Automatic robotic arm calibration to camera system using a laser
AssigneeKoninklijke Philips N.V.
InventorsAleksandra Popovic, Johannes Petrus Withagen, David Paul Noonan, Jurgen Jean Louis Hoppenbrouwers
Life of this patent
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Abstract
A system for calibration of a robot includes an imaging system (136) including two or more cameras (132). A registration device (120) is configured to align positions of a light spot (140) on a reference platform as detected by the two or more cameras with robot positions corresponding with the light spot positions to register an imaging system coordinate system (156) with a robot coordinate system (150).
Claims20
A system for calibration of a robot, the system comprising:
- a medical imaging system comprising a detector;
- two or more cameras, the two or more cameras being disposed on the detector;
- a processor;
- and
- a memory that stores instructions, which when executed by the processor, cause the processor to align a light source mounted on a robot to position a same light spot or pattern on a reference platform as detected by the two or more cameras with robot positions corresponding with the positions of the same light spot or pattern to register an imaging system coordinate system of the medical imaging system with a robot coordinate system.
A system for calibration of a robot, the system comprising:
- an X-ray imaging system comprising an X-ray detector configured to receive X-rays for imaging a subject;
- a camera array mounted on the X-ray detector and including two or more cameras;
- a directed light source adapted to provide a light spot or pattern;
- a robot comprising a fixed reference portion and one or more links, wherein one of the one or more links comprises a tool holding mechanism, wherein the tool holding mechanism is adjusted to mount the directed light source on a portion of the robot;
- a processor;
- and
- a memory that stores instructions, which when executed by the processor, cause the processor to align positions of the light spot or pattern on a reference platform as detected by the two or more cameras with robot positions to register an imaging system coordinate system with a robot coordinate system.
A method for calibrating a robot, comprising:
- projecting a light spot or pattern on a reference platform from the robot in at least one known position;
- imaging the light spot or pattern in two or more cameras associated with a medical imaging system, wherein the two or more cameras are disposed on the medical imaging system;
- and
- registering positions of the light spot or pattern on the reference platform as detected by the two or more cameras with the at least one known position to register an imaging system coordinate system with a robot coordinate system.
Dependencies are inferred from the claim text.