Tao Zhao,Giuseppe Maria Prisco,John R. Steger,David Q. Larkin
申请号：
US16779564
公开号：
US20200170725A1
申请日:
2020.01.31
申请国别(地区):
US
年份:
2020
代理人:
摘要：
A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.
