US 12,364,553 B2
Estimation of a position and orientation of a frame used in controlling movement of a tool
Tao Zhao, Sunnyvale, CA (US); Giuseppe Maria Prisco, Sunnyvale, CA (US); John Ryan Steger, Sunnyvale, CA (US); and David Q. Larkin, Sunnyvale, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Sep. 27, 2023, as Appl. No. 18/373,695.
Application 18/373,695 is a continuation of application No. 17/677,866, filed on Feb. 22, 2022, granted, now 11,801,100.
Application 17/677,866 is a continuation of application No. 16/779,564, filed on Jan. 31, 2020, granted, now 11,284,952, issued on Mar. 29, 2022.
Application 16/779,564 is a continuation of application No. 15/719,275, filed on Sep. 28, 2017, granted, now 10,582,974, issued on Mar. 10, 2020.
Application 15/719,275 is a continuation of application No. 14/997,257, filed on Jan. 15, 2016, granted, now 9,827,057, issued on Nov. 28, 2017.
Application 14/997,257 is a continuation of application No. 13/360,380, filed on Jan. 27, 2012, granted, now 9,259,289, issued on Feb. 16, 2016.
Claims priority of provisional application 61/485,706, filed on May 13, 2011.
Prior Publication US 2024/0016556 A1, Jan. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); B25J 9/16 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/37 (2016.02); A61B 90/361 (2016.02); B25J 9/1689 (2013.01); B25J 9/1697 (2013.01); A61B 2034/2065 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a control means for receiving an input from a user;
a manipulator means configured to support a tool having a tool frame; and
processing means configured to perform a method comprising:
receiving, from an image capturing system with an image frame, one or more images, wherein the tool is visible in the one or more images,
determining an estimated frame transform based on the one or more images, wherein the estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame,
determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and
causing movement of the tool based on the output movement.