In this section

Mechatronics in Medicine

The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.

Head of Group

B415C Bessemer Building
South Kensington Campus

+44 (0)20 7594 7046

What we do

The Mechatronics in Medicine Laboratory develops robotic and mechatronics surgical systems for a variety of procedures including neuro, cardiovascular, orthopaedic surgeries, and colonoscopies. Examples include bio-inspired catheters that can navigate along complex paths within the brain (such as EDEN2020), soft robots to explore endoluminal anatomies (such as the colon), and virtual reality solutions to support surgeons during knee replacement surgeries.

Meet the team

Mr Ayhan Aktas
Casual - Student demonstrator - lower rate

Dr Daniel Bautista Salinas
Research Associate

Dr Kaiwen Chen
Research Associate

Mr Zejian Cui
Research Assistant

Mr Connor Daly
Research Postgraduate

Emeritus Professor Brian L Davies FREng
Emeritus Professor

Mr Zhaoyang Jacopo Hu
Research Postgraduate

Dr Hisham M Iqbal
Research Associate

Mr Alex Ranne
Research Postgraduate

Professor Ferdinando M Rodriguez y Baena
Co-Director of Hamlyn Centre, Professor of Medical Robotics

Dr Jialei Shi
Research Associate

Mr Spyridon Souipas
Casual - Other work

Ms Emilia Zari
Research Postgraduate

Citation

BibTex format

@article{Hu:2020:10.1109/ACCESS.2020.3044184,
author = {Hu, X and Rodriguez, y Baena F and Cutolo, F},
doi = {10.1109/ACCESS.2020.3044184},
journal = {IEEE Access},
pages = {223661--223674},
title = {Alignment-free offline calibration of commercial optical see-through head-mounted displays with simplified procedures},
url = {http://dx.doi.org/10.1109/ACCESS.2020.3044184},
volume = {8},
year = {2020}
}

Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Despite the growing availability of self-contained augmented reality head-mounted displays (AR HMDs) based on optical see-through (OST) technology, their potential applications across highly challenging medical and industrial settings are still hampered by the complexity of the display calibration required to ensure the locational coherence between the real and virtual elements. The calibration of commercial OST displays remains an open challenge due to the inaccessibility of the user’s perspective and the limited hardware information available to the end-user. State-of-the-art calibrations usually comprise both offline and online stages. The offline calibration at a generic viewpoint provides a starting point for the subsequent refinements and it is crucial. Current offline calibration methods either heavily rely on the user-alignment or require complicated hardware calibrations, making the overall procedure subjective and/or tedious. To address this problem, in this work we propose two fully alignment-free calibration methods with less complicated hardware calibration procedures compared with state-of-the-art solutions. The first method employs an eye-replacement camera to compute the rendering camera’s projection matrix based on photogrammetry techniques. The second method controls the rendered object position in a tracked 3D space to compensate for the parallax-related misalignment for a generic viewpoint. Both methods have been tested on Microsoft HoloLens 1. Quantitative results show that the average overlay misalignment is fewer than 4 pixels (around 1.5 mm or 9 arcmin) when the target stays within arm’s reach. The achieved misalignment is much lower than the HoloLens default interpupillary distance (IPD)-based correction, and equivalent but with lower variance than the Single Point Active Alignment Method (SPAAM)-based calibration. The two proposed methods offer strengths in complementary aspects and can be chosen according to the user&rsqu
AU  - Hu,X
AU  - Rodriguez,y Baena F
AU  - Cutolo,F
DO  - 10.1109/ACCESS.2020.3044184
EP  - 223674
PY  - 2020///
SN  - 2169-3536
SP  - 223661
TI  - Alignment-free offline calibration of commercial optical see-through head-mounted displays with simplified procedures
T2  - IEEE Access
UR  - http://dx.doi.org/10.1109/ACCESS.2020.3044184
UR  - https://ieeexplore.ieee.org/document/9291377
UR  - http://hdl.handle.net/10044/1/84939
VL  - 8
ER  -