Camera-Robot Calibration for the da Vinci® Robotic Surgery System.

IEEE Trans Autom Sci Eng

Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH.

Published: October 2020

AI Article Synopsis

Article Abstract

The development of autonomous or semi-autonomous surgical robots stands to improve the performance of existing teleoperated equipment, but requires fine hand-eye calibration between the free-moving endoscopic camera and patient-side manipulator arms (PSMs). A novel method of solving this problem for the da Vinci® robotic surgical system and kinematically similar systems is presented. First, a series of image-processing and optical-tracking operations are performed to compute the coordinate transformation between the endoscopic camera view frame and an optical-tracking marker permanently affixed to the camera body. Then, the kinematic properties of the PSM are exploited to compute the coordinate transformation between the kinematic base frame of the PSM and an optical marker permanently affixed thereto. Using these transformations, it is then possible to compute the spatial relationship between the PSM and the endoscopic camera using only one tracker snapshot of the two markers. The effectiveness of this calibration is demonstrated by successfully guiding the PSM end effector to points of interest identified through the camera. Additional tests on a surgical task, namely grasping a surgical needle, are also performed to validate the proposed method. The resulting visually-guided robot positioning accuracy is better than the earlier hand-eye calibration results reported in the literature for the da Vinci® system, while supporting intraoperative update of the calibration and requiring only devices that are already commonly used in the surgical environment.

Download full-text PDF

Source
http://www.ncbi.nlm.nih.gov/pmc/articles/PMC7978174PMC
http://dx.doi.org/10.1109/tase.2020.2986503DOI Listing

Publication Analysis

Top Keywords

endoscopic camera
12
vinci® robotic
8
hand-eye calibration
8
compute coordinate
8
coordinate transformation
8
marker permanently
8
permanently affixed
8
surgical
5
camera
5
camera-robot calibration
4

Similar Publications

Want AI Summaries of new PubMed Abstracts delivered to your In-box?

Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!