Hand-eye calibration of a robot--UltraSound probe system without any 3D localizers.
Journal:
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Published Date:
Jan 1, 2015
Abstract
3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intra-operative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes.