Targets, fixtures, and workflows for calibrating an endoscopic camera

Patent metadata

Field	Value
Publication number	US-11863733-B2
Application number	US-202217570175-A
Country	US
Kind code	B2
Filing date	Jan 6, 2022
Priority date	Mar 31, 2009
Publication date	Jan 2, 2024
Grant date	Jan 2, 2024

Abstract

A calibration assembly may be used with an endoscopic imaging system having a field of view. The calibration assembly may comprise an interface configured for constraining engagement with the endoscopic imaging system and a target coupled with the interface so as to be within the field of view. The target may include a plurality of calibration features. The calibration assembly may be reconfigurable from a first spatial arrangement between the target and the endoscopic imaging system to a second spatial arrangement between the target and the endoscopic imaging system. The calibration assembly may also comprise a processor configured to obtain, from the endoscopic imaging system, first and second images of at least some of the calibration features of the target at the first and second spatial arrangements. The processor may also generate calibration data for the endoscopic imaging system using the first and second images.

First claim

What is claimed is:

1. A calibration assembly for use with an endoscopic imaging system having a field of view, the calibration assembly comprising:
an interface configured for constraining engagement with the endoscopic imaging system;
a target coupled with the interface so as to be within the field of view, the target including a plurality of calibration features, wherein the calibration assembly is reconfigurable from a first spatial arrangement between the target and the endoscopic imaging system to a second spatial arrangement between the target and the endoscopic imaging system; and
a processor configured to:
obtain, from the endoscopic imaging system, first and second images of at least some of the calibration features of the target at the first and second spatial arrangements, respectively; and
generate calibration data for the endoscopic imaging system using the first and second images.

2. The calibration assembly of claim 1 , wherein the interface comprises a receptacle shaped to interface with a distal portion of the endoscopic imaging system.

3. The calibration assembly of claim 1 , wherein the calibration assembly is reconfigurable from the first spatial arrangement to the second spatial arrangement by reorienting the endoscopic imaging system relative to the interface.

4. The calibration assembly of claim 1 , wherein the target is reconfigurable from the first spatial arrangement to the second spatial arrangement by reorienting the target relative to the interface.

5. The calibration assembly of claim 1 , further comprising:
a first portion having a fixed spatial arrangement relative to the interface; and
a second portion having a fixed spatial arrangement relative to the target, wherein the first and second portions are movably coupled.

6. The calibration assembly of claim 5 , wherein the first and second portions are rotatably coupled.

7. The calibration assembly of claim 5 , wherein the first and second portions are coupled such that an angle of the second portion is adjustable relative to the first portion.

8. The calibration assembly of claim 5 , further comprising a lock to prevent motion of the second portion relative to the first portion.

9. The calibration assembly of claim 1 , further comprising:
a first portion having a fixed spatial arrangement relative to the interface; and
a second portion having a fixed spatial arrangement relative to the target, wherein the first and second portions are coupled so as to provide a plurality of different target normal directions with respect to the endoscopic imaging system.

10. The calibration assembly of claim 1 , wherein the processor is further configured to drive motion of the target relative to the interface, the motion synchronized with image capture by the endoscopic imaging system.

11. The calibration assembly of claim 1 , further comprising a user interface configured to provide guidance to a user for moving the target from the first spatial arrangement to the second spatial arrangement.

12. The calibration assembly of claim 1 , further comprising a tangible medium that includes machine readable instructions executable by the processor for processing the first and second images.

13. The calibration assembly of claim 1 , wherein the calibration features of the plurality of markers are arranged in a two-dimensional pattern.

14. The calibration assembly of claim 1 , wherein the calibration features of the plurality of markers are arranged in a one-dimensional pattern.

15. The calibration assembly of claim 1 , wherein the processor is further configured to generate relative modulation transfer function values for an image of the target.

16. The calibration assembly of claim 1 , wherein the target includes an edge feature separating dark and bright regions, and the processor is configured to generate modulation transfer function values by processing an image region of interest that includes the edge feature.

17. The calibration assembly of claim 1 , wherein the processor is configured to generate a color balance adjustment for the endoscopic imaging system by processing a region of interest of an image of the target.

18. The calibration assembly of claim 17 , wherein the color balance adjustment comprises a white balance adjustment.

19. The calibration assembly of claim 18 , wherein the target comprises a white background and non-white calibration features.

20. The calibration assembly of claim 1 , further comprising the endoscopic imaging system, wherein the endoscopic imaging system comprises a stereoscopic endoscope.

Assignees

• Intuitive Surgical Operations

Inventors

• Zhao Tao
• Zhao Wenyi
• Scott David D

Classifications

• H04N13/246 Primary

  Calibration of cameras · CPC title

• G01D1/00

  Measuring arrangements giving results other than momentary value of variable, of general application (G01D3/00 takes precedence; in tariff metering apparatus G01D4/00; transducers not specially adapted for a specific variable G01D5/00) · CPC title

• G01D15/00

  Component parts of recorders for measuring arrangements not specially adapted for a specific variable · CPC title

• G06T7/85

  Stereo camera calibration · 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