Surgeon input system using event-based vision sensors for a surgical robotic system
A user input system for providing input to a robotic surgical system for use in commanding motion of the robotic manipulator utilizes a surgeon input tool configured to be worn or held by a user. The surgeon input tool includes a plurality of LEDs, each emitting at different blink frequency and duty cycle. Event-based cameras disposed around a surgeon console are used to capture user movement of the surgeon input tool. The system receives input from the event cameras in response to sensing of light from the LEDs on the surgeon input tool, and uses that information to estimated position and/or orientation of the surgeon input tool. Motion commands corresponding to desired movement of the surgical instrument by the robotic manipulator arm are generated based on the estimated position or pose.
1 . A user input system for providing provide input to a robotic surgical system for use in commanding motion of the robotic manipulator, the user input system comprising:
a surgeon input tool configured to be worn or held by a user, the surgeon input tool including a plurality of LEDs, each LED configured to emit light, wherein each LED on the surgeon input tool is configured to blink with a combination of blink frequency and duty cycle that differs from the combination of blink frequency and duty cycle of any other LED on the surgeon input tool;
at least one event-based camera sensor disposed around a surgeon console;
at least one processor having a memory, the memory storing instructions executable by the processor to:
receive input in response to sensing of light from the LEDs by the event-based camera sensor; and
in response to the received input, generate motion commands corresponding to desired movement of the surgical instrument by the robotic manipulator arm.
2 . The system of claim 1 , wherein the surgeon input tool is configured such that each LED in the plurality of LEDs blinks at a blink frequency, wherein the blink frequency of each LED differs from the blink frequency of the other LEDs.
3 . The system of claim 1 , wherein the instructions are executable by the processor to, based on the received input, determine a position of the surgeon input tool.
4 . The system of claim 1 , wherein the instructions are executable by the processor to, based on the received input, determine a pose of the surgeon input tool.
5 . The system of claim 1 , wherein each LED blinks at a blink frequency of at least 700 Hz.
6 . The system of claim 5 , wherein each LED blinks at a blink frequency in a range of 700 Hz-1200 Hz.
7 . The system of claim 1 , wherein the system includes at least two event-based camera sensors.
8 . The system of claim 1 , wherein each LED emits light in the infrared range of the electromagnetic spectrum.
9 . The system of claim 1 , further including an inertial sensor carried by the surgeon input tool.
10 . A method for providing provide input to a robotic surgical system, comprising:
causing a plurality of LEDs on a surgeon input tool to emit light, including causing each LED in the plurality of LEDs to blink with a combination of blink frequency and duty cycle that is different than the combination of blink frequency and duty cycle of the other LEDs in the plurality of LEDs;
manually moving the surgeon input tool;
sensing light emitted from the plurality of LEDs using at least one event-based camera sensor;
receive input in response to sensing of the light by the event-based camera sensor; and
in response to the received input, generate motion commands corresponding to desired movement of a surgical instrument by a robotic manipulator arm.
11 . The method of claim 10 , wherein causing the plurality of LEDs to emit light includes causing each LED in the plurality of LEDs to blink at a blink frequency that is different than the blink frequency of the other LEDs in the plurality of LEDs.
12 . The method of claim 10 , wherein the method includes, based on the received input, determining a position of the surgeon input tool.
13 . The method of claim 10 , wherein the method includes, based on the received input, determining a pose of the surgeon input tool.
14 . The method of claim 10 , wherein causing the plurality of LEDs to emit light includes causing each LED in the plurality of LEDs to blink at a blink frequency of at least 700 Hz.
15 . The method of claim 14 , wherein causing the plurality of LEDs to emit light includes causing each LED in the plurality of LEDs to blink at a blink frequency in a range of 700 Hz-1200 Hz.
16 . The method of claim 10 , wherein causing the plurality of LEDs to emit light includes causing each LED to emit light in the infrared range of the electromagnetic spectrum.
17 . The method of claim 16 , wherein causing the plurality of LEDs to emit light includes causing each LED to emit light with a viewing angle of at least 150 degrees.
18 . A method for providing provide input to a robotic surgical system, comprising:
causing a plurality of LEDs on a surgeon input tool to emit light, including causing each LED in the plurality of LEDs to blink at a blink frequency of at least 700 Hz;
manually moving the surgeon input tool;
sensing light emitted from the plurality of LEDs using at least one event-based camera sensor;
receive input in response to sensing of the light by the event-based camera sensor; and
in response to the received input, generate motion commands corresponding to desired movement of a surgical instrument by a robotic manipulator arm.
19 . The method of claim 18 , wherein causing causing each LED in the plurality of LEDs to blink at a blink frequency of at least 700 Hz includes causing each LED in the plurality of LEDs to blink at a blink frequency in a range of 700 Hz-1200 Hz.
20 . The method of claim 18 , wherein the surgeon input tool further includes an inertial tracking sensor, and wherein the method includes generating the motion commands in response to the received input and input from the inertial tracking sensor.