Improving Rigid 3-D Calibration for Robotic Surgery

摘要

Autonomy is the next frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In this article, we propose a novel calibration technique for a surgical scenario with a da Vinci <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> Research Kit (dVRK) robot. Camera and robotic arms calibration are necessary to precise position and emulate expert surgeon. The novel calibration technique is tailored for RGB-D cameras. Different tests performed on relevant use cases prove that we significantly improve precision and accuracy with respect to state of the art solutions for similar devices on a surgical-size setups. Moreover, our calibration method can be easily extended to standard surgical endoscope used in real surgical scenario.