Field of view control method and endoscope system

Abstract

The application relates to a field of view control method and an endoscope system, wherein the field of view control method is used for quickly and accurately selecting a corresponding field of view switching mode according to a position of a to-be-processed region in a field of view image, calculating an offset vector according to a coordinate of a center point of the image and a coordinate of a center point of an instrument, and then controlling a lens movement of the endoscope. Therefore, field of view exposure requirements in different instrument movement scenes are achieved, and operation efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of field of view control technology, and in particular to a field of view control method and an endoscope system. Background Technology

[0002] Endoscopic surgery is a procedure performed using an endoscope and surgical instruments. A robotic arm inserts the endoscope's lens into the abdominal cavity. Images captured by the laparoscopic lens are transmitted via fiber optic cables to a signal processing system and displayed in real time on a dedicated monitor. The surgeon then analyzes and assesses the patient's condition using images of the organs from different angles displayed on the monitor and performs the surgery accordingly.

[0003] In related technologies, endoscopes employ a single field-of-view control strategy. However, surgical instruments exhibit different movement characteristics depending on the area to be treated during surgery. Therefore, a single field-of-view control strategy cannot meet the visual exposure requirements of different instrument movement scenarios, thus affecting surgical efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide a field of view control method and endoscope system to address the problem that a single field of view control strategy cannot meet the field of view exposure requirements of different instrument movement scenarios.

[0005] This application provides a field of view control method applied to an endoscope system, the endoscope system including an endoscope with a bendable joint and a robotic arm for mounting the endoscope; the field of view control method includes:

[0006] Import CT image data and fuse the CT image data with the field of view images captured by the endoscope;

[0007] Obtain the coordinates of the center point of the field of view image;

[0008] Determine whether the area proportion of the region to be processed in the visual field image exceeds a preset area proportion threshold.

[0009] If the area of ​​the region to be processed in the field of view does not exceed the preset area ratio threshold, the field of view control mode is set to adaptive control mode, and the coordinates of the instrument center point are obtained.

[0010] Calculate the offset vector between the coordinates of the image center point and the coordinates of the instrument center point;

[0011] At least a control signal for controlling the movement of the field-of-view image is generated based on the offset vector;

[0012] The movement of the endoscope lens is controlled according to the control signal and the field of view control mode.

[0013] This application also provides an endoscope system, comprising:

[0014] A processor for executing the field-of-view control method described above;

[0015] The endoscope is electrically connected to the processor;

[0016] A display device is used to display images captured by the lens of the endoscope, and the display device is communicatively connected to the processor.

[0017] This application relates to a field of view control method and an endoscope system. The field of view control method quickly and accurately selects the appropriate field of view switching mode based on the region to be processed within the visual field image, and calculates an offset vector based on the coordinates of the image center point and the instrument center point, thereby controlling the movement of the endoscope lens. This achieves the required visual field exposure under different instrument movement scenarios, improving surgical efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic flowchart of a field-of-view control method provided in an embodiment of this application.

[0019] Figure 2 This is a schematic diagram of a multi-device joint center in a field of view control method provided in an embodiment of this application.

[0020] Figure 3 This is a schematic diagram of a single instrument center in a field-of-view control method provided in an embodiment of this application.

[0021] Figure 4 This is a schematic diagram showing the main instrument as the center of the instrument in a field of view control method provided in an embodiment of this application.

[0022] Figure 5 This is a schematic diagram of the movement of an endoscope around the RCM point in a field of view control method provided in an embodiment of this application.

[0023] Figure 6 This is a control flowchart of a field-of-view control method provided in an embodiment of this application.

[0024] Figure 7 This is a structural diagram of an endoscope system provided in an embodiment of this application.

[0025] Figure 8 This is a schematic diagram of the endoscope structure in an endoscopic system provided in an embodiment of this application.

