US 12,702,278 B2 · Techniques for controlling an imaging device

Abstract

Techniques for controlling an imaging device include a first repositionable arm comprising a plurality of actuators configured to cause movement of the first repositionable arm and a plurality of joints; and a controller comprising one or more hardware processors. The controller is configured to determine whether an imaging device supported by the first repositionable arm comprises an articulable joint coupling an imaging apparatus to a shaft of the imaging device; in response to a determination that the imaging device comprises the articulable joint: command the plurality of actuators to move the plurality of joints and the articulable joint to position and orient a field of view of the imaging apparatus; and in response to a determination that the imaging device does not comprises the articulable joint: command the plurality of actuators to move the plurality of joints to position and orient the field of view of the imaging apparatus.

Claims20

Dependent claims

A computer-assisted device comprising:

a first repositionable arm comprising a plurality of joints and a plurality of actuators, the plurality of actuators configured to cause movement of the first repositionable arm;
and
a controller comprising one or more hardware processors, the controller communicatively coupled to the first repositionable arm;
wherein the controller is configured to:
determine whether an imaging device supported by the first repositionable arm comprises an articulable joint that couples an imaging apparatus to a shaft of the imaging device;
in response to a determination that the imaging device comprises the articulable joint:
command the plurality of actuators to move the plurality of joints and the articulable joint to position and orient a field of view of the imaging apparatus;
and
in response to a determination that the imaging device does not comprise the articulable joint:
command the plurality of actuators to move the plurality of joints to position and orient the field of view of the imaging apparatus.

7 more elements

A method comprising:

determining, by a controller, whether an imaging device has an articulable joint that couples an imaging apparatus to a shaft of the imaging device, the imaging device being supported by a first repositionable arm, the first repositionable arm comprising a plurality of joints and a plurality of actuators configured to cause movement of the first repositionable arm and the imaging device;
on a condition that the imaging device comprises the articulable joint:
commanding, by the controller, the plurality of actuators to move the plurality of joints and the articulable joint to position and orient a field of view of the imaging apparatus;
and
on a condition that the imaging device does not comprise the articulable joint:
commanding, by the controller, the plurality of actuators to move the plurality of joints to position and orient the field of view of the imaging apparatus.

3 more elements

Dependencies are inferred from the claim text.

Techniques for controlling an imaging device

Life of this patent

Techniques for controlling an imaging device

Life of this patent

Abstract

Claims20