On pattern selection for laparoscope calibration

Stephen Thompson; Yannic Meuer; Eddie Edwards; João Ramalhinho; Maria Ruxandra Robu; Danail Stoyanov; Sébastian Ourselin; Brian Davidson; David Hawkes; Matthew J. Clarkson

doi:10.1117/12.2253717

3 March 2017 On pattern selection for laparoscope calibration

Stephen Thompson, Yannic Meuer, Eddie Edwards, João Ramalhinho, Maria Ruxandra Robu, Danail Stoyanov, Sébastian Ourselin, Brian Davidson, David Hawkes, Matthew J. Clarkson

Author Affiliations +

Proceedings Volume 10135, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling; 101351W (2017) https://doi.org/10.1117/12.2253717
Event: SPIE Medical Imaging, 2017, Orlando, Florida, United States

Abstract

Camera calibration is a key requirement for augmented reality in surgery. Calibration of laparoscopes provides two challenges that are not sufficiently addressed in the literature. In the case of stereo laparoscopes the small distance (less than 5mm) between the channels means that the calibration pattern is an order of magnitude more distant than the stereo separation. For laparoscopes in general, if an external tracking system is used, hand-eye calibration is difficult due to the long length of the laparoscope. Laparoscope intrinsic, stereo and hand-eye calibration all rely on accurate feature point selection and accurate estimation of the camera pose with respect to a calibration pattern. We compare 3 calibration patterns, chessboard, rings, and AprilTags. We measure the error in estimating the camera intrinsic parameters and the camera poses. Accuracy of camera pose estimation will determine the accuracy with which subsequent stereo or hand-eye calibration can be done. We compare the results of repeated real calibrations and simulations using idealised noise, to determine the expected accuracy of different methods and the sources of error. The results do indicate that feature detection based on rings is more accurate than a chessboard, however this doesn’t necessarily lead to a better calibration. Using a grid with identifiable tags enables detection of features nearer the image boundary, which may improve calibration.

Citation Download Citation

Stephen Thompson, Yannic Meuer, Eddie Edwards, João Ramalhinho, Maria Ruxandra Robu, Danail Stoyanov, Sébastian Ourselin, Brian Davidson, David Hawkes, and Matthew J. Clarkson "On pattern selection for laparoscope calibration", Proc. SPIE 10135, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, 101351W (3 March 2017); https://doi.org/10.1117/12.2253717

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
13 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Calibration

Sensors

Laparoscopy

Cameras

Error analysis

Feature extraction

Video

Show All Keywords

Keywords/Phrases

Search In:

Publication Years