Application of single-image camera calibration for ultrasound augmented laparoscopic visualization

Liu, Xinyang; Su, He; Kang, Sukryool; Kane, Timothy D.; Shekhar, Raj

doi:10.1117/12.2082194

Cited by 5 publications

(3 citation statements)

References 13 publications

(13 reference statements)

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“…This may be difficult to achieve and will be laparoscope specific. Alternatively, a more efficient calibration method may be used, such as single image calibration (SIC) where the laparoscope is calibrated per rotation angle with just one image (Barreto et al 2009, Liu et al 2015. SIC has been used for the most recent oblique-viewing laparoscope models (Melo et al 2012, Liu et al 2017, but if it is a robust method to establish our model has to be investigated.…”

Section: Discussionmentioning

confidence: 99%

An improved camera model for oblique-viewing laparoscopes: high reprojection accuracy independent of telescope rotation

Eppenga,

Snaauw,

Kuhlmann

et al. 2023

Phys. Med. Biol.

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ObjectiveOblique-viewing laparoscopes are popular in laparoscopic surgeries where the target anatomy is located in narrow areas. Their viewing direction can be shifted by telescope rotation without changing the laparoscope pose. This rotation also changes laparoscope camera parameters that are estimated by camera calibration to be able to reproject an anatomical model onto the laparoscopic view, creating augmented reality (AR). The aim of this study was to develop a camera model that accounts for these changes, achieving high reprojection accuracy for any telescope rotation. ApproachCamera parameters were acquired by calibrations encompassing a wide telescope rotation range. For those parameters showing periodic changes upon rotation, interpolation models were created and used to establish an updatable camera model. With this model, corner points of a tracked checkerboard were reprojected onto the checkerboard laparoscopic images, at random rotation angles. Root-mean-square reprojection errors (RMSEs) were calculated between the reprojected and imaged corner points.Main resultsReprojection RMSEs were low and approximately independent on telescope rotation angle, over a wide rotation range of 320 degrees. The mean reprojection RMSE was 2.8±0.7 pixels for a conventional laparoscope and 3.6±0.7 pixels for a chip-on-the-tip laparoscope, corresponding to 0.3±0.1mm and 0.4±0.1mm in world coordinates respectively. Worst-case reprojection errors were about 9 pixels (0.8mm) for both laparoscopes.SignificanceThe camera model developed in this study improves on existing models for oblique-viewing laparoscopes because it provides high reprojection accuracy independent of the telescope rotation angle and is applicable for conventional and chip-on-a-tip oblique-viewing laparoscopes. The work presented here is an important step towards creating accurate AR in image-guided interventions where oblique-viewing laparoscopes are used while simultaneously providing the surgeon the flexibility to rotate the telescope to any desired rotation angle.

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Section: Discussionmentioning

confidence: 99%

An improved camera model for oblique-viewing laparoscopes: high reprojection accuracy independent of telescope rotation

Eppenga,

Snaauw,

Kuhlmann

et al. 2023

Phys. Med. Biol.

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“…Therefore, an artificial reference is generated using the MIND correction algorithm. Recently, several motion-tracking algorithms for 3D clinical data using various video tracking methods have been proposed [ 55 , 56 , 57 ]. Among them, the MIND algorithm is the most effective for motion compensation in all directions of images acquired from similar locations [ 58 ].…”

Section: Methodsmentioning

confidence: 99%

Motion Compensation for 3D Multispectral Handheld Photoacoustic Imaging

Yoon

Lee

Shin³

et al. 2022

Biosensors

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Three-dimensional (3D) handheld photoacoustic (PA) and ultrasound (US) imaging performed using mechanical scanning are more useful than conventional 2D PA/US imaging for obtaining local volumetric information and reducing operator dependence. In particular, 3D multispectral PA imaging can capture vital functional information, such as hemoglobin concentrations and hemoglobin oxygen saturation (sO2), of epidermal, hemorrhagic, ischemic, and cancerous diseases. However, the accuracy of PA morphology and physiological parameters is hampered by motion artifacts during image acquisition. The aim of this paper is to apply appropriate correction to remove the effect of such motion artifacts. We propose a new motion compensation method that corrects PA images in both axial and lateral directions based on structural US information. 3D PA/US imaging experiments are performed on a tissue-mimicking phantom and a human wrist to verify the effects of the proposed motion compensation mechanism and the consequent spectral unmixing results. The structural motions and sO2 values are confirmed to be successfully corrected by comparing the motion-compensated images with the original images. The proposed method is expected to be useful in various clinical PA imaging applications (e.g., breast cancer, thyroid cancer, and carotid artery disease) that are susceptible to motion contamination during multispectral PA image analysis.

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“…The algorithm is based on their previously developed camera calibration method [11, 12], in which the image distortion is described by the so-called division model. In our previous work [13], we compared camera intrinsic parameters calibrated by rdCalib using a singe image with that calibrated by OpenCV using multiple images. The results suggested rdCalib was able to provide accurate and stable intrinsic parameters that were comparable to the parameters obtained using the OpenCV method.…”

Section: Introductionmentioning

confidence: 99%

On-demand calibration and evaluation for electromagnetically tracked laparoscope in augmented reality visualization

et al. 2016

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Purpose Common camera calibration methods employed in current laparoscopic augmented reality systems require the acquisition of multiple images of an entire checkerboard pattern from various poses. This lengthy procedure prevents performing laparoscope calibration in the operating room (OR). The purpose of this work was to develop a fast calibration method for electromagnetically (EM) tracked laparoscopes, such that calibration can be performed in the OR on demand. Methods We designed a mechanical tracking mount to uniquely and snugly position an EM sensor to an appropriate location on a conventional laparoscope. A tool named fCalib was developed to calibrate intrinsic camera parameters, distortion coefficients, and extrinsic parameters (transformation between the scope lens coordinate system and the EM sensor coordinate system) using a single image that shows an arbitrary portion of a special target pattern. For quick evaluation of calibration result in the OR, we integrated a tube phantom with fCalib and overlaid a virtual representation of the tube on the live video scene. Results We compared spatial target registration error between the common OpenCV method and the fCalib method in a laboratory setting. In addition, we compared the calibration re-projection error between the EM tracking-based fCalib and the optical tracking-based fCalib in a clinical setting. Our results suggested that the proposed method is comparable to the OpenCV method. However, changing the environment, e.g., inserting or removing surgical tools, would affect re-projection accuracy for the EM tracking-based approach. Computational time of the fCalib method averaged 14.0 s (range 3.5 s – 22.7 s). Conclusions We developed and validated a prototype for fast calibration and evaluation of EM tracked conventional (forward viewing) laparoscopes. The calibration method achieved acceptable accuracy and was relatively fast and easy to be performed in the OR on demand.

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Application of single-image camera calibration for ultrasound augmented laparoscopic visualization

Cited by 5 publications

References 13 publications

An improved camera model for oblique-viewing laparoscopes: high reprojection accuracy independent of telescope rotation

An improved camera model for oblique-viewing laparoscopes: high reprojection accuracy independent of telescope rotation

Motion Compensation for 3D Multispectral Handheld Photoacoustic Imaging

On-demand calibration and evaluation for electromagnetically tracked laparoscope in augmented reality visualization

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