Camera calibration using fiducial markers on surgical tools
Calibration of parameters of an endoscopic or laparoscopic camera is conducted while the camera is in use capturing images of a surgical procedure at a surgical site. The surgical procedure is performed using a surgical instrument marked with a fiducial pattern. A processor receives image data from images captured by the camera and uses machine vision to detect points of the pattern, and carries out an optimization to determine the 3D pose of the surgical instrument relative to the camera and the camera parameters.
1. A surgical instrument having a distal portion positionable in a body cavity, the surgical instrument including an elongate shaft and a fiducial calibration pattern for use in estimating intrinsic camera parameters of a stereo endoscopic camera used at the surgical site, the fiducial calibration pattern positioned on the elongate shaft such that the fiducial calibration pattern is disposed within the body cavity and visible to a stereo endoscopic camera capturing images from within said body cavity during a surgical procedure.
2. The surgical instrument of claim 1 , wherein the pattern comprises a plurality of polygons of known geometry.
3. The surgical instrument of claim 2 , wherein the polygons are rectangles.
4. The surgical instrument of claim 3 , wherein the pattern is a checkerboard pattern.
5. The surgical instrument of claim 1 , wherein the surgical instrument includes a diagnostic or therapeutic element at a distal end of the shaft.
6. The surgical instrument of claim 1 , wherein the fiducial calibration pattern extends 360 degrees around a circumference of the shaft.
7. A method of calibrating a camera during surgery, comprising the steps of:
positioning a camera with its distal end at a surgical treatment site within a body cavity;
providing a surgical instrument having a fiducial calibration pattern thereon, and positioning the surgical instrument such that the fiducial calibration pattern is disposed within the body cavity;
with the distal end of the camera within the body cavity, using the camera to capture a plurality of images of the surgical instrument within the body cavity; and
based on locations of image fiducials in the plurality of images, and the known fiducials geometry, estimating the camera parameters.
8. The method of claim 7 , wherein the fiducial calibration pattern is on the shaft of the instrument.
9. The method of claim 7 , further comprising the step of using the surgical instrument to treat tissue at the treatment site while estimating the camera parameters.
10. The method of claim 7 , further comprising the step of using the surgical instrument to diagnose a condition at the treatment site while estimating the camera parameters.
11. The method of claim 7 , wherein estimating the camera parameters includes estimating the intrinsic camera parameters.
12. The method of claim 7 , wherein estimating the camera parameters includes estimating the extrinsic camera parameters.
13. The method of claim 7 , further including the step of using the camera to capture a plurality of surgical images of the surgical treatment site within the body cavity and displaying said plurality of surgical images in real time on a display.
14. A surgical system comprising:
a stereo endoscopic camera positionable in a body cavity;
a surgical instrument positionable in the body cavity, the surgical instrument including an elongate shaft and a fiducial calibration pattern on the elongate shaft;
at least one processor comprising at least one memory storing algorithms executable by the processor to:
while the stereo endoscopic camera is positioned with its distal tip in the body cavity, receive images from the stereo endoscopic camera, the images comprising images captured from within the body cavity, wherein said images are of the fiducial calibration pattern within the body cavity, and
using a location of scene points in the fiducial calibration pattern in a plurality of the images and a known geometry of the fiducial calibration pattern, estimating the parameters of the stereo endoscopic camera.
15. The system of claim 14 , wherein the pattern comprises a plurality of polygons of known geometry.
16. The system claim 15 , wherein the polygons are rectangles.
17. The system of claim 14 , wherein the pattern is a checkerboard pattern.
18. The system of claim 14 , wherein the surgical instrument includes a diagnostic or therapeutic element at a distal end of the shaft.
19. The system of claim 14 , wherein the fiducial calibration pattern extends 360 degrees around a circumference of the shaft.
20. The system of claim 14 , wherein the parameters include intrinsic parameters.
21. The system of claim 14 , wherein the parameters include extrinsic parameters.
22. The method of claim 14 , wherein the system further includes a display, wherein the camera is further for capturing a plurality of surgical images of a surgical treatment site within the body cavity for display in real time on the display.