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:
Sep. 13, 2016
Filed:
Dec. 09, 2011
Abhilash Pandya, Grosse Isle, MI (US);
Michael D. Klein, Grosse Pointe, MI (US);
Ajay V. Mudunuri, Farmington Hills, MI (US);
Alex Cao, Columbia, SC (US);
Luke Reisner, Madison Heights, MI (US);
Brady King, Clinton Township, MI (US);
Syed Ali, Madison Heights, MI (US);
Abhilash Pandya, Grosse Isle, MI (US);
Michael D. Klein, Grosse Pointe, MI (US);
Ajay V. Mudunuri, Farmington Hills, MI (US);
Alex Cao, Columbia, SC (US);
Luke Reisner, Madison Heights, MI (US);
Brady King, Clinton Township, MI (US);
Syed Ali, Madison Heights, MI (US);
Wayne State University, Detroit, MI (US);
Abstract
A system for autonomous camera control includes a first robot having a surgical tool mounted as an end effector and a second robot having a camera mounted as an end effector. A controller may be provided for manipulating the second robot, where the controller stores a first kinematic model for the first robot and a second kinematic model for the second robot. The controller may be configured to automatically manipulate the second robot to position the camera based on the second kinematic model and an expected position of the surgical tool according the first kinematic model of the first robot. The controller is further configured to identify a threshold angle from a viewing axis of the camera, calculate a tool angle from the viewing axis of the camera, and move the camera toward or further away from the tool depending on if the tool angle is greater than or less than the threshold angle.