Easy and stable bronchoscope camera calibration technique for bronchoscope navigation system

Kazuyoshi Ishitani; Deguchi Daisuke; Takayuki Kitasaka; Kensaku Mori; Yasuhito Suenaga; Hirotsugu Takabatake; Masaki Mori; Hiroshi Natori

doi:10.1117/12.710398

21 March 2007 Easy and stable bronchoscope camera calibration technique for bronchoscope navigation system

Kazuyoshi Ishitani, Deguchi Daisuke, Takayuki Kitasaka, Kensaku Mori, Yasuhito Suenaga, Hirotsugu Takabatake, Masaki Mori, Hiroshi Natori

Author Affiliations +

Proceedings Volume 6509, Medical Imaging 2007: Visualization and Image-Guided Procedures; 65091I (2007) https://doi.org/10.1117/12.710398
Event: Medical Imaging, 2007, San Diego, CA, United States

Abstract

This paper presents an easy and stable bronchoscope camera calibration technique for bronchoscope navigation system. A bronchoscope navigation system is strongly expected to be developed to make bronchoscopic examinations safer and more effective. In a bronchoscope navigation system, virtual bronchoscopic images are generated from a 3D CT image taken prior to an examination to register a patient's body and his/her CT image. It is absolutely indispensable to know correct intrinsic camera parameters such as focal length, aspect ratio, and the projection center of the camera for the generation of virtual bronchoscopic images. In the case of a bronchoscope, however, it is very complicated to obtain these camera parameters by calibration techniques applied to conventional cameras, since a bronchoscope camera has heavy barrel-type lens distortion. Also image resolution is quite low. Therefore, we propose an easy and stable bronchoscope camera calibration technique that does not require any special devices. In this method, a planar calibration pattern is captured at many different angles by moving the bronchoscope camera freely. Then we automatically detect feature points for camera calibration from captured images. Finally, intrinsic camera parameters are estimated from these extracted feature points by applying Zhang's calibration technique. We applied the proposed method to a conventional bronchoscope camera. The experimental results showed that reprojection error using estimated camera parameters was about 0.7 pixels. Also stable estimation was achieved by the proposed method.

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Kazuyoshi Ishitani, Deguchi Daisuke, Takayuki Kitasaka, Kensaku Mori, Yasuhito Suenaga, Hirotsugu Takabatake, Masaki Mori, and Hiroshi Natori "Easy and stable bronchoscope camera calibration technique for bronchoscope navigation system", Proc. SPIE 6509, Medical Imaging 2007: Visualization and Image-Guided Procedures, 65091I (21 March 2007); https://doi.org/10.1117/12.710398

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