Surgeon input system using event-based vision sensors for a surgical robotic system

Abstract

A user input system for providing input to a robotic surgical system for use in commanding motion of the robotic manipulator utilizes a surgeon input tool configured to be worn or held by a user. The surgeon input tool includes a plurality of LEDs, each emitting at different blink frequency and duty cycle. Event-based cameras disposed around a surgeon console are used to capture user movement of the surgeon input tool. The system receives input from the event cameras in response to sensing of light from the LEDs on the surgeon input tool, and uses that information to estimated position and/or orientation of the surgeon input tool. Motion commands corresponding to desired movement of the surgical instrument by the robotic manipulator arm are generated based on the estimated position or pose.