Application of single-image camera calibration for ultrasound augmented laparoscopic visualization.
Application of single-image camera calibration for ultrasound augmented laparoscopic visualization.
复制标题
单图像相机校准在超声增强腹腔镜可视化中的应用。
DOI：
10.1117/12.2082194
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Shekhar,Raj
中科院分区：
文献类型：
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作者：
Liu,Xinyang;Su,He;Kang,Sukryool;Kane,TimothyD;Shekhar,Raj
腹腔镜摄像机的精确校准对于实现许多手术可视化和导航技术至关重要，例如我们为腹腔镜手术开发的超声增强可视化系统。除了准确性和鲁棒性外，还需要一种快速简便的摄像机校准方法，可以在手术室（OR）按需进行校准。传统的摄像机标定方法过于繁琐，不适合手术室使用。它们需要获取目标图案的多个完整图像才能产生令人满意的结果。在这项工作中，我们评估了单图像相机校准工具（rdCalib; Percieve3D，科英布拉，葡萄牙）的性能，该工具具有自动检测图像中的角点，无论是部分还是完整的自定义目标图案。使用rdCalib和公认的OpenCV相机校准方法获得的5毫米和10毫米标准Stryker®腹腔镜的固有相机参数进行了比较。并比较了目标配准误差（TRE）作为光学跟踪AR系统摄像机标定精度的度量。基于我们的实验，单图像相机校准结果一致且准确（5-mm瞄准镜的平均TRE = 1.18±0.35 mm， 10-mm瞄准镜的平均TRE = 1.13±0.32 mm），与使用OpenCV方法获得的30幅图像的结果相当。新的单图像摄像机校准方法有望应用于我们的腹腔镜手术增强现实可视化系统。
Accurate calibration of laparoscopic cameras is essential for enabling many surgical visualization and navigation technologies such as the ultrasound-augmented visualization system that we have developed for laparoscopic surgery. In addition to accuracy and robustness, there is a practical need for a fast and easy camera calibration method that can be performed on demand in the operating room (OR). Conventional camera calibration methods are not suitable for the OR use because they are lengthy and tedious. They require acquisition of multiple images of a target pattern in its entirety to produce satisfactory result. In this work, we evaluated the performance of a single-image camera calibration tool (rdCalib; Percieve3D, Coimbra, Portugal) featuring automatic detection of corner points in the image, whether partial or complete, of a custom target pattern. Intrinsic camera parameters of a 5-mm and a 10-mm standard Stryker® laparoscopes obtained using rdCalib and the well-accepted OpenCV camera calibration method were compared. Target registration error (TRE) as a measure of camera calibration accuracy for our optical tracking-based AR system was also compared between the two calibration methods. Based on our experiments, the single-image camera calibration yields consistent and accurate results (mean TRE = 1.18 ± 0.35 mm for the 5-mm scope and mean TRE = 1.13 ± 0.32 mm for the 10-mm scope), which are comparable to the results obtained using the OpenCV method with 30 images. The new single-image camera calibration method is promising to be applied to our augmented reality visualization system for laparoscopic surgery.