Pachtrachai, K;
Allan, M;
Pawar, V;
Hailes, S;
Stoyanov, D;
(2016)
Hand-eye calibration for robotic assisted minimally invasive surgery without a calibration object.
In:
Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on.
(pp. pp. 2485-2491).
IEEE
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Abstract
In a robot mounted camera arrangement, handeye calibration estimates the rigid relationship between the robot and camera coordinate frames. Most hand-eye calibration techniques use a calibration object to estimate the relative transformation of the camera in several views of the calibration object and link these to the forward kinematics of the robot to compute the hand-eye transformation. Such approaches achieve good accuracy for general use but for applications such as robotic assisted minimally invasive surgery, acquiring a calibration sequence multiple times during a procedure is not practical. In this paper, we present a new approach to tackle the problem by using the robotic surgical instruments as the calibration object with well known geometry from CAD models used for manufacturing. Our approach removes the requirement of a custom sterile calibration object to be used in the operating room and it simplifies the process of acquiring calibration data when the laparoscope is constrained to move around a remote centre of motion. This is the first demonstration of the feasibility to perform hand-eye calibration using components of the robotic system itself and we show promising validation results on synthetic data as well as data acquired with the da Vinci Research Kit.
| Type: | Proceedings paper |
|---|---|
| Title: | Hand-eye calibration for robotic assisted minimally invasive surgery without a calibration object |
| Event: | IROS 2016: IEEE/RSJ International Conference on Intelligent Robots and Systems, 9-14 October 2016, Daejeon, South Korea |
| Location: | Daejeon Convention Center, Daejeon, South Korea |
| Dates: | 09 October 2016 - 14 October 2016 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS.2016.7759387 |
| Publisher version: | https://doi.org/10.1109/IROS.2016.7759387 |
| Language: | English |
| Additional information: | Copyright © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
| Keywords: | Calibration, Cameras, Robot vision systems, Robot kinematics, Instruments, Three-dimensional displays |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1516220 |
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