Automatic online registration between a robot and images
AssigneeKoninklijke Philips Electronics N.V.
InventorsPaul Thienphrapa, Bharat Ramachandran, Aleksandra Popovic
Life of this patent
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Abstract
A registration system and method includes a configurable device (104) having one or more moveable features (122) such that movement of the moveable features can be determined relative to a reference to define a specific configuration of the configurable device. An imaging system (110) has a display on which the configurable device is viewable. A processing device (112) is configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device.
Claims18
A registration system, comprising:
- a configurable device having one or more moveable features such that movement of the moveable features can be determined relative to a reference to determine a specific configuration of the configurable device;
- an imaging system having a display on which the configurable device is viewable;
- and
- a processing device configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device.
A registration system, comprising:
- a robot having one or more moveable features connected by N joints such that movement of the moveable features relative to a reference defines a specific configuration of the robot;
- an ultrasonic imaging system having a display on which the robot is viewable;
- and
- a processing device configured to register the robot with a coordinate system of an ultrasonic probe of the imaging system based on the specific configuration of the robot.
(canceled)
13-18. (canceled)
A registration method, comprising:
- detecting a reference feature of a configurable device in an operational image of the configurable device;
- determining a specific configuration of the configurable device;
- computing the specific configuration of the configurable device in an imaging coordinate system using the reference feature;
- and
- determining a transformation between the specific configuration of the configurable device and the imaging coordinate system to register a coordinate system of the configurable device with the imaging coordinate system.
22-24. (canceled)
Dependencies are inferred from the claim text.