Optical Registration Using Workspace Indicators for Obscured Robot Poses

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Solution Overview

Problem

Existing computer-aided systems face challenges in establishing effective registration between imaging devices and robotic devices, particularly when the robotic device's end effector is partially obscured or facing away from the imaging device, necessitating additional equipment or reconfiguration to facilitate registration.

Innovation Solution

A method involving the use of registration indicators placed in various poses within the workspace by the robotic device, captured by the imaging device, allowing the system to determine a registration transform between the robotic device and imaging device reference frames without requiring significant additional equipment or reconfiguration.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If traditional registration methods are used requiring direct visibility of the end effector, then registration accuracy can be maintained, but the system requires additional equipment or reconfiguration when the end effector is obscured

Engineering Contradiction:

Improveregistration capabilityVSAvoidsystem configuration

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent introduces registration indicators as intermediary objects that mediate between the imaging device and the robotic device. These indicators are placed in the workspace and serve as visible proxies for the end effector, allowing the imaging device to capture registration data even when the end effector itself is obscured. The control system uses these indicators to establish the registration transform without requiring direct visibility of the end effector.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent creates visual copies or representations of the end effector's position and orientation through registration indicators. These indicators capture the essential spatial information needed for registration without being the end effector itself, allowing the imaging device to record registration data indirectly through capturing images of these indicator copies.

Inventive Principle:

Principle #26Copying

2Adaptability or versatility

If the robotic device end effector is obscured from the imaging device, then operational flexibility is improved, but registration cannot be established without additional equipment

Engineering Contradiction:

Improveoperational flexibilityVSAvoidregistration establishment

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

Registration indicators serve as reliable intermediary targets that the imaging device can reliably capture and process. These indicators provide consistent visual features for registration calculation, ensuring reliable registration establishment even when the end effector is obscured from view.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the mechanical/physical requirement of direct line-of-sight visibility with an optical information transfer system. By using visual registration indicators that can be captured by the imaging device, the system substitutes the need for direct mechanical visibility with an optical information pathway that works regardless of physical obstruction.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Device complexity

If registration is performed with obscured end effector, then system simplicity is maintained, but additional components are required

Engineering Contradiction:

Improvesystem structureVSAvoidcomponents

Core Design Contradiction:

Device complexityVSQuantity of substance

Solution Approach 1:

The registration indicators serve multiple functions: they provide visible targets for the imaging device, represent the spatial positions needed for registration, and work with the existing robotic device and imaging device without requiring fundamental system changes. This multi-functionality reduces the need for specialized additional components.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The existing robotic device and imaging device serve themselves by using the registration indicators as a shared reference system. The robotic device places or positions the indicators, and the imaging device captures them, with both components utilizing their existing capabilities rather than requiring new specialized equipment.

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS12365092B2Optical registration in a computer-aided system

Publication Date: 2025.07.22 INTUITIVE SURGICAL OPERATIONS INC

AI summary

Systems and methods of optical registration in a computer-aided system includes a control system. The control system is configured to provide a first registration indicator having a first indicator pose in a workspace; determine a first robotic device pose in a robotic device reference frame; obtain a first image of the first registration indicator; determine, based on the first image, the first indicator pose in an imaging device reference frame; provide a second registration indicator having a second indicator pose in the workspace; determine a second robotic device pose in the robotic device reference frame; obtain a second image of the second registration indicator; determine, based on the second image, the second indicator pose in the imaging device reference frame; and determine a registration transform between the robotic device reference frame and the imaging device reference frame based on correspondences between the robotic device poses and the indicator poses.