de Oliveira Marcelo E, Debarba Henrique G, Lädermann Alexandre, Chagué Sylvain, Charbonnier Caecilia
Medical Research Department, Artanim Foundation, Geneva, Switzerland.
Division of Orthopedics and Trauma Surgery, La Tour Hospital, Geneva, Switzerland.
Int J Med Robot. 2019 Apr;15(2):e1969. doi: 10.1002/rcs.1969. Epub 2018 Nov 28.
Augmented reality (AR) allows the surgeon to represent holographic patient-specific anatomical information and surgical instruments in the physical world. To correctly superimpose virtual and physical objects, a hand-eye (HE) calibration method for mapping the virtual and physical spaces was proposed.
Mathematical relationships between the virtual camera and the physical space were derived. Finally, the accuracy and robustness of the proposed HE calibration method were qualitatively and quantitatively evaluated.
The proposed calibration method allows us to determine an optimal invariant spatiotemporal mapping between the virtual camera and the physical space.
Qualitatively and quantitatively reliable and accurate estimates for the physical-virtual mapping transformation were verified. Consequently, imaging data and surgical instruments holograms can be precisely represented in the physical space.
增强现实（AR）使外科医生能够在现实世界中呈现特定患者的全息解剖信息和手术器械。为了正确叠加虚拟和物理对象，提出了一种用于映射虚拟和物理空间的手眼（HE）校准方法。
推导了虚拟相机与物理空间之间的数学关系。最后，对所提出的HE校准方法的准确性和鲁棒性进行了定性和定量评估。
所提出的校准方法使我们能够确定虚拟相机与物理空间之间的最佳不变时空映射。
验证了物理-虚拟映射变换在定性和定量方面的可靠准确估计。因此，成像数据和手术器械全息图可以在物理空间中精确呈现。
