Non‐orthogonal tool/flange and robot/world calibration

Ernst, Floris; Richter, Lars; Matthäus, Lars; Martens, Volker; Bruder, Ralf; Schlaefer, Alexander; Schweikard, Achim

doi:10.1002/rcs.1427

Cited by 55 publications

(22 citation statements)

References 34 publications

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“…A convergence property can be seen, the mean of rotational, translational and reprojection errors become smaller and stable as more number of data pairs are used in calculation. However, calibrating using more pose pairs does not necessarily result in improved results, which is also reported in [41]. The stable mean errors in Fig.…”

Section: A Results Of Stereo Camera Calibrationsupporting

confidence: 69%

Towards Occlusion-Free Surgical Instrument Tracking: A Modular Monocular Approach and an Agile Calibration Method

Wang

Meng

Ren

2015

IEEE Trans. Automat. Sci. Eng.

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Optical means of instrument tracking has been widely used in image-guided interventions and considered the de facto standard for tracking rigid bodies with a direct line-of-sight. However, the occlusion problem which remains unresolved in current systems frustrates surgeons during the operation. To address this challenge, we propose a surgical instrument tracking system based on multiple reconfigurable monocular modules. The main approach is to enable the system to dynamically reconfigure the multiple monocular modules when occlusion occurs partially within the workspace. In this paper, we focus on the system architecture and an agile multicamera calibration method which only uses the customized tool for the surgical instrument tracking scenario. Additionally, two fast non-iterative algorithms are proposed and studied. In order to show the feasibility and superiority of the corresponding multicamera calibration algorithm, comparison experiments have carried out. The intensive investigation results give a practical instruction to the real implementation of the proposed system in image-guided interventions. Note to Practitioners-Because of the line-of-sight requirement of the optical tracking systems, surgeons have to constantly keep nothing blocking between cameras and instruments, and carefullyadjust their instruments in order to obtain tracked data. This problem is cumbersome and time consuming that exists in the operating room for a long time, nevertheless, no satisfactory solution has been given yet. Hence, in this paper, we propose a reconfigurable modular system to solve this problem. First, the proposed system uses multiple monocular client modules that each of them can carry out instrument tracking independently. Then, instead Manuscript

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Section: A Results Of Stereo Camera Calibrationsupporting

confidence: 69%

Towards Occlusion-Free Surgical Instrument Tracking: A Modular Monocular Approach and an Agile Calibration Method

Wang

Meng

Ren

2015

IEEE Trans. Automat. Sci. Eng.

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“…However, they are based on numerical techniques that can be slow and are dependent on initial conditions. In contrast, the closed-form solutions [4,[7][8][9][10] are fast and are often used to bootstrap the iterative methods. For this paper, we will concentrate on solutions that are closed-form; i.e., the separable closed-form solutions, which solve the orientational component before solving the positional component, and the simultaneous closed-form solutions, which solve the orientational component and positional component at the same time.…”

Section: Introductionmentioning

confidence: 99%

Solving the Robot-World/Hand-Eye Calibration Problem Using the Kronecker Product

Shah

2013

Journal of Mechanisms and Robotics

131

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This paper constructs a separable closed-form solution to the robot-world/hand-eye calibration problem AX = YB. Qualifications and properties that determine the uniqueness of X and Y as well as error metrics that measure the accuracy of a given X and Y are given. The formulation of the solution involves the Kronecker product and the singular value decomposition. The method is compared with existing solutions on simulated data and real data. It is shown that the Kronecker method that is presented in this paper is a reliable and accurate method for solving the robot-world/hand-eye calibration problem.

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“…The estimation of X 1 and X 2 can be classified into two broad categories: separable (sequential) and simultaneous techniques. The former techniques include [19][20][21][22][23] whereas the latter techniques include [24][25][26][27][28][29][30][31]. In the former techniques, X 1 is first obtained and subsequently, X 2 is computed based on the obtained X 1 .…”

Section: Hand-eye and Robot-world Calibrationmentioning

confidence: 99%

External Kinematic Calibration of Hybrid Kinematics Machine Utilizing Lower-DOF Planar Parallel Kinematics Mechanisms

Rosyid

El‐Khasawneh

Alazzam

2019

Int. J. Precis. Eng. Manuf.

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This paper presents the implementation of nonlinear least squares and iterative linear least squares algorithms for external kinematic calibration of a hybrid kinematics machine composed of two 3PRR planar parallel kinematics mechanisms by utilizing a laser tracker. First the hand-eye and robot-world transformations were obtained by a separable closed-form solution and refined by the nonlinear least squares. Subsequently, the geometric parameters of the machine's mechanisms were estimated using the two algorithms. Due to the rank deficiency, we implemented the nonlinear least squares algorithm through a subset selection approach in which we performed the estimation in two steps. We iterated the closed-form solution of the linear least squares until the solution converges to the actual values. We have shown that the nonlinear least squares algorithm successfully refined the hand-eye and robot-world transformations and outperformed the iterative linear squares algorithm in the estimation of the geometric parameters of the mechanisms.

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Non‐orthogonal tool/flange and robot/world calibration

Cited by 55 publications

References 34 publications

Towards Occlusion-Free Surgical Instrument Tracking: A Modular Monocular Approach and an Agile Calibration Method

Towards Occlusion-Free Surgical Instrument Tracking: A Modular Monocular Approach and an Agile Calibration Method

Solving the Robot-World/Hand-Eye Calibration Problem Using the Kronecker Product

External Kinematic Calibration of Hybrid Kinematics Machine Utilizing Lower-DOF Planar Parallel Kinematics Mechanisms

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