Rendering tool information as graphic overlays on displayed images of tools
An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
1. A robotic system comprising:
a first robotic arm operatively coupleable to a first tool, the first tool having a first working end;
an image capture device;
a display; and
a processor configured to:
cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display, the image of the work site including an image of the first working end of the first tool; and
cause information of the first robotic arm to be rendered on the image of the first working end in the image of the work site being displayed on the display, by:
determining a pose of the first working end relative to the image reference frame;
registering the information of the first robotic arm with a first designated place on the first working end in the image reference frame by using the pose of the first working end; and
rendering the information of the first robotic arm over the first designated place on the first working end on the image of the first working end in the image of the work site being displayed on the display, after registering the information of the first robotic arm with the first designated place on the first working end, so that the information of the first robotic arm is displayed as a first icon that is rendered over the image of the first working end, the first icon being displayed as part of the first tool.
2. The robotic system of claim 1 , wherein the processor is further configured to cause the information of the first robotic arm to be rendered on the image of the first working end in the image of the work site being displayed on the display, so that the first icon appears as a first decal that is rendered over the image of the first working end by bending the first decal to conform in shape and be applied to an outer surface of the first working end at the first designated place.
3. The robotic system of claim 1 , wherein the information of the first robotic arm comprises information identifying the first robotic arm.
4. The robotic system of claim 1 , wherein the first working end comprises an end effector, a wrist, and a distal end of a shaft, and wherein the first icon is rendered over one of the end effector, the wrist, and the distal end of the shaft.
5. The robotic system of claim 1 , further comprising:
a second robotic arm operatively coupleable to a second tool having a second working end;
wherein the image of the work site includes an image of the second working end; and
wherein the processor is further configured to:
cause information of the second robotic arm to be rendered on the image of the second working end in the image of the work site being displayed on the display, by:
determining a pose of the second working end relative to the image reference frame;
registering the information of the second robotic arm with a second designated place on the second working end in the image reference frame by using the pose of the second working end; and
rendering the information of the second robotic arm over the second designated place on the second working end in the image of the work site being displayed on the display, after registering the information of the second robotic arm with the second designated place on the second working end, so that the information of the second robotic arm is displayed as a second icon that is rendered over the image of the second working end, the second icon being displayed as part of the second tool.
6. The robotic system of claim 5 , wherein the information of the second robotic arm comprises information identifying the second robotic arm.
7. The robotic system of claim 1 , further comprising:
a second robotic arm operatively coupleable to a second tool having a second working end;
wherein the image of the work site includes an image of the second working end; and
wherein the processor is further configured to:
cause information of the second tool to be rendered on the image of the second working end in the image of the work site being displayed on the display, by:
determining a pose of the second working end relative to the image reference frame;
registering the information of the second tool with a second designated place on the second working end in the image reference frame by using the pose of the second working end; and
rendering the information of the second tool over the second designated place on the second working end in the image of the work site being displayed on the display, after registering the information of the second tool with the second designated place on the second working end, so that the information of the second tool is displayed as a second icon that is rendered over the image of the second working end, the second icon being displayed as part of the second tool.
8. The robotic system of claim 1 , wherein the processor is further configured to determine the pose of the first working end relative to the image reference frame by:
determining the pose of the first working end relative to a reference frame of the first tool; and
translating the pose of the first working end from the reference frame of the first tool to the image reference frame.
9. The robotic system of claim 8 , wherein the processor is further configured to determine the pose of the first working end relative to the reference frame of the first tool by using kinematics information of the first robotic arm.
10. The robotic system of claim 1 , wherein the image capture device comprises a stereoscopic camera, so that the image of the work site includes a stereo view of the first working end, and wherein the display is a stereo viewer.
11. A method comprising:
a processor causing an image of a work site to be displayed on a display, the image captured by an image capture device from a perspective of an image reference frame, the image of the work site including an image of a first working end of a first tool operatively coupled to a first robotic arm; and
the processor causing information of the first robotic arm to be rendered on the image of the first working end in the image of the work site being displayed on the display, by:
determining a pose of the first working end relative to the image reference frame;
registering the information of the first robotic arm with a first designated place on the first working end in the image reference frame by using the pose of the first working end; and
rendering the information of the first robotic arm over the first designated place on the first working end in the image of the work site, after registering the information of the first robotic arm with the first designated place on the first working end, so that the information of the first robotic arm is displayed as a first icon that is rendered over the image of the first working end, the first icon being displayed as part of the first tool.
12. The method of claim 11 , wherein the processor renders the information of the first robotic arm over the first designated place on the first working end in the image of the work site being displayed on the display, so that the first icon appears as a first decal that is rendered over the image of the first working end by bending the first decal to conform in shape and be applied to an outer surface of the first working end at the first designated place.
13. The method of claim 11 , wherein the information of the first robotic arm comprises information identifying the first robotic arm.
14. The method of claim 11 , wherein the first working end of the first tool includes an end effector, a wrist, and a distal end of a shaft, and wherein the processor rendering the information of the first robotic arm over the first designated place on the first working end in the image of the work site, comprises rendering the first icon over one of the end effector, the wrist, and the distal end of the shaft.
15. The method of claim 11 , wherein the image of the work site includes an image of a second working end of a second tool, the second tool operatively coupled to a second robotic arm, and wherein the method further comprises:
the processor causing information of the second robotic arm to be rendered on the image of the second working end in the image of the work site being displayed on the display, by:
determining a pose of the second working end relative to the image reference frame;
registering the information of the second robotic arm with a second designated place on the second working end in the image reference frame by using the pose of the second working end; and
rendering the information of the second robotic arm over the second designated place on the second working end in the image of the work site, after registering the information of the second robotic arm with the second designated place on the second working end, so that the information of the second robotic arm is displayed as a second icon that is rendered over the image of the second working end, the second icon being displayed as part of the second tool.
16. The method of claim 15 , wherein the information of the second robotic arm comprises information identifying the second robotic arm.
17. The method of claim 11 , wherein the image of the work site includes an image of a second working end of a second tool, the second tool operatively coupled to a second robotic arm; and wherein the method further comprises:
the processor causing information of the second tool to be rendered on the image of the second working end in the image of the work site being displayed on the display, by:
determining a pose of the second working end relative to the image reference frame;
registering the information of the second tool with a second designated place on the second working end in the image reference frame by using the pose of the second working end; and
rendering the information of the second tool over the second designated place on the second working end in the image of the work site, after registering the information of the second tool with the second designated place on the second working end, so that the information of the second tool is displayed as a second icon that is rendered over the image of the second working end, the second icon being displayed as part of the second tool.
18. The method of claim 11 , wherein the processor determines the pose of the first working end relative to the image reference frame by determining the pose of the first working end relative to a reference frame of the first tool and translating the pose of the first working end from the reference frame of the first tool to the image reference frame.
19. The method of claim 18 , wherein the processor determines the pose of the first working end relative to the reference frame of the first tool by using kinematics information of the first robotic arm.
20. The method of claim 11 , wherein:
the image capture device comprises a stereoscopic camera, so that the image of the work site comprises a stereo view of the first working end;
the display is a stereo viewer; and
the processor causing the image of the work site to be displayed on the display comprises the processor causing the stereo view to be displayed on the stereo viewer.