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Simultaneous Optimization of Patient-Image Registration and Hand-Eye Calibration for Accurate Augmented Reality in Surgery

Title
Simultaneous Optimization of Patient-Image Registration and Hand-Eye Calibration for Accurate Augmented Reality in Surgery
Authors
Lee, SeongpungShim, SeongboHa, Ho-GunLee, HyunkiHong, Jaesung
DGIST Authors
Lee, Seongpung; Shim, Seongbo; Ha, Ho-Gun; Lee, HyunkiHong, Jaesung
Issue Date
2020-09
Citation
IEEE Transactions on Biomedical Engineering, 67(9), 2669-2682
Type
Article
Article Type
Article
Author Keywords
Augmented realityendoscopehand-eye calibrationpatient-image registrationposition sensor
Keywords
SURGICAL NAVIGATIONTARGET REGISTRATIONGUIDED NAVIGATIONSINUS SURGERYIMPLEMENTATIONVISUALIZATIONSYSTEM
ISSN
0018-9294
Abstract
Objective: Augmented reality (AR) navigation using a position sensor in endoscopic surgeries relies on the quality of patient-image registration and hand-eye calibration. Conventional methods collect the necessary data to compute two output transformation matrices separately. However, the AR display setting during surgery generally differs from that during preoperative processes. Although conventional methods can identify optimal solutions under initial conditions, AR display errors are unavoidable during surgery owing to the inherent computational complexity of AR processes, such as error accumulation over successive matrix multiplications, and tracking errors of position sensor. Methods: We propose the simultaneous optimization of patient-image registration and hand-eye calibration in an AR environment before surgery. The relationship between the endoscope and a virtual object to overlay is first calculated using an endoscopic image, which also functions as a reference during optimization. After including the tracking information from the position sensor, patient-image registration and hand-eye calibration are optimized in terms of least-squares. Results: Experiments with synthetic data verify that the proposed method is less sensitive to computation and tracking errors. A phantom experiment with a position sensor is also conducted. The accuracy of the proposed method is significantly higher than that of the conventional method. Conclusion: The AR accuracy of the proposed method is compared with those of the conventional ones, and the superiority of the proposed method is verified. Significance: This study demonstrates that the proposed method exhibits substantial potential for improving AR navigation accuracy. © 1964-2012 IEEE.
URI
http://hdl.handle.net/20.500.11750/12544
DOI
10.1109/tbme.2020.2967802
Publisher
IEEE Computer Society
Related Researcher
  • Author Lee, HyunKi Camera Culture Group
  • Research Interests Machine Vision, Intelligent Robot, Design of Optical Systems
Files:
There are no files associated with this item.
Collection:
Division of Intelligent RoboticsCamera Culture Group1. Journal Articles
Department of Robotics EngineeringSurgical Robotics & Augmented Reality Lab1. Journal Articles


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