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.

Title
Methods and systems for robotic instrument tool tracking
Application Number
11/865014
Publication Number
20090088897
Application Date
September 30, 2007
Publication Date
April 2, 2009
Inventor
Brian D Hoffman
Sunnyvale
CA, US
William C Nowlin
Los Altos
CA, US
Christopher J Hasser
Los Altos
CA, US
Wenyi Zhao
Mountain View
CA, US
Agent
Intutive Surgical
CA, US
Agent
Intellectual Property Dept
CA, US
Assignee
Intuitive Surgical
CA, US
IPC
G06K 09/66
G05B 19/04
A61B 05/55
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