Methods of determining tissue distances using both kinematic robotic tool position information and image-derived position information
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United States of America Patent
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Jul 29, 2014
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app pub date -
Sep 30, 2011
filing date -
Sep 30, 2007
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Abstract
In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.
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