SPB+15

J. Sarrazin, E. Promayon, M. Baumann, J. Troccaz. Hand-Eye Calibration of a Robot - UltraSound Probe System without Any 3D Localizers. In IEEE Engineering in Medicine and Biology Conference (EMBC), Pages 21-24, August 2015.

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Abstract

3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intra-operative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes

Keywords

[ Softtissue ] [ Prostate ]

Contact

Emmanuel Promayon http://membres-timc.imag.fr/Emmanuel.Promayon

BibTex Reference

@InProceedings{SPB+15,
   Author = {Sarrazin, J. and Promayon, E. and Baumann, M. and Troccaz, J.},
   Title = {Hand-Eye Calibration of a Robot - UltraSound Probe System without Any 3{D} Localizers},
   BookTitle = {IEEE Engineering in Medicine and Biology Conference (EMBC)},
   Pages = {21--24},
   Month = {August},
   Year = {2015}
}

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