Title :
Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers
Author :
Johan Sarrazin;Emmanuel Promayon;Michael Baumann;Jocelyne Troccaz
Author_Institution :
KOELIS SAS, 5. av du Grand Sablon, La Tronche, F-38700, France
Abstract :
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.
Keywords :
"Calibration","Robot kinematics","Probes","Three-dimensional displays","Phantoms","Ultrasonic imaging"
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Electronic_ISBN :
1558-4615
DOI :
10.1109/EMBC.2015.7318251