Unlike in prior work, our method does not require the endoscope to be taken out of the patient for the hand-eye calibration, as opposed to conventional methods that require the identification of a marker, we make use of a rendered tool-tip in 3D. Then, we retrieve the camera parameters intra-operatively by estimating the distance of the surgical site from the endoscope in less than 1 s. For camera calibration we perform calibrations at multiple distances from the endoscope, pre-operatively, to parametrize the camera intrinsic matrix as a function of distance from the endoscope. We present a unified, practical, marker-less, real-time system to estimate both these transformations during surgery. IET Generation, Transmission & DistributionĪccurate medical Augmented Reality (AR) rendering requires two calibrations, a camera intrinsic matrix estimation and a hand-eye transformation.IET Electrical Systems in Transportation.IET Cyber-Physical Systems: Theory & Applications.IET Collaborative Intelligent Manufacturing. CAAI Transactions on Intelligence Technology.
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