Progressive Hand-Eye Calibration for Laparoscopic Surgery Navigation

Shao, Jinliang; Luo, Han; Xiao, Deqiang; Hu, Qingmao; Jia, Fucang

doi:10.1007/978-3-319-67543-5_4

Cited by 9 publications

(7 citation statements)

References 9 publications

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“…rotation and translation), between two coordinate systems, we need just three corresponding points in both the coordinate frames. However, given noise, to get a reliable hand‐eye transformation, more points are required using the currently available methods [9–11]. This is a challenge, as selecting multiple points during surgery can take crucial surgical time.…”

Section: Methodsmentioning

confidence: 99%

“…The existing state‐of‐the‐art methods in robotics cannot be applied to surgical applications directly, as they require a calibration pattern [7, 8]. Therefore, finding a suitable hand‐eye calibration method for minimally invasive surgical procedures is still a challenge and thus an active area of research [9–11]. Although finding the rigid body transformation between two coordinate systems requires just three points, additional points are usually required to find a reliable solution due to noise.…”

Section: Introductionmentioning

confidence: 99%

“…This is a challenge, as selecting multiple points intra‐operatively can take up significant surgical time. Therefore, many groups have proposed the hand‐eye calibration methods by using a fewer number of points [9, 10] or by optimising the data collection process itself by minimising the predicted target registration error (TRE) [11]. Thompson et al (2016) used an invariant point for hand‐eye calibration.…”

Section: Introductionmentioning

confidence: 99%

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Marker‐less real‐time intra‐operative camera and hand‐eye calibration procedure for surgical augmented reality

Kalia

Mathur

Navab

et al. 2019

Healthcare Technology Letters

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Accurate medical Augmented Reality (AR) rendering requires two calibrations, a camera intrinsic matrix estimation and a hand-eye transformation. We present a unified, practical, marker-less, real-time system to estimate both these transformations during surgery. For camera calibration we perform calibrations at multiple distances from the endoscope, pre-operatively, to parametrize the camera intrinsic matrix as a function of distance from the endoscope. Then, we retrieve the camera parameters intra-operatively by estimating the distance of the surgical site from the endoscope in less than 1 s. Unlike in prior work, our method does not require the endoscope to be taken out of the patient; for the hand-eye calibration, as opposed to conventional methods that require the identification of a marker, we make use of a rendered tool-tip in 3D. As the surgeon moves the instrument and observes the offset between the actual and the rendered tool-tip, they can select points of high visual error and manually bring the instrument tip to match the virtual rendered tool tip. To evaluate the handeye calibration, 5 subjects carried out the hand-eye calibration procedure on a da Vinci robot. Average Target Registration Error of approximately 7mm was achieved with just three data points.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Marker‐less real‐time intra‐operative camera and hand‐eye calibration procedure for surgical augmented reality

Kalia

Mathur

Navab

et al. 2019

Healthcare Technology Letters

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show abstract

“…Other recent approaches attempt to simplify the theater calibration problem to just hand-eye, enabling the use of markers that are easier to keep sterile, [27][28][29] or indeed no markers at all. [30][31][32][33] Shao et al 34 expanded on this by developing a progressive hand-eye calibration that gives live feedback on expected calibration accuracy. Jackson et al 35 have recently demonstrated that hand-eye calibration of an optically tracked laparoscope can be achieved by imaging a second optically tracked stylus.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of a calibration rig for stereo laparoscopes

et al. 2023

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Background Accurate camera and hand‐eye calibration are essential to ensure high‐quality results in image‐guided surgery applications. The process must also be able to be undertaken by a nonexpert user in a surgical setting. Purpose This work seeks to identify a suitable method for tracked stereo laparoscope calibration within theater. Methods A custom calibration rig, to enable rapid calibration in a surgical setting, was designed. The rig was compared against freehand calibration. Stereo reprojection, stereo reconstruction, tracked stereo reprojection, and tracked stereo reconstruction error metrics were used to evaluate calibration quality. Results Use of the calibration rig reduced mean errors: reprojection (1.47 mm [SD 0.13] vs. 3.14 mm [SD 2.11], p‐value 1e−8), reconstruction (1.37 px [SD 0.10] vs. 10.10 px [SD 4.54], p‐value 6e−7), and tracked reconstruction (1.38 mm [SD 0.10] vs. 12.64 mm [SD 4.34], p‐value 1e−6) compared with freehand calibration. The use of a ChArUco pattern yielded slightly lower reprojection errors, while a dot grid produced lower reconstruction errors and was more robust under strong global illumination. Conclusion The use of the calibration rig results in a statistically significant decrease in calibration error metrics, versus freehand calibration, and represents the preferred approach for use in the operating theater.

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“…use an invariant point as the basis for calibration, thus requiring no extrinsic calibration phantom. 10,11 This invariant point is a crosshair fiducial in Thompson's method and a dot fiducial in Shao's, can be identified in 2D by image processing techniques and its 3D location can be triangulated by the stereo laparoscope. Knowing the laparoscope's 3D position by optical tracking, the hand-eye calibration can be derived using an iterative optimization algorithm.…”

Section: Introductionmentioning

confidence: 99%

Open source video-based hand-eye calibration

Kemper

Allen

Rankin

et al. 2023

Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling

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Augmented reality is becoming prevalent in modern video-based surgical navigation systems. Augmented reality in forms of image-fusion between the virtual objects (i.e. virtual representation of the anatomy derived from pre-operative imaging modalities) and the real objects (i.e. anatomy imaged by a spatially-tracked surgical camera) facilitate the visualization and perception of the surgical scene. However, this requires spatial calibration between the external tracking system and the optical axis of the surgical camera, known as hand-eye calibration. With the standard implementation of the most common hand-eye calibration techniques being static-photo-based, the time required for data collection may inhibit the thoroughness and robustness to achieve an accurate calibration. To address these translational issues, we introduce a video-based hand-eye calibration technique with open-source implementation that is accurate and robust. Based on the point-to-line Procrustean registration, a short video of a tracked and pivot-calibrated ball-tip stylus was recorded where, in each frame of the tracked video, the 3D position of the ball-tip (point) and its projection onto the video (line) serve as a calibration data point. We further devise a data sampling mechanism designed to optimize the spatial configuration of the calibration fiducials, leading to consistently high quality hand-eye calibrations. To demonstrate the efficacy of our work, a Monte Carlo simulation was performed to obtain the mean target projection error as a function of the number of calibration data points. The results obtained, exemplified using a Logitech C920 Pro HD Webcam with an image resolution of 640 × 480, show that the mean projection error decreased as more data points were used per calibration, and the majority of mean projection errors fell below four pixels. An open-source implementation, in the form of a 3D Slicer module, is available on GitHub.

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Progressive Hand-Eye Calibration for Laparoscopic Surgery Navigation

Cited by 9 publications

References 9 publications

Marker‐less real‐time intra‐operative camera and hand‐eye calibration procedure for surgical augmented reality

Marker‐less real‐time intra‐operative camera and hand‐eye calibration procedure for surgical augmented reality

Evaluation of a calibration rig for stereo laparoscopes

Open source video-based hand-eye calibration

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