ArticleInternational journal of computer assisted radiology and surgery2017
A computationally efficient method for hand-eye calibration.
Article in International journal of computer assisted radiology and surgery, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
6 citing papers in PubMed.
- Submillimeter-Accurate Markerless Hand-Eye Calibration Based on a Robot's Flange Features.Sensors (Basel, Switzerland) · 2024Article
- Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy.Sensors (Basel, Switzerland) · 2022Article
- A Novel Point Set Registration-Based Hand-Eye Calibration Method for Robot-Assisted Surgery.Sensors (Basel, Switzerland) · 2022Article
- Vision-based hand-eye calibration for robot-assisted minimally invasive surgery.International journal of computer assisted radiology and surgery · 2020Article
- Camera-Robot Calibration for the da Vinci® Robotic Surgery System.IEEE transactions on automation science and engineering : a publication of the IEEE Robotics and Automation Society · 2020Article
- Robust and Accurate Hand-Eye Calibration Method Based on Schur Matric Decomposition.Sensors (Basel, Switzerland) · 2019Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
3 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
purposeSurgical robots with cooperative control and semiautonomous features have shown increasing clinical potential, particularly for repetitive tasks under imaging and vision guidance. Effective performance of an autonomous task requires accurate hand-eye calibration so that the transformation between the robot coordinate frame and the camera coordinates is well defined. In practice, due to changes in surgical instruments, online hand-eye calibration must be performed regularly. In order to ensure seamless execution of the surgical procedure without affecting the normal surgical workflow, it is important to derive fast and efficient hand-eye calibration methods.
methodsWe present a computationally efficient iterative method for hand-eye calibration. In this method, dual quaternion is introduced to represent the rigid transformation, and a two-step iterative method is proposed to recover the real and dual parts of the dual quaternion simultaneously, and thus the estimation of rotation and translation of the transformation.
resultsThe proposed method was applied to determine the rigid transformation between the stereo laparoscope and the robot manipulator. Promising experimental and simulation results have shown significant convergence speed improvement to 3 iterations from larger than 30 with regard to standard optimization method, which illustrates the effectiveness and efficiency of the proposed method.
Indexed as
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.