Automatic online registration between a robot and images

Patent metadata

Field	Value
Publication number	US-9984437-B2
Application number	US-201214342403-A
Country	US
Kind code	B2
Filing date	Sep 5, 2012
Priority date	Sep 13, 2011
Publication date	May 29, 2018
Grant date	May 29, 2018

Abstract

A registration system and method includes a configurable device ( 104 ) having one or more moveable features ( 122 ) such that movement of the moveable features can be determined relative to a reference to define a specific configuration of the configurable device. An imaging system ( 110 ) has a display on which the configurable device is viewable. A processing device ( 112 ) is configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device.

First claim

The invention claimed is:

1. A registration system, comprising:
a configurable device having one or more moveable features such that movement of the moveable features can be determined relative to a reference to determine a specific configuration of the configurable device;
an imaging system configured to acquire images of the configurable device, said imaging system having a display on which the configurable device is viewable; and
a processing device configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device;
wherein the configurable device includes a robot having at least one link.

2. The registration system as recited in claim 1 , wherein the at least one link is coupled to a joint and further including an encoder configured to measure the movement of the joint.

3. The registration system as recited in claim 1 , wherein the at least one link includes a shape sensing optical fiber and the movement of a shaft is measured using signals from the shape sensing optical fiber.

4. The registration system as recited in claim 1 , wherein the at least one link includes an end portion and the end portion includes at least one marker to designate a position in images of the imaging system.

5. The registration system as recited in claim 4 , wherein the at least one marker includes a shape or configuration to designate the position or an orientation of the at least one link.

6. The registration system as recited in claim 4 , wherein the imaging system includes an ultrasonic system and the at least one marker includes a vibrating mechanism to designate the position or an orientation of the at least one link.

7. The registration system as recited in claim 1 , wherein the configurable device includes the robot disposed within a living body and the imaging system includes an ultrasonic system that images a region of interest n the living body.

8. The registration system as recited in claim 1 , further comprising a switch configured to disable the configurable device based on a measured registration error.

9. A registration system, comprising:
a robot having one or more moveable features connected by N joints such that movement of the moveable features relative to a reference defines a specific configuration of the robot;
an ultrasonic imaging system configured to acquire images of the robot, said ultrasonic imaging system having a display on which the robot is viewable; and
a processing device configured to register the robot with a coordinate system of an ultrasonic probe of the ultrasonic imaging system based on the specific configuration of the robot.

10. The registration system as recited in claim 9 , wherein the N joints are coupled to encoders to measure the movement of a respective joint.

Assignees

• Thienphrapa Paul
• Ramachandran Bharat
• Popovic Aleksandra
• Koninklijke Philips Nv

Inventors

• Thienphrapa Paul
• Ramachandran Bharat
• Popovic Aleksandra

Classifications

• Y10S901/46

  Sensing device · CPC title

• G06T2207/10136

  3D ultrasound image · CPC title

• G06T3/0068 Primary

  Physics · mapped topic

• G06T2207/30204

  Marker · CPC title

• G06T7/73 Primary

  using feature-based methods · CPC title