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Adjoint Transformation Algorithm for Hand-Eye Calibration with Applications in Robotic Assisted Surgery

Pachtrachai, K; Vasconcelos, F; Chadebecq, F; Allan, M; Hailes, S; Pawar, V; Stoyanov, D; (2018) Adjoint Transformation Algorithm for Hand-Eye Calibration with Applications in Robotic Assisted Surgery. Annals of Biomedical Engineering , 46 (10) pp. 1606-1620. 10.1007/s10439-018-2097-4. Green open access

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Abstract

Hand-eye calibration aims at determining the unknown rigid transformation between the coordinate systems of a robot arm and a camera. Existing hand-eye algorithms using closed-form solutions followed by iterative non-linear refinement provide accurate calibration results within a broad range of robotic applications. However, in the context of surgical robotics hand-eye calibration is still a challenging problem due to the required accuracy within the millimetre range, coupled with a large displacement between endoscopic cameras and the robot end-effector. This paper presents a new method for hand-eye calibration based on the adjoint transformation of twist motions that solves the problem iteratively through alternating estimations of rotation and translation. We show that this approach converges to a solution with a higher accuracy than closed form initializations within a broad range of synthetic and real experiments. We also propose a stereo hand-eye formulation that can be used in the context of both our proposed method and previous state-of-the-art closed form solutions. Experiments with real data are conducted with a stereo laparoscope, the KUKA robot arm manipulator, and the da Vinci surgical robot, showing that both our new alternating solution and the explicit representation of stereo camera hand-eye relations contribute to a higher calibration accuracy.

Type: Article
Title: Adjoint Transformation Algorithm for Hand-Eye Calibration with Applications in Robotic Assisted Surgery
Location: United States
Open access status: An open access version is available from UCL Discovery
DOI: 10.1007/s10439-018-2097-4
Publisher version: https://doi.org/10.1007/s10439-018-2097-4
Language: English
Additional information: © The Author(s) 2018. Open Access: This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Keywords: Calibration problem, Hand–eye relationship, Stereoscopic camera, Surgical robot
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: https://discovery.ucl.ac.uk/id/eprint/10055149
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