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

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

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 the 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 results in the OR, we integrated a tube phantom with fCalib prototype 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 suggest that the proposed method is comparable to the OpenCV method. However, changing the environment, e.g., inserting or removing surgical tools, might 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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Acknowledgments

The authors would like to thank Dr. Joao P. Barreto and Mr. Rui Melo of Perceive3D, SA, for providing the rdCalib API and the associated calibration target pattern. The authors would also like to thank James McConnaughey for his assistance in 3D printing the mechanical EM tracking mount. This work was supported partially by the National Institutes of Health Grant 1R41CA192504.

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Authors and Affiliations

  1. Sheikh Zayed Institute for Pediatric Surgical Innovation, Children’s National Health System, 111 Michigan Avenue NW, Washington, DC, 20010, USA

    Xinyang Liu, Sukryool Kang, Timothy D. Kane & Raj Shekhar

  2. IGI Technologies, Inc., 387 Technology Drive #3110D, College Park, MD, 20742, USA

    William Plishker & George Zaki

Authors
  1. Xinyang Liu
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  2. William Plishker
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  3. George Zaki
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  4. Sukryool Kang
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  6. Raj Shekhar
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Corresponding author

Correspondence to Raj Shekhar.

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The authors declare that they have no conflict of interest.

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Informed consent was obtained from all individual participants included in the study.

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Liu, X., Plishker, W., Zaki, G. et al. On-demand calibration and evaluation for electromagnetically tracked laparoscope in augmented reality visualization. Int J CARS 11, 1163–1171 (2016). https://doi.org/10.1007/s11548-016-1406-3

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  • DOI: https://doi.org/10.1007/s11548-016-1406-3

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