US 12,219,228 B2
Stereoscopic visualization camera and integrated robotics platform
Maximiliano Ramirez Luna, Santa Barbara, CA (US); Michael Weissman, Santa Barbara, CA (US); Thomas Paul Riederer, Santa Barbara, CA (US); George Charles Polchin, Santa Barbara, CA (US); Ashok Burton Tripathi, Santa Barbara, CA (US); and Patrick Terry, Santa Barbara, CA (US)
Assigned to Alcon Inc., Fribourg (CH)
Filed by Alcon Inc., Fribourg (CH)
Filed on Apr. 12, 2022, as Appl. No. 17/718,735.
Application 17/141,661 is a division of application No. 16/398,014, filed on Apr. 29, 2019, granted, now 10,917,543, issued on Feb. 9, 2021.
Application 17/718,735 is a continuation of application No. 17/141,661, filed on Jan. 5, 2021, granted, now 11,336,804.
Application 16/398,014 is a continuation in part of application No. 15/814,127, filed on Nov. 15, 2017, granted, now 10,299,880, issued on May 28, 2019.
Claims priority of provisional application 62/663,689, filed on Apr. 27, 2018.
Claims priority of provisional application 62/489,876, filed on Apr. 25, 2017.
Claims priority of provisional application 62/489,289, filed on Apr. 24, 2017.
Prior Publication US 2022/0303435 A1, Sep. 22, 2022
Int. Cl. H04N 23/51 (2023.01); A61B 34/00 (2016.01); A61B 34/32 (2016.01); B25J 9/00 (2006.01); B25J 9/04 (2006.01); B25J 9/16 (2006.01); H04N 13/204 (2018.01); H04N 23/695 (2023.01)
CPC H04N 23/51 (2023.01) [A61B 34/32 (2016.02); A61B 34/77 (2016.02); B25J 9/0009 (2013.01); B25J 9/04 (2013.01); B25J 9/1607 (2013.01); H04N 13/204 (2018.05); H04N 23/695 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A method of calibrating a robotic imaging apparatus comprising:
providing the robotic imaging apparatus, which comprises:
a base section configured for connection to a secure structure or a cart and having a base section point defining a robot space;
a robotic arm including a first end connected to the base section, a second end including a coupling interface, and a plurality of joints and links connecting the first end to the second end, each joint including a motor configured to rotate the joint around an axis and a joint sensor configured to transmit a position of the respective joint;
a stereoscopic camera connected to the robotic arm at the coupling interface, the stereoscopic camera configured to record left and right images of a target surgical site for producing a stream of stereoscopic images of the target surgical site; and
a sensor positioned at the coupling interface and configured to detect translational and/or rotational force imparted on the stereoscopic camera by an operator and to transmit output data that is indicative of the detected force;
calibrating the stereoscopic camera to the robot space; and
registering the robot space to a patient space, wherein the patient space is defined with respect to a patient point that is within or on a patient.