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F. Vogt, S. Krger, J. Schmidt, D. Paulus, H. Niemann, W. Hohenberger, C. H. Schick
Light Fields for Minimal Invasive Surgery Using an Endoscope Positioning Robot
Keywords: Light field, hand-eye calibration, minimally invasive surgical procedures, endoscopy, 3-D visualization
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.
Methods of Information in Medicine, Schattauer
Print ISSN: 0026-1270
Volume: 43, 01/2004
Pages: 403 - 408