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12 March 2010 Endoscope-magnetic tracker calibration via trust region optimization
Dusty Sargent
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Proceedings Volume 7625, Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling; 76252L (2010) https://doi.org/10.1117/12.843595
Event: SPIE Medical Imaging, 2010, San Diego, California, United States
Abstract
Minimally invasive surgical techniques and advanced imaging systems are gaining prevalence in modern clinical practice. Using miniaturized magnetic trackers in combination with these procedures can help physicians with the orientation and guidance of instruments in graphical displays, navigation during surgery, 3D reconstruction of anatomy, and other applications. Magnetic trackers are often used in conjunction with other sensors or instruments such as endoscopes and optical trackers. In such applications, complex calibration procedures are required to align the coordinate systems of the different devices in order to produce accurate results. Unfortunately, current calibration procedures developed for augmented reality are cumbersome and unsuitable for repeated use in a clinical setting. This paper presents an efficient automated endoscope-tracker calibration algorithm for clinical applications. The algorithm is based on a state-of-the-art trust region optimization method and requires minimal intervention from the endoscope operator. The only required input is a short video of a calibration grid taken with the endoscope and attached magnetic tracker prior to the procedure. The three stage calibration process uses a traditional camera calibration to determine the intrinsic and extrinsic parameters of the endoscope, and then the endoscope is registered in the tracker's reference frame using a novel linear estimation method and a trust region optimization algorithm. This innovative method eliminates the need for complicated calibration procedures and facilitates the use of magnetic tracking devices in clinical settings.
© (2010) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
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Dusty Sargent "Endoscope-magnetic tracker calibration via trust region optimization", Proc. SPIE 7625, Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling, 76252L (12 March 2010); https://doi.org/10.1117/12.843595
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KEYWORDS
Calibration
Cameras
Endoscopes
Magnetic tracking
Magnetism
Detection and tracking algorithms
Video
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