Adjoint transformation algorithm for hand-eye calibration with applications in robotic assisted surgery
Article
Pachtrachai, K., Vasconcelos, F., Chadebecq, F., Allan, M., Hailes, S., Pawar, V. and Stoyanov, D. 2018. Adjoint transformation algorithm for hand-eye calibration with applications in robotic assisted surgery. Annals of Biomedical Engineering. 46 (10), pp. 1606-1620. https://doi.org/10.1007/s10439-018-2097-4
Type | Article |
---|---|
Title | Adjoint transformation algorithm for hand-eye calibration with applications in robotic assisted surgery |
Authors | Pachtrachai, K., Vasconcelos, F., Chadebecq, F., Allan, M., Hailes, S., Pawar, V. and Stoyanov, D. |
Abstract | Hand–eye calibration aims at determining the unknown rigid transformation between the coordinate systems of a robot arm and a camera. Existing hand–eye algorithms using closed-form solutions followed by iterative non-linear refinement provide accurate calibration results within a broad range of robotic applications. However, in the context of surgical robotics hand–eye calibration is still a challenging problem due to the required accuracy within the millimetre range, coupled with a large displacement between endoscopic cameras and the robot end-effector. This paper presents a new method for hand–eye calibration based on the adjoint transformation of twist motions that solves the problem iteratively through alternating estimations of rotation and translation. We show that this approach converges to a solution with a higher accuracy than closed form initializations within a broad range of synthetic and real experiments. We also propose a stereo hand–eye formulation that can be used in the context of both our proposed method and previous state-of-the-art closed form solutions. Experiments with real data are conducted with a stereo laparoscope, the KUKA robot arm manipulator, and the da Vinci surgical robot, showing that both our new alternating solution and the explicit representation of stereo camera hand–eye relations contribute to a higher calibration accuracy. |
Keywords | Calibration problem; Hand-eye relationship; Stereoscopic camera; Surgical robot |
Publisher | Springer |
Journal | Annals of Biomedical Engineering |
ISSN | 0090-6964 |
Electronic | 1573-9686 |
Publication dates | |
Online | 26 Jul 2018 |
15 Oct 2018 | |
Publication process dates | |
Submitted | 17 Dec 2017 |
Accepted | 17 Jul 2018 |
Deposited | 28 Feb 2024 |
Output status | Published |
Publisher's version | License File Access Level Open |
Copyright Statement | This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. |
Digital Object Identifier (DOI) | https://doi.org/10.1007/s10439-018-2097-4 |
Web of Science identifier | WOS:000445180100015 |
Language | English |
https://repository.mdx.ac.uk/item/z6584
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