Methods for locating and tracking a tool axis
US12376912B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 10, 2023 |
| Grant date | Aug 5, 2025 |
| Priority date | — |
| Expiry date | Sep 20, 2043 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/3983
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A system for determining an orientation of a tool axis with respect to a coordinate frame of a robot is described herein. The robot includes a tool holder and a plurality of fiducial markers for defining a first coordinate frame of the robot. A calibration device is provided having a second fiducial marker for a tracking system to track positions and configured to couple to the tool holder; and rotate relative to the tool holder when coupled to the tool holder. A computer having a processor is configured to fit a circle or arc to recorded positions of the calibration device. The recorded positions of the calibration device are recorded when coupled to the tool holder, is rotated relative to the tool holder. A vector normal to the fitted circle or arc is calculated to determine an orientation of the tool axis. A method of use is also provided.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.