A hand-eye calibration method for augmented reality applied to computer-assisted orthopedic surgery.

Abstract

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Augmented reality (AR) allows the surgeon to represent holographic patient-specific anatomical information and surgical instruments in the physical world. To correctly superimpose virtual and physical objects, a hand-eye (HE) calibration method for mapping the virtual and physical spaces was proposed. Mathematical relationships between the virtual camera and the physical space were derived. Finally, the accuracy and robustness of the proposed HE calibration method were qualitatively and quantitatively evaluated. The proposed calibration method allows us to determine an optimal invariant spatiotemporal mapping between the virtual camera and the physical space. Qualitatively and quantitatively reliable and accurate estimates for the physical-virtual mapping transformation were verified. Consequently, imaging data and surgical instruments holograms can be precisely represented in the physical space.