Abstract: Control systems and methods for operating a robot are disclosed. The control system includes a robot comprising a fixed end and a manipulator movable relative to the fixed end. The robot is configured to move an elongated tool attached to an end effector of the manipulator within a robot space for aligning the elongated tool with an occluded target, wherein the robot space comprises a 3-dimensional (3D) space with the fixed end as a center. The control system further includes a processor communicatively coupled with the robot and a 3D imaging device. The 3D imaging device is configured to capture 3D images within an imaging space, wherein the imaging space comprises a 3D space with a fixed reference point on the 3D imaging device as a center. The processor is configured to process a preliminary 3D image of the end effector captured by the 3D imaging device to calibrate the robot by integrating the robot space with the imaging space.

Abstract: Systems and methods for aligning an elongated tool to an occluded target and for striking the occluded target using the elongated tool are disclosed. The system for aligning an elongated tool to an occluded target includes an adjustment mechanism configured to adjust an angular orientation of the elongated tool relative to a pivot point spaced from the target; a 3-dimensional (3D) imaging device configured to capture a 3D image of the elongated tool and the occluded target; and a processor communicatively coupled with the adjustment mechanism and the 3D imaging device. The processor is configured to process the 3D image received from the 3D imaging device to obtain location data of the target and the pivot point; and based on the location data of the target and the pivot point, control the adjustment mechanism to adjust the angular orientation of the elongated tool relative to the pivot point to align a longitudinal axis of the elongated tool with the target and the pivot point.

Abstract: A system and a method for aligning an elongated tool to an occluded target are disclosed. The system comprises an adjustment mechanism configured to adjust an angular orientation of the elongated tool relative to a pivot point spaced from the target; an imaging device configured to capture one or more X-ray images of the elongated tool and the target; and a processor communicatively coupled with the adjustment mechanism and imaging device, wherein the processor is configured to: extract Euclidean vector data of the elongated tool based on image data of an X-ray image received from the imaging device; and control the adjustment mechanism to iteratively adjust the angular orientation of the elongated tool based on the Euclidean vector data to align a longitudinal axis of the elongated tool with the target and the pivot point.