Abstract: A workstation for calibrating a robotic instrument (42) having a distal tip (46) within an X-ray image space (35). The workstation employs a calibration controller (50) for calibrating an RCM length of the robotic instrument (42) responsive to X-ray images (36) of different poses of the distal tip (46) of the robotic instrument (42) within the X-ray image space (35), and further employs a robotic instrument controller (40) for controlling a guidance of the robotic instrument (42) within the X-ray image space (35) from the RCM calibration. The robotic instrument (42) may include an endoscope whereby the calibration controller (50) is further employed to calibrate a focal length of the robotic instrument (42) responsive to the X-ray images (36) and one or more endoscope image(s) (48) of the X-ray image space (35) for guidance within the X-ray image space (35) from the RCM/focal length calibrations.

Abstract: A robot guiding system employing an endoscope (12), a robot (11), a robot controller (21), an endoscope controller (22) and an image integration module (24). In operation, the robot controller (21) command the robot (11) to move the endoscope (12) within the anatomical region,and the endoscope controller (22) generates an endoscopic video display (15) of an intra-operative endoscopic image of the anatomical region generated by the endoscope (12). As the endoscope (12) is stationary within the anatomical region,the image integration module (24) registers a pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region. As the endoscope (12) is moving within the anatomical region subsequent to the image registration, the image integration module (24) calibrates a motion of the robot (11) relative to the endoscope (12) followed by tracking a motion of the endoscope (12) within the anatomical region.