NDLI: Hand-eye self-calibration of an ultrasound image-based robotic system

Content Provider	IEEE Xplore Digital Library
Author	Vitrani, M.-A. Morel, G.
Copyright Year	2008
Description	Author affiliation: ISIR - Inst. des Systmes Intelligents et de Robot., Paris 6 - Paris Universitas, Paris (Vitrani, M.-A.; Morel, G.)
Abstract	In recent years, there has been an increasing interest in developing systems that couple a robotic device with an ultrasound imager. Applications range from automatic probe positioning to ultrasound image-based guidance of instruments. One issue in these systems is to determine, prior to the intervention, the localization of the probe with respect to the robot. Literature suggests using external localizers, but they add to the complexity of the system, and the resulting precision is usually not good due to the addition of errors in the kinematic chain. In this paper, we study the hand-eye calibration problem without using any additional localizers. A generic system consisting of a fixed probe observing an instrument manipulated by a robot is used. We first derive a simplified model for mapping the image of the instrument with its 3D location w.r.t. the probe and then propose a calibration procedure based on a minimization algorithm. Results show that although very simple models were used for the imaging device, the localization is quite precise, as it results in errors of less than 2 mm, which is enough of a number of ultrasound guided interventions.
Starting Page	1179
Ending Page	1185
File Size	295657
Page Count	7
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651013
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Instruments Probes Robots Ultrasonic imaging Robot kinematics Three dimensional displays Needles
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in