This thesis addresses the need to have calibrated cameras in surgery rooms. Data can then be collected during surgeries to assist the surgeons and it can later be used for postoperation analysis. Typical techniques for camera calibration are not adequate for a medical environment due to the cameras constantly moving and with no rigid area always in the cameras’ view. The proposed approach is to calibrate cameras attached to surgical lights by utilizing extra cameras placed on the ceiling. The ceiling cameras find the position of the light cameras and calibrate their extrinsic parameters. This indirect calibration method provides an accurate method of camera calibration without limiting the normal operations of the surgeons. On average the indirect calibration was able to locate the light camera to 4.81 mm of the position found by a standard camera calibration. The indirect calibration was also able to perform simple tracking to within 1.28 mm of the location given by direct calibration. Finally, an error equation was created that is able to provide a rough estimate of the error expected from the system with a custom setup.

Library of Congress Subject Headings

Imaging systems in medicine; Cameras--Calibration; Surgery

Publication Date


Document Type


Department, Program, or Center

Computer Engineering (KGCOE)


Cockburn, Juan

Advisor/Committee Member

Ray, Lawrence


Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works. Physical copy available through RIT's The Wallace Library at: R857.O6 T45 2008


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