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Uncalibrated visual servoing using real-time velocity optimization

A technology of visual servoing and digital video, applied in the field of visual servoing, to achieve the effect of eliminating necessity

Active Publication Date: 2012-11-21
KONINKLIJKE PHILIPS ELECTRONICS NV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Various schemes have been proposed for solving visual servoing in medical robotics, especially in endoscopic surgery, but all of these schemes rely on the Image Jacobian, which may suffer from various problems known in the art. kind of defect

Method used

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  • Uncalibrated visual servoing using real-time velocity optimization
  • Uncalibrated visual servoing using real-time velocity optimization
  • Uncalibrated visual servoing using real-time velocity optimization

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Embodiment Construction

[0024] like figure 1 As shown, the robotic system 20 employs the camera 30 , the robot 40 and the robot controller 50 to implement any robotic process involving the autonomous movement capabilities of the robot 40 . Examples of such robotic processes include, but are not limited to, medical procedures, assembly line processes, and processes involving mobile robots. Specifically, medical procedures to which the robotic system 20 can be applied include, but are not limited to, minimally invasive cardiac surgery (eg, coronary artery bypass grafting or mitral valve replacement), minimally invasive abdominal surgery (laparoscopy) (eg, prostatectomy or cholecystectomy) and endoscopic surgery that traverses the lumen through a natural orifice.

[0025] Camera 30 may be any type of camera with a forward-facing optical viewfinder or a tilting optical viewfinder, and it employs any type of frame grabber 31 capable of recording at a predetermined frame rate (e.g., 30 frames per second) ...

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Abstract

A robotic control method for a camera (30) having an optical view and a robot (40) having an end-effector (42) and one or more joints (41) for maneuvering end-effector (42). The robotic control method involves an acquisition of a digital video frame (32) illustrating an image as optically viewed by the camera (30), and an execution of a visual servoing for controlling a pose of end-effector (42) relative to an image feature within the digital video frame (32). The visual servoing involves an identification of a tracking vector (vtrk) within an image coordinate system (80) of the digital video frame (32) extending from a tracking point (TR) to a target point (TG) associated with the image feature, a mapping of the tracking vector within a configuration space (100) constructed from a robotic coordinate system (90) associated with the end-effector (42), and a derivation of a pose of the end-effector (42) within the robotic coordinate system (90) from the mapping of the tracking vector (vtrk) within the configuration space (100).

Description

technical field [0001] The present invention generally relates to visual servoing of robots during robotic procedures. In particular, the invention relates to visual servoing of endoscopic robots during minimally invasive surgery. Background technique [0002] In general, minimally invasive procedures utilize an endoscope, which is a long flexible or rigid tube with imaging capabilities. When inserted into the body through a natural orifice or small incision, the endoscope provides an image of the region of interest that the surgeon can view through an eyepiece or a screen while performing the procedure. [0003] Visual servoing is a method of robot control that uses visual input (images) to set the parameters of the robot's motion. This method is used for robot following of targets, autonomous robots, etc. In the case of surgical robotics, visual servoing is employed in the control loop, which guides the robot towards some specific anatomical target (eg, an organ) or sur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00
CPCA61B19/2203A61B19/5212A61B19/5244A61B34/20A61B90/361A61B34/30G06T7/246B25J9/1697G06T2207/10068Y10S901/15Y10S901/47
Inventor A·波波维奇P·西恩帕波
Owner KONINKLIJKE PHILIPS ELECTRONICS NV
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