Semi-automated calibration of a hand-held stereovision system using a tracked calibration frame for image guided surgery

Ryan Duke; Xiaoyao Fan; Songbai Ji; Sohail K. Mirza; Keith D. Paulsen

doi:10.1117/12.2581099

15 February 2021 Semi-automated calibration of a hand-held stereovision system using a tracked calibration frame for image guided surgery

Ryan Duke, Xiaoyao Fan, Songbai Ji, Sohail K. Mirza, Keith D. Paulsen

Author Affiliations +

Proceedings Volume 11598, Medical Imaging 2021: Image-Guided Procedures, Robotic Interventions, and Modeling; 115981W (2021) https://doi.org/10.1117/12.2581099
Event: SPIE Medical Imaging, 2021, Online Only

Conference Poster

Abstract

Intraoperative stereovision (iSV) systems are used for image data acquisition of the surgical field to facilitate image updating in image-guided surgery. We have developed an optically-tracked hand-held stereovision (HHS) system, but the calibration process was lengthy and the accuracy can be greatly affected by localization errors. This study shows the efficacy of using a rigid calibration checkerboard contained within a custom-built tracking frame for semi-automated iSV calibration. First, stereo camera parameters were calculated with a mean reprojection error of 0.28 pixels using 46 image pairs. Then, the checkerboard was calibrated to optically track all corner points. Specifically, locations of 4 outermost corner points on the checkerboard pattern were collected 93 times using a tracked stylus, and internal corner points were interpolated. Computed spacing between corner points was 15.01±0.04 mm and 15.05±0.08 mm in x and y directions, respectively, compared to the advertised spacing of 15 mm for both x and y directions. Next, we captured 169 image pairs of the tracked calibration checkerboard to reconstruct the 3D coordinates of corner points in the camera space. After, we calculated a rigid transformation between the reconstructed points and their tracked locations with a mean error of 0.31±0.02 mm. Finally, another 50 image pairs of the tracked checkerboard were used to verify the calibration accuracy and showed a mean error of 0.88±0.24 mm. These results show promise to automate the calibration process for future units and settings.

Conference Presentation

Citation Download Citation

Ryan Duke, Xiaoyao Fan, Songbai Ji, Sohail K. Mirza, and Keith D. Paulsen "Semi-automated calibration of a hand-held stereovision system using a tracked calibration frame for image guided surgery", Proc. SPIE 11598, Medical Imaging 2021: Image-Guided Procedures, Robotic Interventions, and Modeling, 115981W (15 February 2021); https://doi.org/10.1117/12.2581099

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