Abstract: A robotic imaging system includes a camera configured to one or more images of a target site. The camera may be a stereoscopic camera configured to record a left image and a right image for producing at least one stereoscopic image of the target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera relative to the target site. A sensor is configured to detect forces and/or torque imparted by a user for moving the stereoscopic camera and transmit sensor data. A controller is configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute an assisted drive mode, which includes determining a movement sequence for the robotic arm based in part on the sensor data and a damping function.

Abstract: A method, instructions for which are executed from a computer-readable medium, calibrates a robotic camera system having a digital camera connected to an end-effector of a serial robot. The end-effector and camera move within a robot motion coordinate frame (“robot frame”). The method includes acquiring, using the camera, a reference image of a target object on an image plane having an optical coordinate frame, and receiving input signals, including a depth measurement and joint position signals. Separate roll and pitch offsets are determined of a target point within the reference image with respect to the robot frame while moving the robot. Offsets are also determined with respect to x, y, and z axes of the robot frame while moving the robot through another motion sequence. The offsets are stored in a transformation matrix, which is used to control the robot during subsequent operation of the camera system.

Abstract: A method of calibrating a robotic imaging apparatus includes providing the robotic imaging apparatus, calibrating a stereoscopic camera portion of the apparatus to robot space, and registering the robot space to a patient space. An embodiment of the apparatus includes a base section defining the robot space, a robotic arm including a first end connected to the base section, a second end including a coupling interface, and a plurality of joints and links connecting the first end to the second end, each joint including a motor configured to rotate the joint around an axis and a joint sensor configured to transmit a position of the respective joint, a stereoscopic camera connected at the coupling interface, and a sensor positioned at the coupling interface and configured to detect force imparted on the stereoscopic camera by an operator and to transmit output data indicative of the detected force.

Abstract: A liquid level sensing system for a vehicle tank may include a liquid level display including a display panel and a first number of visual indicators carried by the display panel. The system may also include capacitive sensors to be coupled to the vehicle tank to sense a second number of possible liquid levels being greater than the first number of visual indicators. In addition, the system may include a controller configured to drive the visual indicators in a modulation pattern based upon the capacitive sensors to thereby display a sensed liquid level having a resolution corresponding to the second number of possible liquid levels.

Abstract: A method, instructions for which are executed from a computer-readable medium, calibrates a robotic camera system having a digital camera connected to an end-effector of a serial robot. The end-effector and camera move within a robot motion coordinate frame (“robot frame”). The method includes acquiring, using the camera, a reference image of a target object on an image plane having an optical coordinate frame, and receiving input signals, including a depth measurement and joint position signals. Separate roll and pitch offsets are determined of a target point within the reference image with respect to the robot frame while moving the robot. Offsets are also determined with respect to x, y, and z axes of the robot frame while moving the robot through another motion sequence. The offsets are stored in a transformation matrix, which is used to control the robot during subsequent operation of the camera system.

Abstract: A system for guiding an ophthalmic procedure is disclosed. The system includes a housing assembly with a head unit configured to be at least partially directed towards a target site in an eye. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second set of volumetric data, respectively. A controller is configured to register the first set and second set of volumetric data to create a third set of registered volumetric data. The third set and second set of registered volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a shared composite view of the target site. The controller is configured to extract structural features and/or enable visualization of the target site.

Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The automatic focusing modes include a continuous autofocus mode adapted to maintain a focus of the at least one stereoscopic image while the robotic arm is moving the stereoscopic camera and the target site is moving along at least an axial direction.

Abstract: A system for guiding an ophthalmic procedure is disclosed. The system includes a housing assembly with a head unit configured to be at least partially directed towards a target site in an eye. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second set of volumetric data, respectively. A controller is configured to register the first set and second set of volumetric data to create a third set of registered volumetric data. The third set and second set of registered volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a shared composite view of the target site. The controller is configured to extract structural features and/or enable visualization of the target site.

