Patent ID: 11937771
Assignee: ASENSUS SURGICAL EUROPE SàRL
Field: Audio-visual technology (Electrical engineering)
Classification: CPC A  G  H | IPC A  G  H

Claim 10:
11. The method of claim 1, comprising calculating the location, in world coordinates, of a kth point on the object according to the following equation:, p
   w
   k
  
  =
  
   
    
     
      
       
        C
        
         1
         ,
         2
         ,
         1
        
        k
       
       -
       
        
         x
         p
        
        ⁢
        
         C
         
          3
          ,
          2
          ,
          1
         
         k
        
       
       -
       
        
         y
         p
        
        ⁢
        
         C
         
          1
          ,
          3
          ,
          1
         
         k
        
       
       -
      
     
    
    
     
      
       
        
         x
         s
        
        ⁢
        
         C
         
          1
          ,
          2
          ,
          2
         
         k
        
       
       +
       
        
         x
         s
        
        ⁢
        
         x
         p
        
        ⁢
        
         C
         
          3
          ,
          2
          ,
          2
         
         k
        
       
       +
       
        
         x
         s
        
        ⁢
        
         y
         p
        
        ⁢
        
         C
         
          1
          ,
          3
          ,
          2
         
         k
        
       
      
     
    
   
   
    
     
      
       
        C
        
         1
         ,
         2
         ,
         1
        
        4
       
       -
       
        
         x
         p
        
        ⁢
        
         C
         
          3
          ,
          2
          ,
          1
         
         4
        
       
       -
       
        
         y
         p
        
        ⁢
        
         C
         
          1
          ,
          3
          ,
          1
         
         4
        
       
       -
      
     
    
    
     
      
       
        
         x
         s
        
        ⁢
        
         C
         
          1
          ,
          2
          ,
          2
         
         4
        
       
       +
       
        
         x
         s
        
        ⁢
        
         x
         p
        
        ⁢
        
         C
         
          3
          ,
          2
          ,
          2
         
         k
        
       
       +
       
        
         x
         s
        
        ⁢
        
         y
         p
        
        ⁢
        
         C
         
          1
          ,
          3
          ,
          2
         
         4
        
       
      
     
    
   
  
 

where Ci,j,lk=det(Cci, Ccj, Cpl, ek) are constants which depend only on a camera perspective transformation matrix and a projector perspective transformation matrix.