ALEKSANDRA POPOVIC,ARYEH LEIB REINSTEIN,DAVID PAUL NOONAN
申请号：
US15324001
公开号：
US20170196643A1
申请日:
2015.07.14
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A workstation for calibrating a robotic instrument (42) having a distal tip (46) within an X-ray image space (35). The workstation employs a calibration controller (50) for calibrating an RCM length of the robotic instrument (42) responsive to X-ray images (36) of different poses of the distal tip (46) of the robotic instrument (42) within the X-ray image space (35), and further employs a robotic instrument controller (40) for controlling a guidance of the robotic instrument (42) within the X-ray image space (35) from the RCM calibration. The robotic instrument (42) may include an endoscope whereby the calibration controller (50) is further employed to calibrate a focal length of the robotic instrument (42) responsive to the X-ray images (36) and one or more endoscope image(s) (48) of the X-ray image space (35) for guidance within the X-ray image space (35) from the RCM/focal length calibrations.
