Camera-Robot Calibration for the Da Vinci Robotic Surgery System.
Orhan ÖzgünerTom ShkurtiSiqi HuangRan HaoRussell C. JacksonWyatt S. NewmanMurat Cenk CavusogluPublished in: IEEE Trans Autom. Sci. Eng. (2020)
Keyphrases
- hand eye calibration
- hand eye
- mobile robot
- vision system
- robotic systems
- relative pose
- camera parameters
- camera calibration
- visual servoing
- focal length
- autocalibration
- surgical robot
- stereo camera
- calibration method
- end effector
- minimally invasive
- computer assisted
- manipulation tasks
- calibration procedure
- autonomous robots
- intrinsic parameters
- robotic platform
- position and orientation
- robot programming
- inertial sensors
- lens distortion
- robot motion
- robotic arm
- real time
- robot control
- camera network
- robot moves
- force feedback
- wide angle lenses
- robot assisted
- service robots
- structure from motion
- intraoperative
- tactile sensing
- parallel robot
- outdoor environments
- camera orientation
- real robot
- path planning
- human robot interaction
- scene structure
- camera positions
- gaze tracking
- visual feedback
- camera pose
- radial distortion
- image coordinates
- field of view
- surgical training
- optical axis
- contact force
- motion planning
- robot arm
- gaze estimation
- minimally invasive surgery