Intuitive Surgical Operations, Inc.

Ambarish G Goswami

Tao Zhao

Simon P Dimaio

Dinesh Rabindran

Brandon D Itkowitz

Paul G Griffiths

Changyeob Shin

James Zachary Woodruff

A robotic system comprises an input device movable by an operator and a processing unit. An operator reference frame is defined relative to the operator. The processing unit is configured to present, to the operator, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

Systems and methods for master/tool registration and control for intuitive motion

A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

Systems and methods for inter-arm registration include a computer-assisted system having a control unit coupled to a repositionable arm of a computer-assisted device. The control unit is configured to: receive, from an imaging device, successive images of an instrument mounted to the repositionable arm; determine an observed velocity of a feature of the instrument; determine an expected velocity of the feature of the instrument based on kinematics of the repositionable arm; transform the observed velocity and/or the expected velocity to a common coordinate system using a registration transform; determine an error between directions of the observed and expected velocities in the common coordinate system; and update the registration transform based on the determined error. In some embodiments, the instrument is a medical instrument and the imaging device is an endoscope. In some embodiments, the control unit is further configured to control the instrument using the registration transform.

System and method for inter-arm registration

A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

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Fremont, CA, United States of America

Ambarish G Goswami