Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
US8108072B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 30, 2007 |
| Grant date | Jan 31, 2012 |
| Priority date | — |
| Expiry date | Sep 5, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/034
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. The tool tracking sub-system receives raw kinematics information and video image information of the robotic instrument to generate corrected kinematics information for the robotic instrument by adaptively fusing the raw kinematics information and the video image information together.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.