Full Text:   <759>

Summary:  <530>

CLC number: TP391; R608

On-line Access: 2014-12-23

Received: 2014-04-22

Revision Accepted: 2014-09-25

Crosschecked: 2014-12-08

Cited: 0

Clicked: 2117

Citations:  Bibtex RefMan EndNote GB/T7714




Li-qiang WANG


-   Go to

Article info.
Open peer comments

Frontiers of Information Technology & Electronic Engineering  2015 Vol.16 No.1 P.79-84


Design and calibration of a new high-definition three-dimensional laparoscopic system

Author(s):  Jia Tang, Li-qiang Wang, Bo Yuan, Hong Jiang, Qi-ming Zhu

Affiliation(s):  State Key Laboratory of Modern Optical Instrumentation, Optical Engineering Department, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   wangliqiang@zju.edu.cn

Key Words:  Dual optical channels, Three dimensional, Camera calibration, Pinhole model, Depth measurement, Laparoscopic system

Share this article to: More <<< Previous Article|

Jia Tang, Li-qiang Wang, Bo Yuan, Hong Jiang, Qi-ming Zhu. Design and calibration of a new high-definition three-dimensional laparoscopic system[J]. Frontiers of Information Technology & Electronic Engineering, 2015, 16(1): 79-84.

@article{title="Design and calibration of a new high-definition three-dimensional laparoscopic system",
author="Jia Tang, Li-qiang Wang, Bo Yuan, Hong Jiang, Qi-ming Zhu",
journal="Frontiers of Information Technology & Electronic Engineering",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Design and calibration of a new high-definition three-dimensional laparoscopic system
%A Jia Tang
%A Li-qiang Wang
%A Bo Yuan
%A Hong Jiang
%A Qi-ming Zhu
%J Frontiers of Information Technology & Electronic Engineering
%V 16
%N 1
%P 79-84
%@ 2095-9184
%D 2015
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1400149

T1 - Design and calibration of a new high-definition three-dimensional laparoscopic system
A1 - Jia Tang
A1 - Li-qiang Wang
A1 - Bo Yuan
A1 - Hong Jiang
A1 - Qi-ming Zhu
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 16
IS - 1
SP - 79
EP - 84
%@ 2095-9184
Y1 - 2015
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1400149

We present a high-definition (HD) 3D laparoscopic system including a dual channel optical system, two cameras, a camera control unit (CCU), and an HD 3D monitor. This laparoscopic system is capable of outputting dual high-definition videos and providing vivid 3D images. A modified pinhole camera model is used for camera calibration and a new method of depth measurement to improve precision. The average error of depth measurement measured by experiment (about 1.13 mm) was small in proportion to the large range in distance of the system (10–150 mm). The new method is applicable to any calibrated binocular vision system.

The authors constituted a set of 3D laparoscopic system using two HD cameras, and calibrated the camera system using a novel algorithm in consideration of a different focal length and rotation angle between two cameras as well as relatively short working distance in real laparoscopic surgery. It is interesting.


方法:首先,根据图像传感器参数和视场需求大小确定内窥镜光学系统的有效焦距,在此基础上设计包括中继透镜在内的双通道光学镜头(图1)。其次,设计CCU用于采集和处理双通道高清视频图像,并通过HDMI输出将它们同时显示在3D显示器上,由此构建了高清三维腹腔镜系统(图4)。最后,针对双目内窥镜系统采用传统针孔模型计算距离存在较大误差的问题,通过理论分析提出一种新的距离计算方法,并在0-150 mm范围内的距离测量实验中验证该算法的有效性(图3)。


Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


[1]Barreto, J.P., Roquette, J., Sturm, P., et al., 2009. Automatic camera calibration applied to medical endoscopy. Proc. 20th British Machine Vision Conf., p.1-10.

[2]Bouguet, J.Y., 2013. Camera Calibration Toolbox for Matlab. Available from http://www.vision.caltech.edu/bouguetj/calib_doc/ [Accessed on July 30, 2014].

[3]Edgcumbe, P., Nguan, C., Rohling, R., 2013. Calibration and stereo tracking of a laparoscopic ultrasound transducer for augmented reality in surgery. Proc. 6th Int. Workshop on Augmented Reality Environments for Medical Imaging and 8th Int. Workshop on Computer-Assisted Interventions, p.258-267.

[4]Ellis, H., 2007. The Hopkins rod-lens system. J. Perioper. Pract., 17(6):272-274.

[5]Feng, C., Rozenblit, J.W., Hamilton, A.J., 2010. A computerized assessment to compare the impact of standard, stereoscopic, and high-definition laparoscopic monitor displays on surgical technique. Surg. Endosc., 24(11):2743-2748.

[6]Field, M., Clarke, D., Strup, S., et al., 2009. Stereo endoscopy as a 3-D measurement tool. Proc. Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society, p.5748-5751.

[7]Heikkila, J., Silven, O., 1997. A four-step camera calibration procedure with implicit image correction. Proc. IEEE Computer Society Conf. on Computer Vision and Pattern Recognition, p.1106-1112.

[8]Honeck, P., Wendt-Nordahl, G., Rassweiler, J., et al., 2012. Three-dimensional laparoscopic imaging improves surgical performance on standardized ex-vivo laparoscopic tasks. J. Endourol., 26(8):1085-1088.

[9]Keller, K., State, A., 2011. A single-imager stereoscopic endoscope. SPIE, 7964:79641Z.1-79641Z.6.

[10]Kong, S.H., Oh, B.M., Yoon, H., et al., 2009. Comparison of two- and three-dimensional camera systems in laparoscopic performance: a novel 3D system with one camera. Surg. Endosc., 24(5):1132-1143.

[11]Melo, R., Barreto, J.P., Falcao, G., 2012. A new solution for camera calibration and real-time image distortion correction in medical endoscopy—initial technical evaluation. IEEE Trans. Biomed. Eng., 59(3):634-644.

[12]Wengert, C., Reeff, M., Cattin, P.C., et al., 2006. Fully automatic endoscope calibration for intraoperative use. Proc. des Workshop on Algorithmen Systeme Anwendungen, p.419-423.

[13]Zhang, Z., 2000. A flexible new technique for camera calibration. IEEE Trans. Patt. Anal. Mach. Intell., 22(11):1330-1334.

Open peer comments: Debate/Discuss/Question/Opinion


Please provide your name, email address and a comment

Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - Journal of Zhejiang University-SCIENCE