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.


    Access

    Download


    Export, share and cite



    Title :

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


    Contributors:
    Pachtrachai, K (author) / Vasconcelos, F (author) / Chadebecq, F (author) / Allan, M (author) / Hailes, S (author) / Pawar, V (author) / Stoyanov, D (author)

    Publication date :

    2018-10-01


    Remarks:

    Annals of Biomedical Engineering , 46 (10) pp. 1606-1620. (2018)


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Hand-eye calibration for robotic assisted minimally invasive surgery without a calibration object

    Pachtrachai, K / Allan, M / Pawar, V et al. | BASE | 2016

    Free access


    The future of robotic-assisted laparoscopic surgery

    Dao, Thi My Hanh / Nguyen, Thi Kim Thi / Schirling, Denis | BASE | 2020

    Free access

    Robotic Hand

    NTRS | 1993


    Camera calibration techniques for robotic applications

    Cuniolo,S. / Lotto,I.de / Scianna,A. et al. | Automotive engineering | 1995