A computationally efficient method for hand-eye calibration.

Journal: International journal of computer assisted radiology and surgery
Published Date: Jul 19, 2017

Abstract

PURPOSE: Surgical robots with cooperative control and semiautonomous features have shown increasing clinical potential, particularly for repetitive tasks under imaging and vision guidance. Effective performance of an autonomous task requires accurate hand-eye calibration so that the transformation between the robot coordinate frame and the camera coordinates is well defined. In practice, due to changes in surgical instruments, online hand-eye calibration must be performed regularly. In order to ensure seamless execution of the surgical procedure without affecting the normal surgical workflow, it is important to derive fast and efficient hand-eye calibration methods.

Authors

  • Zhiqiang Zhang
    Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, China.
  • Lin Zhang
    Laboratory of Molecular Translational Medicine, Centre for Translational Medicine, Key Laboratory of Birth Defects and Related Diseases of Women and Children, Ministry of Education, Clinical Research Center for Birth Defects of Sichuan Province, West China Second Hospital, Sichuan University, Chengdu, Sichuan, 610041, China. Electronic address: zhanglin@scu.edu.cn.
  • Guang-Zhong Yang
    Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China. dgunning@fb.com gzyang@sjtu.edu.cn.

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