Research on Puncture Area Calibration of Image Navigation for Radio Frequency Ablation Robot

Abstract

Aiming at puncture image characteristic of robot auxiliary radio frequency ablation, a modified tradition camera calibration method is proposed in this paper. Based on the comprehensive analysis for puncture image distortion characteristic, there are three geometric distortions in the puncture image system: radial distortion, centrifugal distortion and thin lens distortion, we research the distortions and establish the correction matrixes one by one, and then establish the camera mathematical model under the puncture condition, complete the coordinate systems’ conversion calculation to obtain the camera internal and external parameters, finally to get the puncture system calibration polynomial. Through the comparative experiment that takes the area as parameter, we get that the puncture system calibration method after image correction can meet the accuracy requirement in actually.