Calibration and Stereo Tracking of a Laparoscopic Ultrasound Transducer for Augmented Reality in Surgery

Tracked “Pick-Up” Ultrasound for Robot-Assisted Minimally Invasive Surgery

“…The three methods for tracking the transducer have been validated for a vessel phantom. The camera tracking has been independently validated by Edgcumbe et al [27]. The transducer follows all the guidelines for intra-operative use and discussions with several surgeons have confirmed that this is a transducer they would like to use during their surgeries.…”

“…The actual location is the location of the pin, as seen by the stereo laparoscope, after the fluid in the ultrasound imaging bath is drained. During calibration, Edgcumbe et al used a wide baseline camera to track the ultrasound transducer, an N-wire phantom for ultrasound calibration and the da Vinci stereo laparoscope was used to determine the accuracy of the calibration [27]. 30 and 22 transducer poses were used for ultrasound calibration and calculating the PRA respectively.…”

“…A checkerboard with 3.175 mm squares was placed on the transducer and instrument jaws and was tracked by the camera. The checkerboard was tracked using the wide baseline camera, which has a 75 mm baseline and consists of two Flea2 cameras (Point Grey Research, Richmond, Canada), each with a resolution of 1280 x 960 [27]. The intrinsic and extrinsic parameters of the wide-baseline camera and the location of the checkerboard on the tools within the camera frame were found using the Caltech Camera Calibration Toolbox [28].…”

Enhancing a Laparoscopy Training System with Augmented Reality Visualization

“…Another class of methods use time-of-flight sensors to measure light travel duration between camera and scene, then calculate the distance (Tatar et al 2004, Penne et al 2009, thus constructing a depth map. More recent work performs stereo and fusion from a pair of cameras in order to obtain a per-pixel depth map (Lo et al 2008, Mountney and Yang 2010, Röhl et al 2011, Collins and Bartoli 2012, Edgcumbe et al 2013. These methods could be applied as we apply our system to real laparoscopic surgery scenarios.…”

Novel Multimodal, Multiscale Imaging System with Augmented Reality

“…Printed patterned markers, such as those incorporated into the Aruco system, provide a robust and very inexpensive solution [ 36 ]. Similar methods use other distinctive patterns such as chessboards [ 37 , 38 , 39 , 40 ], dot arrays [ 31 , 41 , 42 ], or matrix barcodes [ 43 ]. Patterned markers have been used for ultrasound tracking for co-registration with video navigation [ 32 , 44 , 45 ], and tomographical [ 40 , 46 , 47 ] data co-registration.…”