Methods of locating and tracking robotic instruments in robotic surgical systems
First Claim
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1. A method to locate a robotic instrument in a field of view of a camera, the method comprising:
- capturing sequential images in a field of view of a camera, the sequential images being correlated between successive views;
receiving a kinematic datum to provide an approximate location of the robotic instrument; and
analyzing the sequential images in response to the approximate location of the robotic instrument.
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Abstract
In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.
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Citations
25 Claims
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1. A method to locate a robotic instrument in a field of view of a camera, the method comprising:
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capturing sequential images in a field of view of a camera, the sequential images being correlated between successive views; receiving a kinematic datum to provide an approximate location of the robotic instrument; and analyzing the sequential images in response to the approximate location of the robotic instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for robotic systems, the method comprising:
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receiving one or more video images of at least one robotic instrument in reference to a camera coordinate system; receiving kinematics information associated with the at least one robotic instrument; and localizing the at least one robotic instrument in the camera coordinate system in response to the one or more video images and the kinematics information. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A method for indicating tool entrance into a field of view of a camera, the method comprising:
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tracking a robotic surgical tool in and out of a field of view of a camera; determining that the robotic surgical tool is outside the field of view of the camera in response to the tracking of the robotic surgical tool; and displaying one of a plurality of compass icons in a display of the field of view to indicate a direction of tool reentrance into the field of view. - View Dependent Claims (23, 24, 25)
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Specification