Purpose

The knowledge of laparoscope vision can greatly improve the surgical operation room (OR) efficiency. For the vision-based computer-assisted surgery, the hand–eye calibration establishes the coordinate relationship between laparoscope and robot slave arm. While significant advances have been made for hand–eye calibration in recent years, efficient algorithm for minimally invasive surgical robot is still a major challenge. Removing the external calibration object in abdominal environment to estimate the hand–eye transformation is still a critical problem.

Methods

We propose a novel hand–eye calibration algorithm to tackle the problem which relies purely on surgical instrument already in the operating scenario for robot-assisted minimally invasive surgery (RMIS). Our model is formed by the geometry information of the surgical instrument and the remote center-of-motion (RCM) constraint. We also enhance the algorithm with stereo laparoscope model.

Results

Promising validation of synthetic simulation and experimental surgical robot system have been conducted to evaluate the proposed method. We report results that the proposed method can exhibit the hand–eye calibration without calibration object.

Conclusion

Vision-based hand–eye calibration is developed. We demonstrate the feasibility to perform hand–eye calibration by taking advantage of the components of surgical robot system, leading to the efficiency of surgical OR.

中文翻译：

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基于视觉的手眼校准，适用于机器人辅助的微创手术。

目的

腹腔镜视觉的知识可以大大提高手术室（OR）的效率。对于基于视觉的计算机辅助手术，手眼校准可建立腹腔镜和机器人从属臂之间的坐标关系。尽管近年来在手眼校准方面取得了重大进展，但微创外科手术机器人的有效算法仍然是一个主要挑战。在腹部环境中移除外部校准对象以估计手眼的转换仍然是一个关键问题。

方法

我们提出了一种新颖的手眼校准算法来解决该问题，该算法完全依赖于机器人辅助微创手术（RMIS）的操作场景中已经存在的手术器械。我们的模型由手术器械的几何信息和远程运动中心（RCM）约束形成。我们还通过立体腹腔镜模型增强了算法。

结果

综合仿真和实验外科机器人系统的有希望的验证已进行评估该方法。我们报告的结果表明，所提出的方法可以展现出无需校准对象的手眼校准。

结论

开发了基于视觉的手眼校准。我们演示了利用外科手术机器人系统的组件执行手眼校准的可行性，从而提高了外科手术室的效率。