System and method for inter-arm registration
US12082887B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 5, 2021 |
| Grant date | Sep 10, 2024 |
| Priority date | — |
| Expiry date | Sep 7, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40611
- WIPO fieldMedical technology
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.