公开(公告)号：US20170079722A1

公开(公告)日：2017-03-23

申请号：US15126254

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Patrick O'GRADY ,  Tao ZHAO ,  Christopher R. BURNS ,  Jason HEMPHILL ,  Brian D. HOFFMAN ,  Simon P. DIMAIO ,  Rodney VANCE

IPC: A61B34/20 ,  A61G13/00 ,  A61B90/98 ,  A61B34/00 ,  A61B34/35 ,  A61B90/96

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/90 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2068 ,  A61B2090/3983 ,  A61G13/00 ,  A61G2205/10 ,  A61G2205/60

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.