System and method for multi-modal detection of depth in a vision system for an automated surgical robot

摘要

A system and method for multi-modal sensing of three-dimensional positional information on an object surface are disclosed. In particular, each of the multiple visualization modalities is used to collect unique location information of the surface of the object. Each of the calculated positional information is combined using a weighting factor to calculate the final weighted three-dimensional position. In various embodiments, the first depth may be recorded using a fiducial marker, the second depth may be recorded using a structured light pattern, and the third depth may be recorded using a light field camera. A weighting factor may be applied to each of the recorded depths and the final weighted depth may be calculated.