Autonomy is the next frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future.
One fundamental requirement for autonomy is advanced perception capability through vision sensors.
In this article, we propose a novel calibration technique for a surgical scenario with a da Vinci® Research Kit (dVRK) robot. Camera and robotic arms calibration are necessary to precise position and emulate expert surgeons. The novel calibration technique is tailored for RGB-D cameras.