@inproceedings{d59295df85174498b17faf41779732e1,
title = "Plenoptic cameras in surgical robotics: Calibration, registration, and evaluation",
abstract = "Three-dimensional sensing of changing surgical scenes would improve the function of surgical robots. This paper explores the requirements and utility of a new type of depth sensor, the plenoptic camera, for surgical robots. We present a metric calibration procedure for the plenoptic camera and the registration of its coordinate frame to the robot (hand-eye calibration). We also demonstrate the utility in robotic needle insertion and application of sutures in phantoms. The metric calibration accuracy is reported as 1.14 ± 0.80 mm for the plenoptic camera and 1.57 ± 0.90 mm for hand-eye calibration. The accuracy of needle insertion task is 1.79 ± 0.35 mm for the entire robotic system. Additionally, the accuracy of suture placement with the presented system is reported at 1.80 ± 0.43 mm. Finally, we report consistent suture spacing with only 0.11 mm standard deviation between inter-suture distances. The measured accuracy of less than 2 mm with consistent suture spacing is a promising result to provide repeatable leak-free suturing with a robotic tool and a plenoptic depth imager.",
author = "Azad Shademan and Decker, \{Ryan S.\} and Justin Opfermann and Simon Leonard and Kim, \{Peter C.W.\} and Axel Krieger",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 ; Conference date: 16-05-2016 Through 21-05-2016",
year = "2016",
month = jun,
day = "8",
doi = "10.1109/ICRA.2016.7487197",
language = "English",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "708--714",
booktitle = "2016 IEEE International Conference on Robotics and Automation, ICRA 2016",
address = "United States",
}