (function)
TISSUE
Robot
Surgery
Artificial intelligence
business
Dual quaternion
Zdroj: International Journal of Computer Assisted Radiology and Surgery
ISSN: 1861-6429
1861-6410
DOI: 10.1007/s11548-017-1646-x
Popis: Purpose: Surgical robots with cooperative control and semiautonomous features have shown increasing clinical potential, particularly for repetitive tasks under imaging and vision guidance. Effective performance of an autonomous task requires accurate hand–eye calibration so that the transformation between the robot coordinate frame and the camera coordinates is well defined. In practice, due to changes in surgical instruments, online hand–eye calibration must be performed regularly. In order to ensure seamless execution of the surgical procedure without affecting the normal surgical workflow, it is important to derive fast and efficient hand–eye calibration methods. Methods: We present a computationally efficient iterative method for hand–eye calibration. In this method, dual quaternion is introduced to represent the rigid transformation, and a two-step iterative method is proposed to recover the real and dual parts of the dual quaternion simultaneously, and thus the estimation of rotation and translation of the transformation. Results: The proposed method was applied to determine the rigid transformation between the stereo laparoscope and the robot manipulator. Promising experimental and simulation results have shown significant convergence speed improvement to 3 iterations from larger than 30 with regard to standard optimization method, which illustrates the effectiveness and efficiency of the proposed method.
Databáze: OpenAIRE
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