Instrument calibration

1. A surgical robotic system, comprising:

an endoscope including:

a sheath; and

a leader configured to be disposed at least partially within a lumen of the sheath;

a robotic manipulator including a drive mechanism, configured to couple to the endoscope; and

a controller configured to:

receive a command to move the endoscope using the robotic manipulator;

access calibration parameters including a first set of calibration parameters associated with the sheath and a second set of calibration parameters associated with the leader;

generate an adjusted command based on the command and the first and second sets of calibration parameters; and

provide the adjusted command to the robotic manipulator to move the endoscope.

2. The surgical robotic system of claim 1 , wherein:

the leader includes a first helix section; and

the sheath includes a second helix section that is different from the first helix section.

3. The surgical robotic system of claim 1 , wherein the calibration parameters is based on:

an image registration process; and

a calibration curve fitting process.

4. The system of claim 3 , wherein the set of calibration parameters describe nonlinear behavior of the endoscope.

5. The surgical robotic system of claim 1 , wherein the calibration parameters describe at least one of translational movement of the endoscope or rotational movement of the endoscope.

6. The system of claim 1 , wherein the set of calibration parameters describe at least one of hysteresis in pitch of the endoscope or hysteresis in yaw of the endoscope.

7. The system of claim 1 , wherein the set of calibration parameters describe at least one of stiffness in pitch, yaw, or along a length of the endoscope.

8. The system of claim 1 , wherein the set of calibration parameters describe a working length between the drive mechanism and a distal end of the endoscope.

9. The surgical robotic system of claim 1 , wherein the controller is further configured to upload the calibration parameters, together with a unique identifier associated with the endoscope, to a calibration database including calibration parameters associated with multiple endoscopes.

10. The surgical robotic system of claim 1 , wherein the calibration parameters are based on imaging data generated by a camera associated with the endoscope.

11. The system of claim 1 , wherein the set of calibration parameters are based on data generated using one or more magnetic field sensors associated with the endoscope.

12. The system of claim 1 , wherein the set of calibration parameters are based on accelerometer data generated by one or more accelerometers associated with the endoscope.

13. A surgical robotic system, comprising:

an endoscope including:

a sheath; and

a leader configured to be disposed at least partially within a lumen of the sheath;

a camera associated with a distal end of the endoscope;

a robotic manipulator configured to be coupled to the endoscope;

a calibration structure configured to be secured to the endoscope, the calibration structure having a visual pattern on a surface thereof; and

a controller configured to:

manipulate the endoscope within the calibration structure;

capture a plurality of images of the visual pattern of the calibration structure using the camera; and

determine calibration parameters including a first set of calibration parameters associated with the sheath and a second set of calibration parameters associated with the leader based at least in part on the plurality of images.

14. The surgical robotic system of claim 13 , wherein the controller is further configured to:

receive a command to move the endoscope using the robotic manipulator;

access the calibration parameters;

generate an adjusted command based on the command and the calibration parameters; and

provide the adjusted command to the robotic manipulator to move the endoscope.

15. The surgical robotic system of claim 13 , wherein the visual pattern comprises checkered squares.

16. The surgical robotic system of claim 13 , wherein the calibration structure comprises a dome structure.

17. A surgical robotic system, comprising:

a sheath;

an elongated shaft configured to be disposed at least partially within a lumen of the sheath;

a robotic manipulator including manipulator means configured to manipulate the elongated shaft; and

controller means configured to:

receive a command to move the elongated shaft using the robotic manipulator;

access calibration parameters including a first set of calibration parameters associated with the sheath and a second set of calibration parameters associated with the elongated shaft;

generate an adjusted command based on the command and the first and second sets of calibration parameters; and

provide the adjusted command to the robotic manipulator to move the elongated shaft.

18. The surgical robotic system of claim 17 , wherein the manipulator means comprises a direct drive mechanism.

19. The surgical robotic system of claim 17 , wherein the controller means comprises one or more processors of a robotic cart of the surgical robotic system.