Abstract
This paper proposes an evaluation of a novel calibration method for an optically tracked oblique laparoscope. We present the necessary tools to track an oblique scope and a camera model which includes changes to the intrinsic camera parameters thereby extending previously proposed methods. Because oblique scopes offer a wide ‘virtual’ view on the surgical field, the method is of great interest for augmented reality guidance of laparoscopic interventions using an oblique scope.
The model and an approximated version are evaluated in an extensive validation study. Using 5 sets of 40 calibration images, we compare both camera models (i.e. model and approximation) and 2 interpolation schemes. The selected model and interpolation scheme reaches an average accuracy of 2.60 pixel and an equivalent 3D error of 0.60 mm.
Finally, we present initial experience of the presented approach with an oblique scope and optical tracking in a clinical setup. During a laparoscopic rectum resection surgery the setup was used to augment the scene with a model of the pelvis. The method worked properly and the attached probes did not interfere with normal procedure.
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
Download to read the full chapter text
Chapter PDF
References
Boppart, S.A., Deutsch, T.F., Rattner, D.W.: Optical imaging technology in minimally invasive surgery. Current status and future directions. Surgical Endoscopy 13(7), 718–722 (1999)
Yamaguchi, T., Nakamoto, M., Sato, Y., Nakajima, Y., Konishi, K., Hashizume, M., Nishii, T., Sugano, N., Yoshikawa, H., Yonenobu, K., Tamura1, S.: Camera model and calibration procedure for oblique-viewing endoscope. In: Ellis, R.E., Peters, T.M. (eds.) MICCAI 2003. LNCS, vol. 2879, pp. 373–381. Springer, Heidelberg (2003)
De Buck, S., Van Cleynenbreugel, J., Geys, I., Koninckx, T., Koninckx, P.R., Suetens, P.: A system to support laparoscopic surgery by augmented reality visualization. In: Niessen, W.J., Viergever, M.A. (eds.) MICCAI 2001. LNCS, vol. 2208, pp. 691–698. Springer, Heidelberg (2001)
Simon, G., Berger, M.O.: Registration with a zoom lens camera for augmented reality applications. In: IWAR 1999, p. 103. IEEE Computer Society, Washington, DC, USA (1999)
Tsai, R.: An efficient and accurate camera calibration technique for 3D machine vision. In: CVPR 1986, pp. 364–374 (1986)
Horaud, R., Csurka, G.: Self-calibration and euclidean reconstruction using motions of a stereo rig. In: ICCV 1998 pp. 96–103 (1998)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
De Buck, S., Maes, F., D’Hoore, A., Suetens, P. (2007). Evaluation of a Novel Calibration Technique for Optically Tracked Oblique Laparoscopes. In: Ayache, N., Ourselin, S., Maeder, A. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2007. MICCAI 2007. Lecture Notes in Computer Science, vol 4791. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75757-3_57
Download citation
DOI: https://doi.org/10.1007/978-3-540-75757-3_57
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75756-6
Online ISBN: 978-3-540-75757-3
eBook Packages: Computer ScienceComputer Science (R0)