US 11,863,733 B2
Targets, fixtures, and workflows for calibrating an endoscopic camera
Tao Zhao, Sunnyvale, CA (US); Wenyi Zhao, Weston, FL (US); and David D. Scott, Oakland, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jan. 6, 2022, as Appl. No. 17/570,175.
Application 16/162,742 is a division of application No. 14/828,781, filed on Aug. 18, 2015, granted, now 10,134,133, issued on Nov. 20, 2018.
Application 14/828,781 is a division of application No. 13/535,011, filed on Jun. 27, 2012, granted, now 9,134,150, issued on Sep. 15, 2015.
Application 17/570,175 is a continuation of application No. 16/826,890, filed on Mar. 23, 2020, granted, now 11,252,395.
Application 16/826,890 is a continuation of application No. 16/162,742, filed on Oct. 17, 2018, granted, now 10,638,116, issued on Apr. 28, 2020.
Application 13/535,011 is a continuation of application No. 12/415,377, filed on Mar. 31, 2009, granted, now 8,223,193, issued on Jul. 17, 2012.
Prior Publication US 2022/0132093 A1, Apr. 28, 2022
Int. Cl. H04N 13/246 (2018.01); G06T 7/80 (2017.01); G01D 1/00 (2006.01); G01D 15/00 (2006.01); H04N 13/239 (2018.01)
CPC H04N 13/246 (2018.05) [G01D 1/00 (2013.01); G01D 15/00 (2013.01); G06T 7/85 (2017.01); H04N 13/239 (2018.05); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/10148 (2013.01); G06T 2207/20056 (2013.01); G06T 2207/30204 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A calibration assembly for use with an endoscopic imaging system having a field of view, the calibration assembly comprising:
an interface configured for constraining engagement with the endoscopic imaging system;
a target coupled with the interface so as to be within the field of view, the target including a plurality of calibration features, wherein the calibration assembly is reconfigurable from a first spatial arrangement between the target and the endoscopic imaging system to a second spatial arrangement between the target and the endoscopic imaging system; and
a processor configured to:
obtain, from the endoscopic imaging system, first and second images of at least some of the calibration features of the target at the first and second spatial arrangements, respectively; and
generate calibration data for the endoscopic imaging system using the first and second images.