Laparoscope Self-calibration for Robotic Assisted Minimally Invasive Surgery

  • Danail Stoyanov
  • Ara Darzi
  • Guang-Zhong Yang
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3750)


For robotic assisted minimal access surgery, recovering 3D soft tissue deformation is important for intra-operative surgical guidance, motion compensation, and prescribing active constraints. We propose in this paper a method for determining varying focal lengths of stereo laparoscope cameras during robotic surgery. Laparoscopic images typically feature dynamic scenes of soft-tissue deformation and self-calibration is difficult with existing approaches due to the lack of rigid temporal constraints. The proposed method is based on the direct derivation of the focal lengths from the fundamental matrix of the stereo cameras with known extrinsic parameters. This solves a restricted self-calibration problem, and the introduction of the additional constraints improves the inherent accuracy of the algorithm. The practical value of the method is demonstrated with analysis of results from both synthetic and in vivo data sets.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Danail Stoyanov
    • 1
  • Ara Darzi
    • 2
  • Guang-Zhong Yang
    • 1
    • 2
  1. 1.Medical Image Computing LaboratoryRoyal Society/Wolfson FoundationUK
  2. 2.Department of Surgical Oncology and TechnologyImperial College of Science, Technology and MedicineLondonUK

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