/Multimodal Registration Using Stereo Imaging and Contact Sensing

Multimodal Registration Using Stereo Imaging and Contact Sensing

Arun Srivatsan Rangaprasad, Prasad Vagdargi, Nicolas Zevallos and Howie Choset
Conference Paper, Robotics: Science and Systems, workshop on 'Revisiting Contact - Turning a Problem into a Solution', pp. 4, July, 2017

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.


Registration plays an important role in robot assisted minimally invasive surgeries, by localizing the tool-tip onto the preoperative model of the anatomy. Contact-based point measurements have been typically used to perform registration. However, a lot of time is spent in moving the robot tool to obtain these measurements. On the other hand, stereo imaging quickly provides thousands of point measurements, but these measurements are affected by noise in the measurements as well as artifacts such as occlusions and specular reflections. In this work, we use both stereo and contact measurements in a complementary manner to obtain fast and accurate registration estimates. We show that stereo measurements provide fast and approximate registration estimates, which can then be refined with as few as 10 contact measurements. We validate our approach with experiments performed using a daVinci surgical robot on femur bone and silicone phantom tissue. In comparison with the popular registration method iterative closest point, our approach is faster by an order of magnitude.

BibTeX Reference
author = {Arun Srivatsan Rangaprasad and Prasad Vagdargi and Nicolas Zevallos and Howie Choset},
title = {Multimodal Registration Using Stereo Imaging and Contact Sensing},
booktitle = {Robotics: Science and Systems, workshop on 'Revisiting Contact - Turning a Problem into a Solution'},
year = {2017},
month = {July},
pages = {4},