Invention Grant
- Patent Title: System and method for inter-arm registration
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Application No.: US17790892Application Date: 2021-01-05
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Publication No.: US12082887B2Publication Date: 2024-09-10
- Inventor: Dinesh Rabindran , Simon P. Dimaio , Ambarish G. Goswami , James Zachary Woodruff
- Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
- Applicant Address: US CA Sunnyvale
- Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
- Current Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
- Current Assignee Address: US CA Sunnyvale
- Agency: Artegis Law Group, LLP
- International Application: PCT/US2021/012213 2021.01.05
- International Announcement: WO2021/141902A 2021.07.15
- Date entered country: 2022-07-05
- Main IPC: A61B34/20
- IPC: A61B34/20 ; A61B34/35 ; B25J9/16

Abstract:
Systems and methods for inter-arm registration include a computer-assisted system having a control unit coupled to a repositionable arm of a computer-assisted device. The control unit is configured to: receive, from an imaging device, successive images of an instrument mounted to the repositionable arm; determine an observed velocity of a feature of the instrument; determine an expected velocity of the feature of the instrument based on kinematics of the repositionable arm; transform the observed velocity and/or the expected velocity to a common coordinate system using a registration transform; determine an error between directions of the observed and expected velocities in the common coordinate system; and update the registration transform based on the determined error. In some embodiments, the instrument is a medical instrument and the imaging device is an endoscope. In some embodiments, the control unit is further configured to control the instrument using the registration transform.
Public/Granted literature
- US20230028689A1 SYSTEM AND METHOD FOR INTER-ARM REGISTRATION Public/Granted day:2023-01-26
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