Instrument calibration
AssigneeAuris Health, Inc.
InventorsVarun AGRAWAL, Atiyeh GHOREYSHI, David S. MINTZ
Life of this patent
Estimating the term…
Abstract
A surgical robotic system includes an endoscope, a robotic arm including a drive mechanism, the drive mechanism coupled to the endoscope. The surgical robotic system further includes a controller configured to receive a command to move the endoscope using the robotic arm, access a set of calibration parameters associated with the endoscope, generate an adjusted command based on the command and the set of calibration parameters, and provide the adjusted command to the robotic arm to move the endoscope.
Claims20
A surgical robotic system, comprising:
- an endoscope;
- a robotic arm including a drive mechanism, the drive mechanism coupled to the endoscope;
- and
- a controller configured to:
- receive a command to move the endoscope using the robotic arm;
- access a set of calibration parameters associated with the endoscope;
- generate an adjusted command based on the command and the set of calibration parameters;
- and
- provide the adjusted command to the robotic arm to move the endoscope.
A surgical robotic system, comprising:
- an endoscope;
- a camera associated with a distal end of the endoscope;
- a robotic arm including a robotic manipulator configured to be coupled to the endoscope;
- a calibration structure configured to be secured to the endoscope, the calibration structure having a visual pattern on a surface thereof;
- and
- a controller configured to:
- manipulate the endoscope within the calibration structure;
- capture a plurality of images of the visual pattern of the calibration structure using the camera;
- and
- generate one or more calibration parameters associated with the endoscope based at least in part on the plurality of images.
A surgical robotic system, comprising:
- a medical instrument comprising an elongated shaft;
- a robotic arm including manipulator means configured to manipulate the elongated shaft of the medical instrument;
- and
- controller means configured to:
- receive a command to move the medical instrument using the robotic arm;
- access a calibration parameters associated with the medical instrument;
- generate an adjusted command based on the command and the calibration parameters;
- and
- provide the adjusted command to the robotic arm to move the endoscope.
Dependencies are inferred from the claim text.