Marker-less real-time intra-operative camera and hand-eye calibration procedure for surgical augmented reality - Kalia, Megha; Mathur, Prateek; Navab, Nassir; Salcudean, Septimiu E (Healthcare technology letters, 2019)
Keywords: Augmented reality; augmented reality rendering; average target registration error; biomedical optical imaging; Calibration; camera calibration; camera intrinsic matrix estimation; Cameras; da Vinci robot; Design; endoscope; endoscopes; Hair; hand-eye calibration procedure; hand-eye transformation; high visual error; image registration; marker-less real-time intra-operative camera; medical image processing; medical robotics; Methods; phantoms; pre-operative medical data; Prostate; prostate phantom; rendering (computer graphics); robot vision; Special Issue: Papers from the 13th Workshop on Augmented Environments for Computer Assisted Interventions; subsequent gradient descent steps; Surgeons; surgery; surgical augmented reality; virtual rendered tool tip; image registration; medical robotics; average target registration error; augmented reality; cameras; phantoms; hand-eye transformation; endoscopes; calibration; rendering (computer graphics); pre-operative medical data; medical image processing; virtual rendered tool tip; augmented reality rendering; camera calibration; subsequent gradient descent steps; robot vision; marker-less real-time intra-operative camera; prostate phantom; surgical augmented reality; da Vinci robot; camera intrinsic matrix estimation; high visual error; hand-eye calibration procedure; endoscope; surgery; biomedical optical imaging