Abstract: Systems and methods for calibrating an optical tracking system, using a non-planar rigid artifact, are disclosed. Absolute calibration data comprising conditions for validity is determined based on the known geometry of the artifact. The optical tracking system is placed in the conditions for validity. A relative movement between the artifact and the optical sensor is produced across a working volume. Positional data is acquired for each of the plurality of fiducials using the optical sensor. An artifact geometry is determined based on the positional data and the absolute calibration data. The optical system is placed in a different condition. Relative movement is produced between the artifact and the optical sensor across the working volume. Raw positional data is acquired foreach of the plurality of fiducials using the optical sensor. Relative calibration parameters of the optical tracking system are determined based on the raw positional data and the artifact geometry.

Abstract: Disclosed is a method for determining the offset or misalignment between the central or rotational axis and the optical axis of a rigid endoscope or a similar imaging device including a rigid body having an outer casing cylindrically-shaped in the direction of the optical axis, or including at least one segment having a rigid end with such a casing. The method includes taking a plurality of images with a field of view limited by a contour, the positioning of which relative to the central axis is, for each image, physically defined and specific, a relative angular rotation between the contour and the endoscope taking place between two successive images, and of determining a point or a pixel in the successively acquired images whose position remains unchanged, the point corresponding to the projection in the image plane of the central or rotational axis of the rigid body of the endoscope.