Optical registration in a computer-aided system

A control system for a computer-aided system comprising a robotic device and an imaging device, the control system comprising:

• a robotic device pose command module configured to command the robotic device to provide a plurality of registration indicators separate from the robotic device and viewable by the imaging device, wherein each registration indicator of the plurality of registration indicators has an indicator pose;
• a robotic device pose determination module configured to determine a plurality of robotic device poses of a portion of the robotic device in a robotic device reference frame of the robotic device, wherein each robotic device pose of the plurality of robotic device poses corresponds to a registration indicator of the plurality of registration indicators;
• an image receipt module configured to receive, from the imaging device, one or more images of each registration indicator of the plurality of registration indicators;
• an indicator pose determination module configured to, based on the one or more images of each registration indicator of the plurality of registration indicators, determine a plurality of indicator poses in an imaging device reference frame of the imaging device, each indicator pose of the plurality of indicator poses corresponding to a registration indicator of the plurality of registration indicators;
• and
• a registration module configured to determine a registration transform between the robotic device reference frame and the imaging device reference frame based on correspondences between the plurality of robotic device poses in the robotic device reference frame and the plurality of indicator poses in the imaging device reference frame.

A method, comprising:

• providing, by a control system using a robotic device, a first registration indicator separate from the robotic device and having a first indicator pose in a workspace;
• determining, by the control system, a first robotic device pose of a portion of the robotic device in a robotic device reference frame of the robotic device, the first robotic device pose corresponding to the first indicator pose;
• obtaining, by the control system using an imaging device, a first image of the first registration indicator;
• determining, by the control system, based on the first image, the first indicator pose in an imaging device reference frame of the imaging device;
• providing, by the control system using the robotic device, a second registration indicator separate from the robotic device and having a second indicator pose in the workspace;
• determining, by the control system, a second robotic device pose of the portion of the robotic device in the robotic device reference frame, the second robotic device pose corresponding to the second indicator pose;
• obtaining, by the control system using the imaging device, a second image of the second registration indicator;
• determining, by the control system based on the second image, the second indicator pose in the imaging device reference frame;
• and
• determining, by the control system, a registration transform between the robotic device reference frame and the imaging device reference frame based on a first correspondence between the first robotic device pose in the robotic device reference frame and the first indicator pose in the imaging device reference frame, and a second correspondence between the second robotic device pose in the robotic device reference frame and the second indicator pose in the imaging device reference frame.