公开(公告)号：US12082887B2

公开(公告)日：2024-09-10

申请号：US17790892

申请日：2021-01-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Simon P. Dimaio ,  Ambarish G. Goswami ,  James Zachary Woodruff

IPC: A61B34/20 ,  A61B34/35 ,  B25J9/16

CPC classification number: A61B34/20 ,  A61B34/35 ,  B25J9/1697 ,  A61B2034/2055 ,  G05B2219/39008 ,  G05B2219/39022 ,  G05B2219/40598 ,  G05B2219/40611

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.