Position sensor and three-dimension laparoscope camera calibration device and method

Abstract

The invention relates to a position sensor and a three-dimension laparoscope camera calibration device and method. The method comprises compensating an output error of an electromagnetic position sensor through a high-precision optical positioning system, calculating the position and posture of a three-dimension laparoscope camera through calibrating a reference cube, and analyzing the coordinate relation between the electromagnetic position sensor and the three-dimension laparoscope camera using dual quaternion at last. By adopting the sensor and the three-dimension laparoscope camera calibration device and method, offset defect, generated by deformation of the magnetic field, of output of a present electromagnetic position sensor can be overcome, the calibration is accurate, the instantaneity is good. The calibration device and method are easy to operate, positional relationship between an electromagnetic position sensor and an endoscope camera can be speculated only through the electromagnetic position sensor fixed to the front end of the endoscope camera and calibration grids.

Description

technical field [0001] The invention relates to a device and method for calibrating a position sensor and a three-dimensional laparoscopic camera, in particular to a device and method for calibrating a position sensor and an endoscopic camera for surgical navigation, and belongs to the technical field of computer surgical navigation. Background technique [0002] The calibration of the position sensor and the 3D laparoscopic camera is the primary problem of 3D laparoscopic surgical navigation, and the calibration accuracy is the key factor affecting the accuracy of the navigation system. [0003] The tracking accuracy of the optical sensor is very high, but due to the occlusion of the optical marker, the continuity of the tracking positioning cannot be guaranteed; in addition, because the optical marker used to calculate the position and attitude of the tracking object must be in rigid contact with the tracking object, the optical tracking The scope of application of the sys...

AI Technical Summary

Problems solved by technology

However, since the electromagnetic position tracking system and the optical position tracking system have their own measurement frequencies and system clocks, how to obtain the output of the optical position tracking system that accurately corresponds to the output of the electromagnetic position tracking system is a difficult problem

The literature "GregorySFischerandRussellHTaylor.ElectromagneticTrackerMeasurementErrorSimulationandToolDesign[C].NewYork:Springer(MICCAI2005), 2005:73-80." By using the method of fixing the acquisition tool when collecting data to obtain the corresponding output of the accurate electromagnetic position tracking system and the optical position tracking system, However, because it takes a lot of time to collect the sample data required by the compensation model, it is difficult to apply it in practice

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