title: Hand-eye calibration of a robot--UltraSound probe system without any 3D localizers.
abstract: 3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intra-operative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes.
authors.forename: Johan
authors.initials: J
authors.lastname: Sarrazin
authors.forename: Emmanuel
authors.initials: E
authors.lastname: Promayon
authors.forename: Michael
authors.initials: M
authors.lastname: Baumann
authors.forename: Jocelyne
authors.initials: J
authors.lastname: Troccaz
mesh_terms: D001696:Biomechanical Phenomena; D002138:Calibration; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D012371:Robotics / Q000295:instrumentation / Q000379:methods / Q000592:standards; D014463:Ultrasonography / Q000295:instrumentation*