Fakultät für Informatik
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OBJECTIVES:
To generate a fast and robust 3-D visualization of the operation site during minimal invasive surgery.
METHODS:
Light fields are used to model and visualize the 3-D operation site during minimal invasive surgery. An endoscope positioning robot provides the position and orientation of the endoscope. The a priori un-known transformation from the endoscope plug to the endoscope tip (hand-eye transformation) can either be determined by a three-step algorithm, which includes measuring the endoscope length by hand or by using an automatic hand-eye calibration algorithm. Both methods are described in this paper and their respective computation times and accuracies are compared.
RESULTS:
Light fields were generated during real operations and in the laboratory. The comparison of the two methods to determine the unknown hand-eye transformation was done in the laboratory. The results which are being presented in this paper are: rendered images from the generated light fields, the calculated extrinsic camera parameters and their accuracies with respect to the applied hand-eye calibration method, and computation times.
CONCLUSION:
Using an endoscope positioning robot and knowing the hand-eye transformation, the fast and robust generation of light fields for minimal invasive surgery is possible.
This paper presents new vector quantization based methods for selecting well-suited data for hand-eye calibration from a given sequence of hand and eye movements.
Data selection can improve the accuracy of classic hand-eye calibration, and make it possible in the first place in situations where the standard approach of manually selecting positions is inconvenient or even impossible, especially when using continuously recorded data.
A variety of methods is proposed, which differ from each other in the dimensionality of the vector quantization compared to the degrees of freedom of the rotation representation, and how the rotation angle is incorporated.
The performance of the proposed vector quantization based data selection methods is evaluated using data obtained from a manually moved optical tracking system (hand) and an endoscopic camera (eye).