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Communication Dans Un Congrès Année : 2015

Hand-Eye Calibration of a Robot -UltraSound Probe System without any 3D Localizers

Résumé

3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intra-operative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes.
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Dates et versions

hal-01218798 , version 1 (22-10-2015)

Identifiants

  • HAL Id : hal-01218798 , version 1

Citer

Johan Sarrazin, Emmanuel Promayon, Michael Baumann, Jocelyne Troccaz. Hand-Eye Calibration of a Robot -UltraSound Probe System without any 3D Localizers. IEEE Engineering in Medicine and Biology Conference EMBC'2015, Aug 2015, Milano, Italy. pp.21-24. ⟨hal-01218798⟩
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