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Proceedings Paper

An improved robust hand-eye calibration for endoscopy navigation system
Author(s): Wei He; Kumsok Kang; Yanfang Li; Weili Shi; Yu Miao; Fei He; Fei Yan; Huamin Yang; Huimao Zhang; Kensaku Mori; Zhengang Jiang
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Paper 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.

Paper Details

Date Published: 18 March 2016
PDF: 10 pages
Proc. SPIE 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, 97861P (18 March 2016); doi: 10.1117/12.2216910
Show Author Affiliations
Wei He, Changchun Univ. of Science and Technology (China)
Kumsok Kang, Changchun Univ. of Science and Technology (China)
Yanfang Li, Changchun Univ. of Science and Technology (China)
Weili Shi, Changchun Univ. of Science and Technology (China)
Yu Miao, Changchun Univ. of Science and Technology (China)
Fei He, Changchun Univ. of Science and Technology (China)
Fei Yan, Changchun Univ. of Science and Technology (China)
Huamin Yang, Changchun Univ. of Science and Technology (China)
Huimao Zhang, The First Hospital of Jilin Univ. (China)
Kensaku Mori, Nagoya Univ. (Japan)
Zhengang Jiang, Changchun Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 9786:
Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling
Robert J. Webster; Ziv R. Yaniv, Editor(s)

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