Systems and methods for self-alignment and adjustment of robotic endoscope
AssigneeNoah Medical Corporation
InventorsCarol Kayee Hung, Piotr Robert Slawinski, Hendrik Thompson, Maziyar Keshtgar
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Abstract
A method is provided for a robotic endoscope system. The method comprises: generating a 3D depth map of an environment surrounding the robotic endoscope system; autonomously actuating a self-propelled base of a robotic support system to a desired location relative to a patient bed based on the 3D depth map, wherein the robotic support system comprises a robotic arm coupled to the self-propelled base at a proximal end and coupled to a flexible endoscope apparatus via an instrument driving mechanism (IDM) at a distal end; and actuating the robotic arm to align the IDM to a component coupled to or part of the patient bed.
Claims26
A method for controlling a robotic endoscope system, the method comprising:
- generating a 3D depth map of an environment surrounding the robotic endoscope system;
- autonomously actuating a self-propelled base of a robotic support system to a desired location relative to a patient bed based on the 3D depth map, wherein the robotic support system comprises a robotic arm coupled to the self-propelled base at a proximal end and an instrument driving mechanism (IDM) at a distal end;
- and
- actuating the robotic arm to autonomously align the IDM to a component coupled to or as a part of the patient bed.
A system for controlling a robotic endoscope system, the system comprising:
- a memory storing computer-executable instructions;
- one or more processors in communication with the robotic endoscope system and configured to execute the computer-executable instructions to:
- generate a 3D depth map of an environment surrounding the robotic endoscope system;
- autonomously actuate a self-propelled base of a robotic support system to a desired location relative to a patient bed based on the 3D depth map, wherein the robotic support system comprises a robotic arm coupled to the self-propelled base at a proximal end and an instrument driving mechanism (IDM) at a distal end;
- and
- actuate the robotic arm to autonomously align the IDM to a component coupled to or as a part of the patient bed.
Dependencies are inferred from the claim text.