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US 2021/0259779 A1Published application
Multi-camera user interface device calibration and tracking
AssigneeVerb Surgical Inc.
InventorsBernhard A. Fuerst, Alexander Barthel
Life of this patent
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Abstract
Surgical robotic system includes a surgical robotic arm, a handheld user interface device (UID) having a camera. Images from the camera are processed to detect a marker in the user environment. A pose of the handheld UID is determined based on the detected marker. A movement of the surgical robotic arm is effected based on the pose of the handheld UID.
Claims20
A surgical robotic system that includes:
- a surgical robotic arm;
- a handheld UID having a first camera;
- and
- one or more processors, configured to perform operations, the operations including:
- processing images captured by the camera to detect a first marker with fixed position and orientation in a surrounding environment;
- determining a pose of the handheld UID based on the first marker;
- and
- effecting movement of the surgical robotic arm, based on the pose of the handheld UID.
5 more elements
A computer implemented method for controlling a surgical robotic arm, comprising:
- processing images captured through a first camera mounted on a handheld user interface device (UID);
- determining whether a first marker fixed in a surrounding environment is detected;
- when the first marker is detected, determining a pose of the handheld UID based on the first marker;
- and
- effecting movement of the surgical robotic arm, based on the pose of the handheld UID.
2 more elements
Dependencies are inferred from the claim text.