System and method for autofocusing of a camera assembly of a surgical robotic system
Inventors
Keenan, Justin • KHALIFA, Sammy
Assignees
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Publication Number
US-12382192-B2
Publication Date
2025-08-05
Expiration Date
Abstract
A surgical robotic system includes a sensor unit, a controller, and a robotic subsystem. The robotic subsystem is in communication with the sensor unit and the controller. Additionally, the robotic subsystem includes a plurality of robotic arms that each have an end effort at a distal end thereof. The robotic subsystem also includes a camera assembly that has at least two cameras and an autofocus unit that automatically focuses a lens of each of the cameras.
Core Innovation
The invention relates to a surgical robotic system that performs autofocus for a camera assembly including at least two cameras. The system includes a plurality of robotic arms, each having an end effector at a distal end, and an autofocus unit configured to automatically focus a lens of each camera. A sensor unit provides state information to a controller, including positional information and orientation information of the end effector of each robotic arm.
The controller calculates a desired focal distance for the camera assembly based on the received state information and a weighted algorithm in which each robotic arm is weighted differently. The state information is used to compute camera-relevant geometry, including camera-to-end-effector distances that are within the surgeon’s field of view, and system parameters such as end-effector centering in camera field of view, grasper open or closed state, depth, and elbow joint position.
To manage autofocus dynamics, the desired focal distance can be filtered to reduce rapid focal changes, with filter strength varied according to surgeon head motion. Calibrated focus curves convert the desired focal distance into focus commands for each camera, and focus adjustment speed is controlled by end-effector motion relative to a target location, including increased speed for outward motion and decreased speed for inward motion. The autofocus may support stereo camera configuration and composite depth-of-field using different per-camera focal distances.
Claims Coverage
The independent claims are clm-00001 and clm-00016. Across these independent claims, there are two core inventive areas: (i) calculating desired focal distance from multi-arm, sensor-derived state using a weighted algorithm with differently weighted robotic arms, and (ii) using an autofocus unit to automatically focus lenses of at least two cameras based on the calculated desired focal distance.
Multi-arm state-based desired focal distance with differently weighted robotic arms
A controller calculates a desired focal distance for the camera assembly based on state information including positional information and orientation information of the end effector of each of the plurality of robotic arms received from the sensor unit, wherein a weighted algorithm assigns each of the plurality of robotic arms a different weight.
Autofocus of lenses of at least two cameras based on desired focal distance
An autofocus unit is configured to automatically focus a lens of each of the at least two cameras based on the desired focal distance calculated by the controller from state information including positional information and orientation information of the end effector of each robotic arm and a weighted algorithm in which each robotic arm is weighted differently.
Both independent claims require a controller that computes a desired focal distance using end-effector positional and orientation state together with a weighted algorithm that weights different robotic arms differently, and they require an autofocus unit that automatically focuses the lenses of at least two cameras based on the computed desired focal distance.
Stated Advantages
Reduces rapid focal changes by filtering the desired focal distance.
Improves autofocus responsiveness by varying focus adjustment speed based on outward versus inward end-effector motion relative to a target location.
Adapts focal control dynamics by varying filter strength based on surgeon head motion.
Documented Applications
Autofocus for a multi-camera assembly in a surgical robotic system with a plurality of robotic arms and end effectors, including stereoscopic configuration and optional composite depth-of-field.
Autofocus control within a robotic subsystem where camera lenses are automatically focused based on desired focal distance computed from sensor-derived end-effector state and a weighted algorithm.
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