Automatic robotic arm calibration to camera system using a laser
AssigneeKoninklijke Philips N.V.
InventorsAleksandra Popovic, Johannes Petrus WITHAGEN, David Paul NOONAN, Jurgen Jean Louis HOPPENBROUWERS
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Abstract
A system for calibration of a robot includes an imaging system (136) including two or more cameras (132). A registration device (120) is configured to align positions of a light spot (140) on a reference platform as detected by the two or more cameras with robot positions corresponding with the light spot positions to register an imaging system coordinate system (156) with a robot coordinate system (150).
Claims20
A system for calibration of a robot, comprising:
- an imaging system including two or more cameras;
- and
- a registration device configured to align positions of a light spot on a reference platform as detected by the two or more cameras with robot positions corresponding with the light spot positions to register an imaging system coordinate system with a robot coordinate system.
A system for calibration of a robot, comprising:
- an X-ray imaging system includes an X-ray detector configured to receive X-rays for imaging a subject;
- a camera array mounted on the X-ray detector and including two or more cameras;
- a robot including a fixed reference portion and one or more links, such that one link includes a tool holding mechanism, the tool holding mechanism being adjusted to mount a directed light source on a portion of the robot;
- and
- a registration device configured to align positions of a light spot on a reference platform as detected by the two or more cameras with robot positions to register an imaging system coordinate system with a robot coordinate system.
A method for calibrating a robot, comprising:
- projecting a light spot on a reference platform from a robot in at least one known position;
- imaging the light spot in two or more cameras associated with a medical imaging system;
- and
- registering positions of the light spot on the reference platform as detected by the two or more cameras with the at least one known robot positions to register an imaging system coordinate system with a robot coordinate system.
Dependencies are inferred from the claim text.