20240016556. ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL simplified abstract (Intuitive Surgical Operations, Inc.)

ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL

Organization Name

Intuitive Surgical Operations, Inc.

Inventor(s)

Tao Zhao of Sunnyvale CA (US)

Giuseppe Maria Prisco of Sunnyvale CA (US)

John Ryan Steger of Sunnyvale CA (US)

David Q. Larkin of Sunnyvale CA (US)

ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL - A simplified explanation of the abstract

This abstract first appeared for US patent application 20240016556 titled 'ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL

Simplified Explanation

The patent application describes a system that includes a control means, a manipulator means, and processing means. The system receives input from a user and supports a tool with a tool frame. The method involves receiving one or more images from an image capturing system, where the tool is visible. An estimated frame transform is determined based on the images, which is used to define an unknown frame transform between the image frame and the tool frame. In response to user input, an output movement for the tool is determined based on the estimated frame transform, and the tool is moved accordingly.

• The system includes a control means, manipulator means, and processing means.
• The system receives input from a user and supports a tool with a tool frame.
• One or more images are received from an image capturing system, where the tool is visible.
• An estimated frame transform is determined based on the images.
• An unknown frame transform between the image frame and the tool frame is defined using the estimated frame transform.
• In response to user input, an output movement for the tool is determined based on the estimated frame transform.
• The tool is moved based on the output movement.

Potential applications of this technology:

• Robotic systems: The system can be used in robotic systems to control the movement of tools based on image input.
• Industrial automation: This technology can be applied in industrial automation processes where precise tool movements are required.
• Medical procedures: The system can be used in medical procedures where tools need to be accurately positioned and manipulated.

Problems solved by this technology:

• Tool alignment: The system solves the problem of aligning the tool frame with the image frame by determining the unknown frame transform.
• Tool control: The system provides a means for controlling the movement of the tool based on the estimated frame transform, improving precision and accuracy.

Benefits of this technology:

• Improved accuracy: The system allows for precise tool movements based on image input, resulting in improved accuracy in various applications.
• Increased efficiency: By automating tool movements based on image input, the system can increase efficiency in tasks that require tool manipulation.
• Versatility: The system can be applied in various industries and applications, providing a versatile solution for tool control based on image input.

Original Abstract Submitted

a system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. the method involves receiving, from an image capturing system with an image frame, one or more images. the tool is visible in the one or more images. the method further involves determining an estimated frame transform based on the one or more images. the estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. the method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.