18 March 2016 An improved robust hand-eye calibration for endoscopy navigation system
Author Affiliations +
Abstract
Endoscopy is widely used in clinical application, and surgical navigation system is an extremely important way to enhance the safety of endoscopy. The key to improve the accuracy of the navigation system is to solve the positional relationship between camera and tracking marker precisely. The problem can be solved by the hand-eye calibration method based on dual quaternions. However, because of the tracking error and the limited motion of the endoscope, the sample motions may contain some incomplete motion samples. Those motions will cause the algorithm unstable and inaccurate. An advanced selection rule for sample motions is proposed in this paper to improve the stability and accuracy of the methods based on dual quaternion. By setting the motion filter to filter out the incomplete motion samples, finally, high precision and robust result is achieved. The experimental results show that the accuracy and stability of camera registration have been effectively improved by selecting sample motion data automatically.
© (2016) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Wei He, Wei He, Kumsok Kang, Kumsok Kang, Yanfang Li, Yanfang Li, Weili Shi, Weili Shi, Yu Miao, Yu Miao, Fei He, Fei He, Fei Yan, Fei Yan, Huamin Yang, Huamin Yang, Huimao Zhang, Huimao Zhang, Kensaku Mori, Kensaku Mori, Zhengang Jiang, Zhengang Jiang, "An improved robust hand-eye calibration for endoscopy navigation system", Proc. SPIE 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, 97861P (18 March 2016); doi: 10.1117/12.2216910; https://doi.org/10.1117/12.2216910
PROCEEDINGS
10 PAGES


SHARE
Back to Top