Hand-Eye Calibration of a Robot -UltraSound Probe System without any 3D Localizers

Johan Sarrazin 1, 2 Emmanuel Promayon 1 Michael Baumann 2 Jocelyne Troccaz 1
1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
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.
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Johan Sarrazin, Emmanuel Promayon, Michael Baumann, Jocelyne Troccaz. Hand-Eye Calibration of a Robot -UltraSound Probe System without any 3D Localizers. IEEE Engineering in Medicine and Biology Conference EMBC'2015, Aug 2015, Milano, Italy. pp.21-24. ⟨hal-01218798⟩



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