METHODS AND SYSTEMS FOR TOOL LOCATING AND TOOL TRACKING ROBOTIC INSTRUMENTS IN ROBOTIC SURGICAL SYSTEMS

摘要

In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. Further disclosed are a method to locate a robotic instrument in the field of view of a camera; a method for indicating tool entrance into the field of view of a camera; a method for image guided surgery; and a tool tracking system having a computer including a processor to execute computer readable program code and a computer usable medium having the computer readable program code.