Sarrazin Johan, Promayon Emmanuel, Baumann Michael, Troccaz Jocelyne
Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:21-4. doi: 10.1109/EMBC.2015.7318251.
3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intra-operative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes.
3D超声（US）探头因其使用方便且能够获取术中容积数据而被应用于临床。在手术导航应用中，需要一个校准步骤来将探头定位在通用坐标系中。本文提出了一种新的手眼校准方法，该方法直接利用机器人的运动学模型和超声容积配准数据，无需任何3D定位器。初步结果表明，在一个实验装置上，通过对十个超声容积中的五个珠子进行手动分割，目标误差为2.34毫米。
