Targets, fixtures, and workflows for calibrating an endoscopic camera

Patent metadata

Field	Value
Publication number	US-10638116-B2
Application number	US-201816162742-A
Country	US
Kind code	B2
Filing date	Oct 17, 2018
Priority date	Mar 31, 2009
Publication date	Apr 28, 2020
Grant date	Apr 28, 2020

Abstract

The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.

First claim

What is claimed is:

1. A calibration target for use in calibrating an imaging system, the target comprising:
a plurality of markers with each marker including a plurality of localizer features and a plurality of identification features; and
a target pattern plane having a planar surface;
wherein the plurality of localizer features have known relative positions on the target and are used to determine an orientation for each marker;
wherein the plurality of identification features are used to determine an identification for each marker;
wherein the plurality of markers is disposed on the planar surface of the target pattern plane, and
wherein an optical axis of the imaging system is at a first angle with respect to the planar surface of the target pattern plane when the calibration target is being used to calibrate the imaging system, and
wherein each of the plurality of markers is pre-warped in size and aspect ratio by using a set of trigonometric functions that use the first angle and a distance from the imaging system to the marker when the calibration target is being used to calibrate the imaging system, so that each of the plurality of markers appears a substantially same size as all others of the plurality of markers when viewed by the imaging system at the first angle with respect to the planar surface of the target pattern plane when the calibration target is being used to calibrate the imaging system.

2. The calibration target of claim 1 ,
wherein the identification for each marker of the plurality of markers is different than the identifications for all other markers of the plurality of markers; and
wherein the plurality of identification features for a first marker of the plurality of markers includes a first plurality of potential dot locations and a second plurality of potential dot locations.

3. The calibration target of claim 2 ,
wherein the identification for the first marker is indicated by:
a presence or an absence of a dot in each of the first plurality of potential dot locations so as to indicate a first pattern of dots, and
a presence or an absence of a dot in each of the second plurality of potential dot locations so as to indicate a second pattern of dots which is an inverse of the first pattern of dots,
wherein each potential dot location of the first plurality of potential dot locations is associated with a corresponding bit location in a binary number,
wherein the first pattern of dots indicates a first binary number by the presence of a dot in each of the first plurality of potential dot locations indicating a binary one for the corresponding bit location, and by the absence of a dot in the each of the first plurality of potential dot locations indicating a binary zero for the corresponding dot location.

4. The calibration target of claim 3 ,
wherein the plurality of identification features for first marker includes an additional potential dot location; and
wherein a checksum for the first binary number is indicated by the presence of a dot in the additional potential dot location indicating a binary one and the absence of a dot in the additional potential dot location indicating a binary zero.

5. The calibration target of claim 1 ,
wherein each of the plurality of markers resides in an area of a rectangle,
wherein the plurality of localizer features for a first marker of the plurality of markers includes four dark circles, and
wherein each of the four dark circles resides in a corresponding corner of the rectangle in which the first marker resides.

6. The calibration target of claim 5 ,
wherein the rectangle in which the first marker resides has a width of 5 millimeters.

7. The calibration target of claim 5 ,
wherein the plurality of markers is arranged in a matrix of rectangular-shaped markers, and
wherein one side of the rectangle in which the first marker resides shares a pair of dark circles with an adjacent marker in the matrix of rectangular-shaped markers.

8. The calibration target of claim 5 ,
wherein the plurality of localizer features for the first marker includes a straight dark bar on one side of the rectangle in which the first marker resides,
wherein the straight dark bar is set against a white background that can be used for a determination of a color/white balance adjustment for the imaging system.

Assignees

• Intuitive Surgical Operations

Inventors

• Zhao Tao
• Zhao Wenyi
• Scott David D

Classifications

• G06T2207/30204

  Marker · CPC title

• H04N13/239

  using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) · CPC title

• G06T2207/10068

  Endoscopic image · CPC title

• G06T2207/10148

  Varying focus · CPC title

• G06T7/85

  Stereo camera calibration · CPC title