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US 12,653,377 B2Granted
Calibration of camera and location sensor
AssigneeAuris Health, Inc.
InventorsMenglong Ye, Elif Ayvali, Austin Jun Shin, Bryan Zhao, David Paul Noonan
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Abstract
The present disclosure relates to systems, devices, and methods to calibrate an endoscope with a location-sensor-to-camera transform or a camera-to-location-sensor transform.
Claims20
A method to automate calibration of an endoscope of a robotic medical system, comprising:
- robotically commanding first movement between the endoscope and a calibration pattern to achieve one or more robotic poses in a robot coordinate frame;
- at each respective robotic pose from the one or more robotic poses, recording robotic pose data and corresponding first camera pose data;
- calculating a camera-to-robot-base transform based on the robotic pose data and the corresponding first camera pose data recorded at each respective robotic pose from the one or more robotic poses;
- robotically commanding, using the camera-to-robot-base transform, second movement between the endoscope and the calibration pattern to achieve one or more camera poses in a camera coordinate frame;
- at each respective camera pose from the one or more camera poses, recording second camera pose data and corresponding location sensor pose data;
- calculating a location-sensor-to-camera transform based on the second camera pose data and the corresponding location sensor pose data recorded at each respective camera pose from the one or more camera poses;
- and
- storing data indicative of the location-sensor-to-camera transform in a computer-readable medium configured to be coupled to the endoscope.
5 more elements
A method to calibrate an endoscope configured to be coupled to a robotic medical system, the method comprising:
- adjusting a relative position between the endoscope and a calibration pattern such that the endoscope and the calibration pattern are arranged according to a first determinable configuration;
- while at the first determinable configuration:
- recording first location data from a location sensor coupled to the endoscope, and
- recording first camera data from a camera coupled to the endoscope;
- adjusting the relative position between the endoscope and the calibration pattern such that the endoscope and the calibration pattern are arranged according to a second determinable configuration different from the first determinable configuration;
- while at the second determinable configuration:
- recording second location data from the location sensor coupled to the endoscope, and
- recording second camera data from the camera coupled to the endoscope;
- generating a location-sensor-to-camera transform based on the first location data, the first camera data, the second location data, and the second camera data;
- and
- storing data indicative of the location-sensor-to-camera transform on a computer-readable medium configured to be coupled to the endoscope.
8 more elements
A system to automate calibration of an endoscope, the system comprising:
- a robotic arm configured to facilitate movement between the endoscope and a calibration pattern;
- control circuitry;
- and
- a memory storing computer-executable instructions, that when executed, cause the control circuitry to:
- robotically command the robotic arm to facilitate first movement between the endoscope and the calibration pattern to achieve one or more robotic poses in a robot coordinate frame,
- at each respective robotic pose from the one or more robotic poses, record robotic pose data and corresponding first location sensor pose data,
- calculate a location-sensor-to-robot-base transform based on the robotic pose data and the corresponding first location sensor pose data recorded at each respective robotic pose from the one or more robotic poses,
- robotically command, using the location-sensor-to-robot-base transform, the robotic arm to facilitate second movement between the endoscope and the calibration pattern to achieve one or more location sensor poses in a location sensor coordinate frame,
- at each respective location sensor pose from the one or more location sensor poses, record second location sensor pose data and corresponding camera pose data,
- calculate a location-sensor-to-camera transform based on the second location sensor pose data and the corresponding camera pose data recorded at each respective location sensor pose from the one or more location sensor poses, and
- store data indicative of the location-sensor-to-camera transform in a computer-readable medium configured to be coupled to the endoscope.
8 more elements
Dependencies are inferred from the claim text.