Systems and methods for master/tool registration and control for intuitive motion
AssigneeIntuitive Surgical Operations, Inc.
InventorsSimon P. Dimaio, Ambarish G. Goswami, Dinesh Rabindran, Changyeob Shin, Tao Zhao
Life of this patent
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Abstract
A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.
Claims20
A robotic system comprising:
- a plurality of manipulators;
- and
- a control system communicatively coupled to the plurality of manipulators, the control system configured to:
- receive image data provided by an imaging device, the image data being of a plurality of tools, the plurality of tools physically coupled to the plurality of manipulators,
- determine, based on the image data, a plurality of image-space tools, each image-space tool associated with a tool of the plurality of tools,
- determine a first correspondence of a first image-space tool of the plurality of image-space tools with a first tool of the plurality of tools based on a first tool correspondence setting associated with the first tool, and
- control the first tool by:
- identifying a first manipulator of the plurality of manipulators as coupled to the first tool;
- determining, based at least on the first correspondence, a first alignment relationship between the imaging device and the first tool;
- calculating, based at least on the first alignment relationship, motion of the first manipulator to move the first tool in accordance with a movement command;
- and
- commanding movement of the first manipulator based on the calculated motion.
A method performed by a computing system, the method comprising:
- receiving image data provided by an imaging device, the image data being of a plurality of tools, the plurality of tools physically coupled to a plurality of manipulators,
- determining, based on the image data, a plurality of image-space tools, each image-space tool associated with a tool of the plurality of tools,
- determining a first correspondence of a first image-space tool of the plurality of image-space tools with a first tool of the plurality of tools based on a first tool correspondence setting associated with the first tool, and
- controlling the first tool by:
- identifying a first manipulator of the plurality of manipulators as coupled to the first tool;
- determining, based at least on the first correspondence, a first alignment relationship between the imaging device and the first tool;
- calculating, based at least on the first alignment relationship, motion of the first manipulator to move the first tool in accordance with a movement command;
- and
- commanding movement of the first manipulator based on the calculated motion.
A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which, when executed by one or more processors, are adapted to cause the one or more processors to perform a method comprising:
- receiving image data provided by an imaging device, the image data being of a plurality of tools, the plurality of tools physically coupled to a plurality of manipulators,
- determining, based on the image data, a plurality of image-space tools, each image-space tool associated with a tool of the plurality of tools,
- determining a first correspondence of a first image-space tool of the plurality of image-space tools with a first tool of the plurality of tools based on a first tool correspondence setting associated with the first tool, and
- controlling the first tool by:
- identifying a first manipulator of the plurality of manipulators as coupled to the first tool;
- determining, based at least on the first correspondence, a first alignment relationship between the imaging device and the first tool;
- calculating, based at least on the first alignment relationship, motion of the first manipulator to move the first tool in accordance with a movement command;
- and
- commanding movement of the first manipulator based on the calculated motion.
Dependencies are inferred from the claim text.