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Hand-eye calibration for surgical cameras: a Procrustean Perspective-n-Point solution

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Surgical cameras are prevalent in modern operating theatres often used as surrogates for direct vision. A surgical navigational system is a useful adjunct, but requires an accurate “hand-eye” calibration to determine the geometrical relationship between the surgical camera and tracking markers.

Methods

Using a tracked ball-tip stylus, we formulated hand-eye calibration as a Perspective-n-Point problem, which can be solved efficiently and accurately using as few as 15 measurements.

Results

The proposed hand-eye calibration algorithm was applied to three types of camera and validated against five other widely used methods. Using projection error as the accuracy metric, our proposed algorithm compared favourably with existing methods.

Conclusion

We present a fully automated hand-eye calibration technique, based on Procrustean point-to-line registration, which provides superior results for calibrating surgical cameras when compared to existing methods.

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Notes

  1. http://opencv.org.

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Acknowledgements

This study was funded by Canadian Institutes of Health Research (CIHR #FDN 143232), Canada Foundation for Innovation (CFI, #20994), and Natural Sciences and Engineering Research Council of Canada (NSERC #RPGIN 2014-04504). Co-op student funding for Isabella Morgan was provided by Northern Digital Inc. (Canada).

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Authors and Affiliations

  1. University of Waterloo, Waterloo, ON, Canada

    Isabella Morgan

  2. Robarts Research Institute, Western University, London, ON, Canada

    Uditha Jayarathne, Adam Rankin, Terry M. Peters & Elvis C. S. Chen

Authors
  1. Isabella Morgan
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  2. Uditha Jayarathne
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  3. Adam Rankin
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  4. Terry M. Peters
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  5. Elvis C. S. Chen
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Corresponding author

Correspondence to Elvis C. S. Chen.

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Conflict of interest

Isabella Morgan, Uditha Jayarathne, Adam Rankin, Terry M. Peters, and Elvis C. S. Chen declare that they have no conflict of interest.

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This article does not contain patient data.

Ethical standards

This article does not contain any studies with human participants or animals performed by any of the authors.

Appendix: MATLAB implementation for Procrustean hand-eye calibration

Appendix: MATLAB implementation for Procrustean hand-eye calibration

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Morgan, I., Jayarathne, U., Rankin, A. et al. Hand-eye calibration for surgical cameras: a Procrustean Perspective-n-Point solution. Int J CARS 12, 1141–1149 (2017). https://doi.org/10.1007/s11548-017-1590-9

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  • DOI: https://doi.org/10.1007/s11548-017-1590-9

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