发明申请
- 专利标题： METHODS AND SYSTEMS FOR ROBOTIC INSTRUMENT TOOL TRACKING
- 专利标题（中）： 机器人工具跟踪的方法和系统
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申请号： US11865014申请日： 2007-09-30
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公开(公告)号： US20090088897A1公开(公告)日： 2009-04-02
- 发明人: Wenyi Zhao , Christopher J. Hasser , William C. Nowlin , Brian D. Hoffman
- 申请人： Wenyi Zhao , Christopher J. Hasser , William C. Nowlin , Brian D. Hoffman
- 申请人地址： US CA Sunnyvale
- 专利权人： Intuitive Surgical, Inc.
- 当前专利权人： Intuitive Surgical, Inc.
- 当前专利权人地址： US CA Sunnyvale
- 主分类号： A61B5/055
- IPC分类号： A61B5/055 ; G05B19/04 ; G06K9/66
摘要：
In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. The tool tracking sub-system receives raw kinematics information and video image information of the robotic instrument to generate corrected kinematics information for the robotic instrument by adaptively fusing the raw kinematics information and the video image information together.
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