US 12,485,548 B2
Robotic imaging system and method for controlling a robotic device
Gregor Burger, Völs (AT); Mark Capelli, Innsbruck (AT); and Michael Santek, Götzens (AT)
Assigned to BHS Technologies GmbH, Innsbruck (AT)
Filed by BHS Technologies GmbH, Innsbruck (AT)
Filed on Aug. 10, 2022, as Appl. No. 17/884,639.
Claims priority of application No. 21192310 (EP), filed on Aug. 20, 2021.
Prior Publication US 2023/0055955 A1, Feb. 23, 2023
Int. Cl. B25J 9/16 (2006.01); G02B 27/00 (2006.01)
CPC B25J 9/1697 (2013.01) [G02B 27/0093 (2013.01); G05B 2219/40613 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A robotic imaging system, comprising:
an imaging device with at least one objective, wherein the at least one objective provides an optical axis extending in a focus direction of the objective,
a robotic device connected to the imaging device to move and/or orient the imaging device, and
a control device configured to set a preset tool center point and to control the robotic device to move and/or orient the imaging device with respect to the preset tool center point,
wherein the preset tool center point for moving and/or orientating the imaging device is set to be on the optical axis of the at least one objective or on a virtual axis corresponding to an averaged vector of respective optical axes of a plurality of objectives of the imaging device; and
wherein the preset tool center point is set to be offset from the focus point of the at least one objective in a direction along the optical axis or the virtual axis towards the imaging device to move the focus point along a substantially concave cavity or concave section of a cavity by a rotational movement of the imaging device around the preset tool center point, with the preset tool center point being set to correspond to an opening of the cavity.