DocumentCode :
1865867
Title :
An easy calibration for oblique-viewing endoscopes
Author :
Wu, Chenyu ; Jaramaz, Branislav
Author_Institution :
Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA
fYear :
2008
fDate :
19-23 May 2008
Firstpage :
1424
Lastpage :
1429
Abstract :
Oblique-viewing endoscopes (oblique scopes) are widely used in minimally invasive surgery. The viewing direction of an oblique endoscope can be changed by rotating the scope cylinder, which enables a larger field of view, but makes the scope calibration process more difficult. The calibration is a critical step for incorporating oblique scope into computer assisted surgical procedures (robotics, navigation, augmented reality), though few calibration methods of oblique endoscopes has been developed. Yamaguchi et al. [1] first modelled and calibrated the oblique scope. They directly tracked the camera head and formulated the scope cylinder´s rotation to the camera model as an extrinsic parameter. Their method requires five additional parameters to be estimated. In this work, we track the scope cylinder instead. Since the rotation of the camera head with respect to the cylinder only causes the rotation of the image plane, less parameter needs to be estimated. Experiments demonstrate the ease, simplicity and accuracy of our method.
Keywords :
calibration; endoscopes; surgery; computer assisted surgical procedure; invasive surgery; oblique scope calibration; oblique viewing endoscope; scope cylinder; Calibration; Cameras; Endoscopes; Head; Lenses; Light sources; Minimally invasive surgery; Optical coupling; Orthopedic surgery; Robot vision systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
ISSN :
1050-4729
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2008.4543402
Filename :
4543402
Link To Document :
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