AUTOMATED ENDOSCOPE CALIBRATION
First Claim
1. A method for controlling an endoscope of a surgical robotic system, comprising:
- receiving a command to move the endoscope using the surgical robotic system;
accessing a set of calibration parameters associated with the endoscope;
generating an adjusted command based on the command and the set of calibration parameters;
providing the adjusted command to the surgical robotic system to move the endoscope; and
receiving movement information describing motion of the endoscope in response at least to the adjusted command.
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Accused Products
Abstract
A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By accounting for nonlinear behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. The surgical robotic system models the nonlinearities using sets of calibration parameters determined based on images captured by an image sensor of the endoscope. Calibration parameters can describe translational or rotational movements of the endoscope in one or more axis, e.g., pitch and yaw, as well as a slope, hysteresis, or dead zone value corresponding to the endoscope'"'"'s motion. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath or the leader, which causes the endoscope to articulate.
187 Citations
20 Claims
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1. A method for controlling an endoscope of a surgical robotic system, comprising:
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receiving a command to move the endoscope using the surgical robotic system; accessing a set of calibration parameters associated with the endoscope; generating an adjusted command based on the command and the set of calibration parameters; providing the adjusted command to the surgical robotic system to move the endoscope; and receiving movement information describing motion of the endoscope in response at least to the adjusted command. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for automated calibration of an endoscope of a surgical robotic system, comprising:
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providing a command to move the endoscope using the surgical robotic system; receiving movement information describing motion of the endoscope in response at least to the command; receiving a plurality of images captured by an image sensor coupled to a tip of the endoscope during the motion of the endoscope in response at least to the command; generating a first set of calibration parameters by performing image registration using the plurality of images; generating a second set of calibration parameters by performing calibration curve fitting using the movement information; and storing the first and the second sets of calibration parameters in association with the endoscope. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A surgical robotic system, comprising:
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an endoscope; a robotic arm including a drive mechanism, the drive mechanism coupled to the endoscope; and a controller configured to; receive a command to move the endoscope using the robotic arm; access a set of calibration parameters associated with the endoscope; generate an adjusted command based on the command and the set of calibration parameters; and provide the adjusted command to the robotic arm to move the endoscope. - View Dependent Claims (19, 20)
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Specification