Robotic Arm Laser Calibration for Camera Coordinate Registration
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Solution Overview
Problem
Manual calibration of interventional imaging systems, such as X-ray systems, is cumbersome and requires trained personnel, limiting efficiency and accuracy in procedures like surgery.
Innovation Solution
A system and method using multiple cameras and a laser to automatically register the robot's position with the imaging system's coordinate system, allowing for precise calibration without obstructing the camera or X-ray view, by projecting a light spot and determining its 3D position using camera images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration is performed, then calibration accuracy can be achieved, but the process becomes cumbersome and requires trained personnel
Solution Approach 1:
A laser pointer is introduced as an intermediary tool that projects a light spot onto a reference platform. The laser spot serves as a visible mediator between the robot's position and the camera system, enabling automatic detection and registration without requiring manual calibration operations.
Solution Approach 2:
The manual mechanical calibration process is replaced with an optical-based automatic system. The camera system captures images of the laser spot, and software automatically calculates the robot's position and registers it with the imaging system, eliminating the need for manual mechanical adjustment by trained personnel.
2Measurement precision
If a calibration object is placed in the field of view, then registration can be performed, but it obstructs the camera or X-ray view
Solution Approach 1:
The calibration reference utilizes the laser's light spot, which appears as a bright distinct feature in camera images. This optical signal can be easily differentiated from the medical imaging field without requiring physical calibration objects that would block the view.
Solution Approach 2:
The laser spot acts as a non-obstructive intermediary that provides calibration information without blocking the camera or X-ray view. The light spot can be detected in the periphery or at the edge of the field of view, maintaining clear visibility of the medical imaging area.
3Productivity
If automated calibration is implemented, then efficiency improves, but system complexity increases
Solution Approach 1:
The laser pointer mounted on the robot serves multiple functions: it provides a visual reference for calibration, enables automatic position detection by cameras, and facilitates registration between robot and imaging systems. This multi-functional approach achieves automation without requiring separate dedicated calibration devices.
Solution Approach 2:
The system performs self-calibration through automatic image capture and processing. The camera system automatically detects the laser spot position, calculates robot coordinates, and completes registration without human intervention, enabling the system to service itself during calibration.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables automated and accurate calibration of robotic arms in medical imaging systems, improving workflow and precision, allowing for precise positioning of instruments or needles within anatomical volumes without manual intervention.
Implementation Method 1
A laser is mounted on a robot... The laser automatically makes a motion with all joints. This causes the laser pointer to move.
Implementation Method 2
The cameras record the laser dot or pattern. By using the laser dot's location in several cameras, a 3D position is calculated for the robot.
Data Source
AI summary
A system for calibration of a robot includes an imaging system (136) including two or more cameras (132). A registration device (120) is configured to align positions of a light spot (140) on a reference platform as detected by the two or more cameras with robot positions corresponding with the light spot positions to register an imaging system coordinate system (156) with a robot coordinate system (150).