Correcting a robotic surgery user interface device tracking input
AssigneeVerb Surgical Inc.
InventorsHasan Tutkun Sen, Sina Nia Kosari
Life of this patent
Estimating the term…
Abstract
A sequence of tracking input samples that are measures of position or orientation of a user interface device, UID, being held by a user, are received. In a prediction phase, a current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the UID. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. In an update phase, an updated output sample of the state of the LQE is computed, based on i) a previously computed output sample from the prediction phase, and ii) a most recent tracking input sample. Other embodiments are also described and claimed.
Claims18
A method for correcting a user interface device, UID, tracking input in a robotic surgery system, the method comprising:
- receiving a sequence of tracking input samples that are measures of position or orientation of a user interface device, UID, in a robotic surgery system;
- in a prediction phase of a linear quadratic estimator, LQE, computing a current output sample of a state of the LQE that is an estimate of the position or orientation of the UID, wherein the current output sample is computed based on i) a previously computed output sample, and ii) a velocity term, wherein computing the current output sample comprises fitting a line to a plurality of previously computed output samples that are within a window and the velocity term comprises a slope of the line;
- and
- in an update phase of the LQE, computing an updated output sample of the state of the LQE, based on i) a previously computed output sample from the prediction phase, and ii) a tracking input sample.
An article of manufacture comprising:
- a machine-readable medium having stored therein instructions that when executed by a processor correct a user interface device, UID, tracking input, by producing an output sequence that is an estimate of the position or the orientation of the UID, wherein the processor is to
- receive a sequence of tracking input samples that are measures of position or orientation of a user interface device, UID, in a robotic surgery system,
- in a prediction phase of a linear quadratic estimator, LQE, compute a current output sample of a state of the LQE that is an estimate of the position or orientation of the UID, wherein the current output sample is computed based on i) a previously computed output sample, and ii) a velocity term, wherein the processor computes the current output sample by fitting, a line to a plurality of previously computed output samples that are within a window and the velocity comprises a slope of the line, and
- in an update phase of the LQE, compute an updated output sample of the state of the LQE, based on i) a previously computed output sample from the prediction phase, and ii) a tracking input sample.
Dependencies are inferred from the claim text.