Robot-Based Procedure for 3D Reconstruction of Abdominal Organs Using the Iterative Closest Point and Pose Graph Algorithms.

Image-based 3D reconstruction enables robot-assisted interventions and image-guided navigation, which are emerging technologies in laparoscopy. When a robotic arm guides a laparoscope for image acquisition, hand-eye calibration is required to know the transformation between the camera and the robot flange. The calibration procedure is complex and must be conducted after each intervention (when the laparoscope is dismounted for cleaning).