US 12,365,092 B2
Optical registration in a computer-aided system
Brett A. Hinze, San Jose, CA (US); George D. Kamian, Scotts Valley, CA (US); Narayanan Ranganath, Sunnyvale, CA (US); and James R. Stefani, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Aug. 22, 2022, as Appl. No. 17/893,029.
Claims priority of provisional application 63/235,926, filed on Aug. 23, 2021.
Prior Publication US 2023/0054929 A1, Feb. 23, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01); G06T 7/38 (2017.01); G06T 7/70 (2017.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1664 (2013.01); B25J 13/089 (2013.01); B25J 19/023 (2013.01); G06T 7/38 (2017.01); G06T 7/70 (2017.01)] 20 Claims
OG exemplary drawing
 
1. A computer-aided system comprising:
an imaging device;
a robotic device that is separate from the imaging device, wherein movement of the robotic device does not move the imaging device; and
a control system comprising one or more processors, the control system configured to:
control the robotic device to provide a first registration indicator at a first location separate from the robotic device and having a first indicator pose in a workspace,
determine 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,
obtain, using the imaging device, a first image of the first registration indicator,
determine, based on the first image, the first indicator pose in an imaging device reference frame of the imaging device,
control the robotic device to provide a second registration indicator at a second location separate from the robotic device and having a second indicator pose in the workspace,
determine 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,
obtain, using the imaging device, a second image of the second registration indicator,
determine, based on the second image, the second indicator pose in the imaging device reference frame, and
determine 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.