System and method for autofocusing of a camera assembly of a surgical robotic system
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.
1. A surgical robotic system, comprising:
a plurality of robotic arms each having an end effector at a distal end thereof;
a camera assembly having at least two cameras and an autofocus unit configured to automatically focus a lens of each of the at least two cameras;
a sensor unit; and
a controller configured to calculate 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 and a weighted algorithm, each of the plurality of robotic arms is weighted differently in the weighted algorithm.
2. The surgical robotic system of claim 1 , wherein:
the autofocus unit is configured to automatically focus the lens of each of the at least two cameras based on the desired focal distance.
3. The surgical robotic system of claim 1 , wherein the state information further includes a distance from each camera to each end effector of the plurality of robotic arms that is within a field of view of a surgeon.
4. The surgical robotic system of claim 1 , wherein the state information further includes positional information and orientation information of each camera.
5. The surgical robotic system of claim 1 , wherein, based on the calculated desired focal distance, the controller is configured to determine a focus command according to a particular focal depth.
6. The surgical robotic system of claim 5 , wherein the controller is configured to transmit the focus command to the autofocus unit and in response, the autofocus unit is configured to adjust a focal point of each camera to focus the lens of each camera.
7. The surgical robotic system of claim 5 , wherein the controller is configured to filter the desired focal distance to reduce rapid changes in focal data.
8. The surgical robotic system of claim 7 , wherein a strength of a filter for filtering the desired focal distance is varied based on a magnitude of head motion of a surgeon.
9. The surgical robotic system of claim 1 , wherein a different desired focal distance is calculated for each of the at least two cameras.
10. The surgical robotic system of claim 1 , wherein weights of each robotic arm are functions based on system parameters.
11. The surgical robotic system of claim 10 , wherein each robotic arm includes a plurality of joints.
12. The surgical robotic system of claim 11 , wherein the plurality of joints includes a shoulder joint, an elbow joint, and a wrist joint.
13. The surgical robotic system of claim 12 , wherein the system parameters include a distance from center of each end effector in a field of view of each camera, a state of each end effector, and a position of the elbow joint.
14. The surgical robotic system of claim 1 , wherein a focus adjustment speed is increased as each end effector moves outward from a target location.
15. The surgical robotic system of claim 1 , wherein a focus adjustment speed is decreased as each end effector moves toward a target location.
16. A robotic subsystem, comprising:
a plurality of robotic arms each having an end effector at a distal end thereof;
a camera assembly including:
at least two cameras;
a controller;
and an autofocus unit configured to automatically focus a lens of each of the at least two cameras,
wherein the controller is configured to calculate a desired focal distance based on state information including positional information and orientation information of the end effector of each of the plurality of robotic arms received from a sensor unit and a weighted algorithm, each of the plurality of robotic arms is weighted differently in the weighted algorithm, and
wherein the autofocus unit is configured to automatically focus the lens of each of the at least two cameras based on the desired focal distance.
17. The robotic subsystem of claim 16 , wherein a focus adjustment speed is increased as the robotic arms move outward from a target location and is decreased as the robotic arms move inward toward the target location.
18. The robotic subsystem of claim 16 , wherein the state information further includes at least one of a distance from each camera to each end effector of the plurality of robotic arms that is within a field of view of a surgeon and positional and orientation information of the at least two cameras.