Stereoscopic visualization camera and integrated robotics platform

A method of calibrating a robotic imaging apparatus comprising:

• providing the robotic imaging apparatus, which comprises:
• a robotic arm including a first end for connection to a secure structure having a secure structure point which defines a robot space coordinate system, a second end including a coupling interface, and a plurality of joints and links connecting the first end to the second end, each joint including a motor configured to rotate the joint around an axis and a joint sensor configured to transmit a position of the respective joint;
• an imaging device connected to the robotic arm at the coupling interface, the imaging device configured to record images of a target surgical site;
• and
• a sensor positioned at the coupling interface and configured to detect force and/or torque imparted on the imaging device by an operator and to transmit output data that is indicative of the detected force and/or torque;
• calibrating the stereoscopic camera to the robot space coordinate system;
• and
• registering the robot space coordinate system to a patient space coordinate system, wherein the patient space coordinate system is defined with respect to a patient point that is within or on a patient.

A method of calibrating a robotic imaging apparatus comprising:

• providing the robotic imaging apparatus, which comprises:
• a robotic arm including a first end for connection to a secure structure having a secure structure point which defines a robot space, a second end including a coupling interface, and a plurality of joints and links connecting the first end to the second end, each joint including a motor configured to rotate the joint around an axis and a joint sensor configured to transmit a position of the respective joint;
• a stereoscopic camera connected to the robotic arm at the coupling interface, the stereoscopic camera configured to record left and right images of a target surgical site for producing a stream of stereoscopic images of the target surgical site;
• and
• a sensor positioned at the coupling interface and configured to detect translational and/or rotational force imparted on the stereoscopic camera by an operator and to transmit output data that is indicative of the detected force;
• calibrating a view vector of the stereoscopic camera to the robot space, wherein the view vector is aligned coincidentally with an optical axis of the stereoscopic camera;
• registering the robot space to a patient space, wherein the patient space is defined with respect to a patient point that is within or on a patient;
• and
• determining boundaries of the robotic arm and/or the stereoscopic camera relative to the patient space and/or the robot space.