Abstract
Oblique-viewing endoscopes (oblique scopes) are widely used medically. It is essential for certain procedures such as laparoscopy, arthroscopy, and sinus endoscopy. In an oblique scope, its viewing directions are changeable by rotating the scope cylinder. Although a camera calibration method is necessary to apply augmented reality technologies to oblique endoscopic procedures, no method for oblique scope calibration has been developed yet. In the present paper, we formulate a camera model and a calibration procedure for oblique scopes. In the calibration procedure, Tsai’s calibration is performed at zero-rotation of the scope cylinder, and then the variation of the external camera parameters corresponding to the rotation of the scope cylinder is modeled and estimated as a function of the rotation angle. Accurate estimation of the rotational axis is included in the procedure. The precision of this estimation was demonstrated to have a significant effect on the overall calibration accuracy in the experimental evaluation especially with large rotation angles. The projection error in the image plane was around two pixels. The proposed method was shown to be clinically applicable.
Chapter PDF
Similar content being viewed by others
References
Buck, S.D., et al.: A system to support laparoscopic surgery by augmented reality visualization. In: Niessen, W.J., Viergever, M.A. (eds.) MICCAI 2001. LNCS, vol. 2208, pp. 691–698. Springer, Heidelberg (2001)
Khadem, R., et al.: Endoscope calibration and accuracy testing for 3D/2D image registration. In: Niessen, W.J., Viergever, M.A. (eds.) MICCAI 2001. LNCS, vol. 2208, pp. 1361–1365. Springer, Heidelberg (2001)
Stefansic, J.D., et al.: Registration of physical space to laparoscopic image space for use in minimally invasive hepatic surgery. IEEE Trans. Med. Imag. 19, 1012–1023 (2000)
Tsai, R.Y.: A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses. IEEE Journal of Robotics and Automation RA-3, 323–344 (1987)
Haneishi, H., et al.: A new method for distortion correction of electronic dendoscope images. IEEE Trans. Med. Imag. 14, 548–555 (1995)
Vijayan, K., et al.: A new approach for nonlinear distortion correction in endoscopic images based on least squares estimation. IEEE Trans. Med. Imag. 18, 345–354 (1995)
Smith, W.E., et al.: Correction of distortion in endoscopic images. IEEE Trans. Med. Imag. 11, 117–122 (1992)
Shahidi, R., et al.: Implementation, calibration and accuracy testing of an imageenhanced endoscopy system. IEEE Trans. Med. Imag. 21, 1524–1535 (2002)
Edwards, P. J., et al.: Design and evaluation of a system for microscope-assisted guided interventions (MAGI). IEEE Trans. Med. Imag. 19, 1082–1093 (2000)
Nakamoto, M., et al.: 3D ultrasound system using a magneto-optic hybrid tracker for augmented reality visualization in laparoscopic liver surgery. In: Dohi, T., Kikinis, R. (eds.) MICCAI 2002. LNCS, vol. 2489, pp. 148–155. Springer, Heidelberg (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Yamaguchi, T. et al. (2003). Camera Model and Calibration Procedure for Oblique-Viewing Endoscope. In: Ellis, R.E., Peters, T.M. (eds) Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003. MICCAI 2003. Lecture Notes in Computer Science, vol 2879. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-39903-2_46
Download citation
DOI: https://doi.org/10.1007/978-3-540-39903-2_46
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-20464-0
Online ISBN: 978-3-540-39903-2
eBook Packages: Springer Book Archive