Image integration and robotic endoscope control in X-ray suite

A workstation for calibrating a robotic instrument including an endoscope having a distal tip within an X-ray image space of an X-ray modality, the workstation comprising:

• one or more processors configured to:
• calibrate a remote center of motion (RCM) length of the robotic instrument responsive to a generation by the X-ray modality of at least two X-ray images of different poses of the distal tip of the robotic instrument within the X-ray image space, and
• compute a focal length of the endoscope as function of a registration of the X-ray imaging modality to the robotic instrument and a point matching between at least three X-ray images and the at least one endoscope image;
• and
• a robotic instrument controller in communication with the one or more processors and configured to control a guidance of the endoscope within the X-ray image space based on the RCM length of the endoscope and the focal length of the endoscope.

A calibration method for calibrating a robotic instrument having a robotically controlled endoscope having a distal tip within an X-ray image space of an X-ray modality, the calibration method comprising:

• with the X-ray modality, generating at least three X-ray images of different poses of the distal tip of the robotically controlled endoscope within the X-ray image space;
• point matching the at least three x-ray images and at least one endoscopic image;
• calculating a focal length of the robotically controlled endoscope based on the point matching;
• calibrating a remote center of motion (RCM) length and the focal length of the robotically controlled endoscope;
• and
• with the robotically controlled endoscope, generating at least one endoscope image.