Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Sarrazin, Johan; Promayon, Emmanuel; Baumann, Michaël; Troccaz, Jocelyne

doi:10.1109/embc.2015.7318251

Cited by 3 publications

(2 citation statements)

References 10 publications

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“…Our system indicated that the error distribution of the x -axis was relatively large, which might be the unstable positioning caused by the US beamwidth in the US calibration. Our results showed that the accuracy of US positioning can still be maintained at the same level compared to other studies [ 8 , 18 , 19 ].…”

Section: Resultssupporting

confidence: 67%

Ultrasound Calibration for Dual-Armed Surgical Navigation System

Wang

Chen

Lo³

et al. 2022

Journal of Healthcare Engineering

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Ultrasound (US) imaging system is widely used in robotic systems for precision positioning in clinical applications. The US calibration is critical to minimize the difference of spatial coordinates between instruments, for minimally invasive surgery (MIS) in navigation systems. In this study, we propose a dual robotic arm system that combines US imaging with one arm for path planning and monitoring and accurate positioning with the other arm for instrument placement via the preplanning procedures. A phantom with N-wire and N-wedge was designed for US calibration. The US calibration showed a mean error of 0.76 mm; the mean dual-arm calibration error is 0.31 mm. The positioning error of the system was verified with a mean error of 1.48 mm. In addition, we used two abdominal phantoms with computed tomography scan validation, with an averaged position error of 1.867 ± 0.436 mm and an orientation error of 2.190 ± 0.764°. The proposed system is aimed to perform clinical operations, such as abdominal MIS, with real-time image monitoring of the organ tissues and instrument positions, which meet the requirements for medical application.

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Section: Resultssupporting

confidence: 67%

Ultrasound Calibration for Dual-Armed Surgical Navigation System

Wang

Chen

Lo³

et al. 2022

Journal of Healthcare Engineering

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“…In another work, 3D markers were used by Bergmeir et al [24] to realize ultrasound probe calibration with a robotic arm. In terms of none marker research work, Sarrazin et al [25] used ultrasound volume registration data to achieve calibration that does not require 3D localizers. Pachtrachai et al [26] proposed a calibration method where an instrument with known geometry is used instead of an additional calibrator.…”

Section: Related Workmentioning

confidence: 99%

Towards Robotic Eye Surgery: Marker-Free, Online Hand-Eye Calibration Using Optical Coherence Tomography Images

Zhou

Hamad

Weiß

et al. 2018

IEEE Robot. Autom. Lett.

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Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and reduces the physical limitations of human surgeons. However, this technology must be further developed before it can be routinely used in clinics. One of the problems is the lack of proper calibration between the robotic manipulator and appropriate imaging device. In this work, we developed a flexible framework for hand-eye calibration of an ophthalmic robot with a microscope-integrated Optical Coherence Tomography (MI-OCT) without any markers. The proposed method consists of three main steps: a) we estimate the OCT calibration parameters; b) with micro-scale displacements controlled by the robot, we detect and segment the needle tip in 3D-OCT volume; c) we find the transformation between the coordinate system of the OCT camera and the coordinate system of the robot. We verified the capability of our framework in ex-vivo pig eye experiments and compared the results with a reference method (marker-based). In all experiments, our method showed a small difference from the marker based method, with a mean calibration error of 9.2 µm and 7.0 µm, respectively. Additionally, the noise test shows the robustness of the proposed method.

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A computationally efficient method for hand–eye calibration

2017

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PurposeSurgical 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.MethodsWe 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.ResultsThe 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.

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Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Cited by 3 publications

References 10 publications

Ultrasound Calibration for Dual-Armed Surgical Navigation System

Ultrasound Calibration for Dual-Armed Surgical Navigation System

Towards Robotic Eye Surgery: Marker-Free, Online Hand-Eye Calibration Using Optical Coherence Tomography Images

A computationally efficient method for hand–eye calibration

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