[0026] Figure label:

[0027] 100-Endoscope system; 110-Processor; 120-Display device; 130-Endoscope; 131-Endoscope body; 132-Lens; 133-Flexible joint; 140-Endoscope-holding robotic arm; 150-Wristband sensor. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0029] This application provides a field of view control method. It should be noted that the field of view control method provided in this application does not limit the subject of execution. Optionally, the field of view control method provided in this application is applied to an endoscope system 100, which includes an endoscope 130 with a flexible joint 133 and a robotic arm 140 for mounting the endoscope 130. Movement of the endoscope lens 132 can be achieved through both the robotic arm 140 and the flexible joint 133.

[0030] like Figure 1 As shown, in one embodiment of this application, the field of view control method includes the following steps S100 to S700:

[0031] S100, import CT image data and fuse the CT image data with the field of view image captured by the endoscope 130.

[0032] Specifically, CT image data can accurately determine the location and size of pathological tissue (i.e., the area to be processed). By magnifying or reducing the CT image and fusing it with the field of view image captured by the endoscope 130, the area occupied by the area to be processed in the field of view image can be accurately obtained.

[0033] S200, obtain the coordinates of the center point of the field of view image.

[0034] Specifically, the image center point is the geometric center of the outline of the field of view image.

[0035] S300, determine whether the area ratio of the region to be processed in the field of view image exceeds the preset area ratio threshold.

[0036] Specifically, the preset area percentage threshold can be greater than or equal to 50% and less than or equal to 65%.

[0037] S410, if the area ratio of the region to be processed in the field of view image does not exceed the preset area ratio threshold, then the field of view control mode is set to adaptive control mode, and the coordinates of the instrument center point are obtained.

[0038] If the proportion does not exceed the preset area proportion threshold, it indicates that the instrument will only move within a small range during the treatment of the area to be treated, and the surgical field is sufficiently exposed. In this instrument movement scenario, the visual field image only needs to be slightly adjusted, scaled, or kept locked within a small range to meet the visual field exposure requirements.

[0039] Of course, the mode can be switched by the operator via a foot pedal or a button on a display screen, depending on the next surgical procedure.

[0040] S500 calculates the offset vector between the coordinates of the image center point and the coordinates of the instrument center point.

[0041] Specifically, the offset vector includes the offset distance and the offset direction.

[0042] S600, at least based on the offset vector, a control signal for controlling the movement of the field of view image is generated.

[0043] Specifically, the offset vector needs to be converted into a control signal that can drive the endoscope-holding robotic arm 140 or the flexible joint 133 to move, thereby controlling the movement of the endoscope lens 132 and adjusting the field of view image.

[0044] S700, according to the control signal and field of view control mode, controls the movement of the endoscope lens 132.

[0045] Specifically, based on different field of view control modes, the endoscope lens 132 is moved by controlling the movement of the endoscope lens 132 by driving the endoscope holding robotic arm 140 and / or the flexible joint 133 through control signals.

[0046] In this embodiment, by quickly and accurately selecting the appropriate field-of-view switching mode based on the region to be processed in the visual field image, and calculating the offset vector based on the coordinates of the image center point and the instrument center point, the movement of the endoscope lens 132 is controlled. This achieves the required visual field exposure under different instrument movement scenarios, improving surgical efficiency.

[0047] In one embodiment of this application, S100 includes the following S110 and S130.

[0048] S110, Import CT image data;

[0049] S120 fuses real-time endoscopic images with CT image data for display, and identifies the area to be processed based on the fusion result.

[0050] S130, determine the initial lowering angle and initial lowering position of the endoscope based on the area to be processed, so as to maximize the overlap between the field of view image captured by the endoscope and the area to be processed.

[0051] In this embodiment, the location and size of the area to be processed can be accurately obtained through CT image data, thereby quickly determining the initial lowering angle and initial lowering position of the endoscope 130, exposing the area to be processed in the field of view image, enabling the endoscope lens 132 to be quickly aligned, facilitating operation, and improving surgical efficiency.

[0052] In one embodiment of this application, S120 includes the following S121 to S125.

