The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 23, 2021
Filed:
Jan. 15, 2021
Systems and methods for multi-modal sensing of depth in vision systems for automated surgical robots
Activ Surgical, Inc., Boston, MA (US);
Thomas J. Calef, Boston, MA (US);
Tina P. Chen, Boston, MA (US);
Emanuel Demaio, Boston, MA (US);
Tony Chen, Boston, MA (US);
Vasiliy Evgenyevich Buharin, Boston, MA (US);
Michael G. Ruehlman, Boston, MA (US);
ACTIV SURGICAL, INC., Boston, MA (US);
Abstract
Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.