Camera model and calibration procedure for oblique-viewing endoscope

Tetsuzo Yamaguchi, Masahiko Nakamoto, Yoshinobu Sato, Yoshikazu Nakajima, Kozo Konishi, Makoto Hashizume, Takashi Nishii, Nobuhiko Sugano, Hideki Yoshikawa, Kazuo Yonenobu, Shinichi Tamura

Research output: Contribution to journalConference articlepeer-review

17 Citations (Scopus)


Oblique-viewing endoscopes (oblique scopes) are widely used medically. It is essential for certain procedures such as laparoscopy, arthroscopy, and sinus endoscopy. In an oblique scope, its viewing directions are changeable by rotating the scope cylinder. Although a camera calibration method is necessary to apply augmented reality technologies to oblique endoscopic procedures, no method for oblique scope calibration has been developed yet. In the present paper, we formulate a camera model and a calibration procedure for oblique scopes. In the calibration procedure, Tsai's calibration is performed at zero-rotation of the scope cylinder, and then the variation of the external camera parameters corresponding to the rotation of the scope cylinder is modeled and estimated as a function of the rotation angle. Accurate estimation of the rotational axis is included in the procedure. The precision of this estimation was demonstrated to have a significant effect on the overall calibration accuracy in the experimental evaluation especially with large rotation angles. The projection error in the image plane was around two pixels. The proposed method was shown to be clinically applicable.

Original languageEnglish
Pages (from-to)373-381
Number of pages9
JournalLecture Notes in Computer Science
Issue numberPART 2
Publication statusPublished - 2003
EventMedical Image Computing and Computer-Assisted Intervention, MICCAI 2003 - 6th International Conference Proceedings - Montreal, Que., Canada
Duration: Nov 15 2003Nov 18 2003

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)


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