Optical coherence tomography based 1D to 6D eye-in-hand calibration

Volume
2017
Start Page
5886
End Page
5891
Article Number
8206481
Citation
IEEE International Conference on Intelligent Robots and Systems (2017-September): 8206481, 5886-5891 (2017-12-13)
Contribution to Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017  
Publisher DOI
10.1109/IROS.2017.8206481
Scopus ID
2-s2.0-85041943767
Publisher
IEEE
Optical coherence tomography (OCT) is an interferometric imaging modality with spatial resolution in the micrometer range. The OCT signal can be used to detect small structures to measure deformation or to characterize tissue. Moreover, OCT can be realized through a single optical fiber, i.e., it can be easily integrated with instruments. However, to use OCT for intra-operative guidance its spatial alignment needs to be established. Hence, we consider eye-in-hand calibration between the 1D OCT imaging and a 6D robotic position system. We present a method to perform pivot calibration for OCT and based on this introduce pivot+d, a new 1D to 6D eye-in-hand calibration. We provide detailed results on the convergence and accuracy of our method and use translational and rotational ground truth to show that our methods allow for submillimeter positioning accuracy of an OCT beam with a robot. For pivot calibration we observe a mean translational error of 0.5161 ± 0.4549 mm while pivot+d shows 0.3772 ± 0.2383 mm. Additionally, pivot+d improves rotation detection by about 8° when compared to pivot calibration.
DDC Class
600: Technik