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International Journal of Computer Assisted Radiology and Surgery
Published in: International Journal of Computer Assisted Radiology and Surgery 7/2017

19-04-2017 | Original Article

Hand-eye calibration for surgical cameras: a Procrustean Perspective-n-Point solution

Authors: Isabella Morgan, Uditha Jayarathne, Adam Rankin, Terry M. Peters, Elvis C. S. Chen

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 7/2017

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Abstract

Purpose

Surgical cameras are prevalent in modern operating theatres often used as surrogates for direct vision. A surgical navigational system is a useful adjunct, but requires an accurate “hand-eye” calibration to determine the geometrical relationship between the surgical camera and tracking markers.

Methods

Using a tracked ball-tip stylus, we formulated hand-eye calibration as a Perspective-n-Point problem, which can be solved efficiently and accurately using as few as 15 measurements.

Results

The proposed hand-eye calibration algorithm was applied to three types of camera and validated against five other widely used methods. Using projection error as the accuracy metric, our proposed algorithm compared favourably with existing methods.

Conclusion

We present a fully automated hand-eye calibration technique, based on Procrustean point-to-line registration, which provides superior results for calibrating surgical cameras when compared to existing methods.
previous article Gaze-contingent perceptually enabled interactions in the operating theatre
next article The minimally acceptable classification criterion for surgical skill: intent vectors and separability of raw motion data

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Appendix
Available only for authorised users
Footnotes
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Metadata
Title
Hand-eye calibration for surgical cameras: a Procrustean Perspective-n-Point solution
Authors
Isabella Morgan
Uditha Jayarathne
Adam Rankin
Terry M. Peters
Elvis C. S. Chen
Publication date
19-04-2017
Publisher
Springer International Publishing
Published in
International Journal of Computer Assisted Radiology and Surgery / Issue 7/2017
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI
https://doi.org/10.1007/s11548-017-1590-9

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