Abstract: System and method for imaging a target site with a housing assembly having a head unit configured to be at least partially directed towards the target site. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second of volumetric data of the target site, respectively. A controller is configured to register the first set of volumetric data with the second set of volumetric data to create a third set of registered volumetric data. The third set of registered volumetric data and second set of volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a composite shared view of the target.

Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The automatic focusing modes include a continuous autofocus mode adapted to maintain a focus of the at least one stereoscopic image while the robotic arm is moving the stereoscopic camera and the target site is moving along at least an axial direction.

Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The automatic focusing modes include a target locking mode. The target locking mode is adapted to maintain a focus of the at least one stereoscopic image while the robotic arm is moving the stereoscopic camera.

Abstract: A robotic imaging system includes a body with a head unit, a robotic arm and a coupling plate. A camera is positioned in the head unit and configured to record one or more images of a target site. The camera is operatively connected to one or more handles. A plurality of sensors is configured to transmit sensor data. The sensors include at least one primary sensor configured to detect respective force and/or respective torque applied at the body and at least one auxiliary sensor configured to detect the respective force and/or the respective torque applied at the one or more handles. A controller is configured to receive the sensor data and execute a contact management mode, including determining a contact location of the body with an external object based in part on the sensor data and determining a reverse trajectory for moving the body away from the contact location.

Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The automatic focusing modes include a disparity mode and/or a sharpness control mode which are adapted to at least partially rely on disparity feedback to change the working distance in order to achieve focus.

Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The automatic focusing modes include a target locking mode. The target locking mode is adapted to maintain a focus of the at least one stereoscopic image while the robotic arm is moving the stereoscopic camera.

Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The automatic focusing modes include a disparity mode and/or a sharpness control mode which are adapted to at least partially rely on disparity feedback to change the working distance in order to achieve focus.

Abstract: A robotic imaging system includes a camera configured to obtain one or more images of a target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera in a movement sequence. The robotic imaging system includes a sensor configured to detect and transmit sensor data related to a respective position and/or a respective speed of the camera. A controller is configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute a collision avoidance mode, which includes determining a trajectory scaling factor for the camera. The trajectory scaling factor is applied to modulate the respective speed when the camera and/or the robotic arm are in a predefined buffer zone.

Abstract: A robotic imaging system includes a camera configured to obtain one or more images of a target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera in a movement sequence. A force-based sensor is configured to detect and transmit sensor data related to at least one of force and/or torque imparted by a user for moving the camera. The system includes a controller configured to receive the sensor data. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute a collision avoidance mode, including applying a respective correction force to modify the movement sequence when the camera and/or the robotic arm enter a predefined buffer zone.

Abstract: A robotic imaging system includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes an optical assembly having at least one lens and defining a working span. The optical assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working span. The robotic imaging system includes a controller having a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute an orbital scanning mode causing the robotic arm to sweep an orbital trajectory at least partially circumferentially around the eye while maintaining focus.

Abstract: A robotic imaging system includes a camera configured to one or more images of a target site. The camera may be a stereoscopic camera configured to record a left image and a right image for producing at least one stereoscopic image of the target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera relative to the target site. A sensor is configured to detect forces and/or torque imparted by a user for moving the stereoscopic camera and transmit sensor data. A controller is configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute an assisted drive mode, which includes determining a movement sequence for the robotic arm based in part on the sensor data and a damping function.

Abstract: A method, instructions for which are executed from a computer-readable medium, calibrates a robotic camera system having a digital camera connected to an end-effector of a serial robot. The end-effector and camera move within a robot motion coordinate frame (“robot frame”). The method includes acquiring, using the camera, a reference image of a target object on an image plane having an optical coordinate frame, and receiving input signals, including a depth measurement and joint position signals. Separate roll and pitch offsets are determined of a target point within the reference image with respect to the robot frame while moving the robot. Offsets are also determined with respect to x, y, and z axes of the robot frame while moving the robot through another motion sequence. The offsets are stored in a transformation matrix, which is used to control the robot during subsequent operation of the camera system.