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Hand-Eye Calibration of a Robot -UltraSound Probe System without any 3D Localizers

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Sarrazin, Johan | Promayon, Emmanuel | Baumann, Michael | Troccaz, Jocelyne

Edité par CCSD -

International audience. 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.

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