Abstract: Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.

Abstract: Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.

Abstract: User interface elements for orientation of remote camera during surgery are provided. In various embodiments, an image of an interior of a body cavity of a patient is received from one or more camera located at a distal end of an endoscopic tool. Position information and/or orientation information of the camera is received. A reference view indicating a field of view of the camera(s) on an anatomical model is generated based on the position information and/or orientation information. The reference view is displayed in combination with the image to a user.

Abstract: Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.

Abstract: Systems and methods for mechanical coupling and calibration of two fixed-base robotic arms are disclosed. In particular, a first robotic arm is affixed to a first base at a proximal end and has a first coupling at a distal end and a second robotic arm is affixed to a second base at a proximal end and has a second coupling at a distal end. The first coupling is releasably coupled to a second coupling via a locking mechanism to prevent relative motion between the first and second couplings. Three-dimensional positional data is collected for the distal ends of the first robotic arm and the second robotic arm in one or more positions. A calibration value is determined from the three-dimensional positional data. The calibration value may be a calibration matrix determined by a least mean squares method.

Abstract: Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.