A computationally efficient method for hand-eye calibration

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Title: A computationally efficient method for hand-eye calibration
Author(s): Zhang, Z
Zhang, L
Yang, G-Z
Item Type: Journal Article
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. Methods We present a computationally efficient iterative method for hand–eye calibration. In this method, dual quaternion is introduced to represent the rigid transformation, and a two-step iterative method is proposed to recover the real and dual parts of the dual quaternion simultaneously, and thus the estimation of rotation and translation of the transformation. Results The proposed method was applied to determine the rigid transformation between the stereo laparoscope and the robot manipulator. Promising experimental and simulation results have shown significant convergence speed improvement to 3 iterations from larger than 30 with regard to standard optimization method, which illustrates the effectiveness and efficiency of the proposed method.
Publication Date: 19-Jul-2017
Date of Acceptance: 10-Jul-2017
URI: http://hdl.handle.net/10044/1/56243
DOI: https://dx.doi.org/10.1007/s11548-017-1646-x
ISSN: 1861-6429
Publisher: Springer Verlag
Start Page: 1775
End Page: 1787
Journal / Book Title: International Journal of Computer Assisted Radiology and Surgery
Volume: 12
Issue: 10
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Commission of the European Communities
Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/H009744/1
248782
EP/K503733/1
EP/L014149/1
Copyright Statement: © The Author(s) 2017. This article is an open access publication
Keywords: Science & Technology
Technology
Life Sciences & Biomedicine
Engineering, Biomedical
Radiology, Nuclear Medicine & Medical Imaging
Surgery
Engineering
Minimally invasive surgery
Robot-camera calibration
Hand-eye calibration
Optimization
3D TRACKING
ALGORITHM
SURGERY
TISSUE
OPTIMIZATION
QUATERNIONS
SENSOR
Hand–eye calibration
Minimally invasive surgery
Optimization
Robot–camera calibration
Science & Technology
Technology
Life Sciences & Biomedicine
Engineering, Biomedical
Radiology, Nuclear Medicine & Medical Imaging
Surgery
Engineering
Minimally invasive surgery
Robot-camera calibration
Hand-eye calibration
Optimization
3D TRACKING
ALGORITHM
SURGERY
TISSUE
OPTIMIZATION
QUATERNIONS
SENSOR
1103 Clinical Sciences
Nuclear Medicine & Medical Imaging
Publication Status: Published
Appears in Collections:Faculty of Engineering
Computing



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