Camera-Robot Calibration for the da Vinci® Robotic Surgery System.

ABSTRACT: The development of autonomous or semi-autonomous surgical robots stands to improve the performance of existing teleoperated equipment, but requires fine hand-eye calibration between the free-moving endoscopic camera and patient-side manipulator arms (PSMs). A novel method of solving this problem for the da Vinci® robotic surgical system and kinematically similar systems is presented. First, a series of image-processing and optical-tracking operations are performed to compute the coordinate transformation between the endoscopic camera view frame and an optical-tracking marker permanently affixed to the camera body. Then, the kinematic properties of the PSM are exploited to compute the coordinate transformation between the kinematic base frame of the PSM and an optical marker permanently aff

SUBMITTER: Ozguner O 

PROVIDER: S-EPMC7978174 | biostudies-literature | 2020 Oct

REPOSITORIES: biostudies-literature