Self-adaptive adjusting method for surgical field of view

Abstract

The invention discloses a self-adaptive adjusting method for the surgical field of view. The method comprises the steps that (1), the initial position of an instrument is installed and adjusted to be within the field of view of an endoscope, and an optimal visual circle and a surgical operation circle are constructed according to the projection of traceable feature points arranged at the tail end of the instrument within the field of view of the endoscope; (2), the pose of the surgical operation circle is obtained in real time in the surgical process, and the target pose of the optimal visual circle is obtained through calculation according to the target pose of the surgical operation circle within the optimal visual circle; (3), the target pose of the endoscope is obtained through calculation according to the pose relation between the optimal visual circle and the endoscope; and (4), the target positions of all joints of an endoscope holding arm are obtained through calculation according to the target pose of the endoscope through mechanical arm reverse kinematics, and the endoscope holding arm is driven to move according to the target positions. According to the self-adaptive adjusting method for the surgical field of view, field of view adjustment of a surgical robot is automatically completed in the surgical process, a doctor does not need to frequently tread on a pedal to switch the control right, the safety and smoothness of surgical operation are improved, and the surgical time is shorter.

Description

technical field [0001] The invention relates to the technical field of surgical robots, in particular to a method for adaptively adjusting a surgical field of view. Background technique [0002] At present, minimally invasive surgery has basically replaced open surgery as the main direction of development in the field of surgical medicine. Compared with traditional open surgery, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. With the development of robotic technology, minimally invasive surgery based on robot-assisted systems represented by da Vinci surgical robots has gradually matured and been widely used. [0003] The surgical robot has a master-slave teleoperation structure, and the doctor controls the movement of the end instruments and the endoscope on the slave side by operating the master hand. During the operation, it is necessary to keep the instrument at the end of the tool arm moving under the field of view of the ...

AI Technical Summary

Problems solved by technology

[0004] In order to ensure the safety of the operation and the consistency of hand-eye coordination, the doctor must constantly adjust the endoscope to ensure a better surgical field of view, but the adjustment of the field of view will lead to frequent interruption of the surgical operation, which greatly reduces the continuity of the surgical process And the comfort of the doctor's operation, and prolong the operation time and increase the risk of operation

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