A hand-eye calibration method for computer assisted endoscopy

Endoscopy has been more and more widely used in clinical application. The surgical navigation system is an important way to improve the safety of endoscopy. To get the position relationship between camera and tracking marker is a critical work for improving the precision of the navigation system. This problem can be solved by the hand-eye calibration approach using dual quaternion. However, because of the output error of tracking system and the limited motion of the endoscope, this algorithm becomes unstable and the system accuracy is low. Therefore, this paper proposes a method to avoid these problems by advancing the selection rule of sample motions. The experimental results show that the stability and the accuracy of algorithm have been improved by selecting sample motion data automatically.