Abstract-3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intraoperative 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.
In terms of none marker research work, Sarrazin et al. REF used ultrasound volume registration data to achieve calibration that does not require 3D localizers.
Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Computer Science Medicine