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Evaluation of a calibration rig for stereo laparoscopes

Dowrick, Thomas; Xiao, Guofang; Nikitichev, Daniil; Dursun, Eren; van Berkel, Neils; Allam, Moustafa; Koo, Bongjin; ... Clarkson, Matthew J; + view all (2023) Evaluation of a calibration rig for stereo laparoscopes. Medical Physics , 50 (5) pp. 2695-2704. 10.1002/mp.16310. Green open access

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Abstract

BACKGROUND: Accurate camera and hand-eye calibration are essential to ensure high quality results in image guided surgery applications. The process must also be able to be undertaken by a non-expert user in a surgical setting. PURPOSE: This work seeks to identify a suitable method for tracked stereo laparoscope calibration within theatre. METHODS: A custom calibration rig, to enable rapid calibration in a surgical setting, was designed. The rig was compared against freehand calibration. Stereo reprojection, stereo reconstruction, tracked stereo reprojection and tracked stereo reconstruction error metrics were used to evaluate calibration quality. RESULTS: Use of the calibration rig reduced mean errors: reprojection (1.47mm [SD 0.13] vs 3.14mm [SD 2.11], p-value 1e-8), reconstruction (1.37px [SD 0.10] vs 10.10px [SD 4.54], p-value 6e-7) and tracked reconstruction (1.38mm [SD 0.10] vs 12.64mm [SD 4.34], p-value 1e-6) compared with freehand calibration. The use of a ChArUco pattern yielded slightly lower reprojection errors, while a dot grid produced lower reconstruction errors and was more robust under strong global illumination. CONCLUSION: The use of the calibration rig results in a statistically significant decrease in calibration error metrics, versus freehand calibration, and represents the preferred approach for use in the operating theatre. This article is protected by copyright. All rights reserved.

Type: Article
Title: Evaluation of a calibration rig for stereo laparoscopes
Location: United States
Open access status: An open access version is available from UCL Discovery
DOI: 10.1002/mp.16310
Publisher version: https://doi.org/10.1002/mp.16310
Language: English
Additional information: © 2023 The Authors. Medical Physics published by Wiley Periodicals LLC on behalf of American Association of Physicists in Medicine. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
Keywords: calibration, image guided surgery, laparascope, stereo
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Surgical Biotechnology
URI: https://discovery.ucl.ac.uk/id/eprint/10165326
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