Systems and methods for master/tool registration and control for intuitive motion
AssigneeIntuitive Surgical Operations, Inc.
InventorsSimon P. Dimaio, Ambarish G. Goswami, Dinesh Rabindran, Changyeob Shin, Tao Zhao
Life of this patent
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Abstract
A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.
Claims24
-61. (cancelled)
A robotic system comprising:
- a plurality of robotic manipulators;
- a control system comprising processing circuitry, the control system communicatively coupled to the plurality of robotic manipulators, the control system configured to:
- receive image data provided by an imaging device, the image data including first data of a first tool physically coupled to a first robotic manipulator of the plurality of robotic manipulators;
- determine, based on at least the first data, first physical information of a first image-space tool;
- determine whether the first image-space tool corresponds to the first tool based on at least the first physical information and on at least one setting selected from the group consisting of:
- an appearance-based setting, and a motion-based setting;
- and
- in response to a determination that the first image-space tool corresponds to the first tool, control the first tool by controlling the first robotic manipulator.
A method, comprising:
- receiving image data provided by an imaging device, the image data including first data of a first tool physically coupled to a first robotic manipulator of a plurality of robotic manipulators;
- determining, based on at least the first data, first physical information of a first image-space tool;
- determining whether the first image-space tool corresponds to the first tool based on at least the first physical information and on at least one setting selected from the group consisting of:
- an appearance-based setting, and a motion-based setting;
- and
- in response to a determination that the first image-space tool corresponds to the first tool, controlling the first tool by controlling the first robotic manipulator.
A robotic system comprising:
- a plurality of robotic manipulators;
- a control system comprising processing circuitry, the control system communicatively coupled to the plurality of robotic manipulators, the control system configured to:
- receive image data provided by an imaging device, the image data including first data of a first tool physically coupled to a first robotic manipulator of the plurality of robotic manipulators;
- determine, based on at least the first data, first physical information of a first image-space tool;
- determine a first estimate of a first pose of the first tool using at least first kinematic data of the first robotic manipulator when the first tool is coupled to the first robotic manipulator;
- determine whether the first image-space tool corresponds to the first tool by determining whether the first physical information indicates a pose corresponding to the first estimate;
- and
- in response to a determination that the first image-space tool corresponds to the first tool, control the first tool by controlling the first robotic manipulator.
Dependencies are inferred from the claim text.