Surgery – Diagnostic testing – Detecting nuclear – electromagnetic – or ultrasonic radiation
Reexamination Certificate
2007-09-30
2011-12-06
Casler, Brian (Department: 3737)
Surgery
Diagnostic testing
Detecting nuclear, electromagnetic, or ultrasonic radiation
C700S245000
Reexamination Certificate
active
08073528
ABSTRACT:
In one embodiment of the invention, a tool tracking system is disclosed including a computer usable medium having computer readable program code to receive images of video frames from at least one camera and to perform image matching of a robotic instrument to determine video pose information of the robotic instrument within the images. The tool tracking system further includes computer readable program code to provide a state-space model of a sequence of states of corrected kinematics information for accurate pose information of the robotic instrument. The state-space model receives raw kinematics information of mechanical pose information and adaptively fuses the mechanical pose information and the video pose information together to generate the sequence of states of the corrected kinematics information for the robotic instrument. Additionally disclosed are methods for image guided surgery.
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Papani
Hasser Christopher J.
Hoffman Brian D.
Nowlin William C.
Zhao Wenyi
Casler Brian
Intuitive Surgical Operations, Inc.
Lauritzen Amanda
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