Improving rigid 3D calibration for robotic surgery
arXiv:2007.08427 · doi:10.1109/TMRB.2020.3033670
Abstract
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In this paper, we propose a novel calibration technique for a surgical scenario with da Vinci robot. Calibration of the camera and the robot is necessary for precise positioning of the tools in order to emulate the high performance surgeons. Our calibration technique is tailored for RGB-D camera. Different tests performed on relevant use cases for surgery prove that we significantly improve precision and accuracy with respect to the state of the art solutions for similar devices on a surgical-size setup. Moreover, our calibration method can be easily extended to standard surgical endoscope to prompt its use in real surgical scenario.
arXiv commentSubmitted to the special issue of IEEE Transactions on Medical Robotics and Bionics 2020
Cited by in corpus (6)
- Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit
- Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions
- Autonomous task planning and situation awareness in robotic surgery
- Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty
- Caveats on the first-generation da Vinci Research Kit: latent technical constraints and essential calibrations
- Unsupervised identification of surgical robotic actions from small non homogeneous datasets