Methods and devices for table pose tracking using fiducial markers

US11007017B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Patrick O'Grady · Alameda, US
• Tao Zhao · Sunnyvale, US
• Christopher R. Burns · San Jose, US
• Jason Hemphill · Los Gatos, US
• Brian D. Hoffman · Somerville, US
• Simon P. DiMaio · Redwood City, US
• Rodney Vance · Fuquay-Varina, US

Key dates

• Filing date: Mar 4, 2019
• Grant date: May 18, 2021
• Expiry date: Jun 28, 2039

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61G2205/60
• WIPO field: Medical technology
• WIPO sector: Instruments

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.