Marker-less real-time intra-operative camera and hand-eye calibration procedure for surgical augmented reality

Marker-less real-time intra-operative camera and hand-eye calibration procedure for surgical augmented reality

Accurate medical Augmented Reality (AR) rendering requires two calibrations, a camera intrinsic matrix estimation and a hand-eye transformation. We present a unified, practical, marker-less, real-time system to estimate both these transformations during surgery. For camera calibration we perform cal...

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Bibliographic Details
Main Authors: Megha Kalia, Prateek Mathur, Nassir Navab, Septimiu E. Salcudean
Format: Article
Language:English
Published: Wiley 2019-10-01
Series:Healthcare Technology Letters
Subjects:
medical robotics
medical image processing
cameras
endoscopes
calibration
robot vision
surgery
phantoms
rendering (computer graphics)
augmented reality
image registration
biomedical optical imaging
hand-eye calibration procedure
surgical augmented reality
pre-operative medical data
camera intrinsic matrix estimation
hand-eye transformation
camera calibration
endoscope
high visual error
virtual rendered tool tip
marker-less real-time intra-operative camera
augmented reality rendering
subsequent gradient descent steps
da vinci robot
average target registration error
prostate phantom
Online Access:https://digital-library.theiet.org/content/journals/10.1049/htl.2019.0094

Internet

https://digital-library.theiet.org/content/journals/10.1049/htl.2019.0094

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