[0053] S121, Correct the sequence of images captured by the endoscope.

[0054] Because the images captured by endoscopes usually have radial distortion, eccentric distortion, and thin prism distortion, it is necessary to perform distortion correction on the sequence of images to restore them to normal images that conform to observation habits.

[0055] S122, extract feature points from the corrected sequence of images and match feature points from adjacent frames in the sequence of images.

[0056] S123, based on the features that have been matched between adjacent frame images, obtain the motion matrix between adjacent frame sequence images.

[0057] S124: Extract the surface point cloud from the CT image data, and match the surface point cloud with the feature points reconstructed from the endoscope sequence images to obtain the rotation matrix and translation vector between the endoscope sequence images and the CT image data.

[0058] S125 After calculating the rotation matrix and translation vector between the endoscope sequence images and CT image data, the pose of the endoscope in the CT image data can be accurately obtained. Then, the real-time endoscope images and CT image data can be fused and displayed according to its pose.

[0059] In one embodiment of this application, the instrument center point in S410 is the joint center point of all instruments, and the calculation method of the joint center point includes the following S411 and S413.

[0060] S411, obtain the coordinates of the geometric center point of the minimum bounding rectangle of each instrument.

[0061] S412, calculate the average of the abscissas of the geometric center points of all instruments as the abscissa of the joint center point.

[0062] S413, calculate the average of the ordinates of the geometric center points of all instruments as the ordinate of the joint center point.

[0063] For example, the following is an embodiment, such as Figure 2As shown, instrument a1 and instrument b1 are two instruments in the visual field image, and their joint center is M1.

[0064] In this implementation, the joint center point of all instruments is used to characterize the instrument center. When the image center coincides with or approximately coincides with the instrument center, all instruments can be arranged approximately around the image center, ensuring that all instruments can be exposed in the field of view image to the greatest extent.

[0065] As an option for the instrument center point in S410, the minimum bounding rectangle of each instrument is obtained, and then the circumcircle of the whole formed by all the minimum bounding rectangles is obtained, with the center of the circumcircle as the instrument center.

[0066] This approach ensures that the furthest distance from the center of the instrument to the boundary contour of each instrument is approximately equal, preventing situations where one instrument deviates significantly from the image center, resulting in part of the instrument being outside the field of view. Such parts of the instrument, not under monitoring, are prone to contact with tissues and organs, potentially causing damage. Therefore, this approach improves the safety of instrument operation.

[0067] Of course, the geometric center point of the smallest bounding rectangle of one of the instruments can also be used as the instrument center. For example... Figure 4 As shown, the geometric center point M2 of the smallest bounding rectangle of instrument b2 is selected as the instrument center.

[0068] In one embodiment of this application, S700 includes the following S710.

[0069] In adaptive control mode, the flexible joint 133 of the endoscope 130 is driven by the control signal to move the lens 132.

[0070] In this embodiment, because the instrument only moves within a small range during the treatment of the area to be treated in the adaptive control mode, and the surgical field is fully exposed, the lens 132 can be moved to the required position by controlling the movement of the bendable joint 133 of the endoscope 130, so that the instrument remains in the field of view and meets the field of view exposure requirements.

[0071] In one embodiment of this application, S700 includes the following S800.

[0072] S800: Obtain the input parking mode command and lock the field of view image so that the field of view image remains fixed when the instrument moves.

[0073] Specifically, if the image center remains within a preset boundary range for a preset time, the system switches to pause mode. Alternatively, it can be triggered by the operator via foot pedal, a button on a display screen, or voice control.

[0074] In this embodiment, since the movement range of the instrument remains within a single field of view, the field of view remains stationary most of the time. A pause mode is employed to avoid slight jitter caused by the image center continuously following the instrument center in adaptive control mode. In this mode, regardless of the instrument's movement, the endoscope lens 132 will not adjust the field of view, thus creating a stable field of view for instrument operation.

[0075] In one embodiment of this application, after S300, the field of view control method of this application further includes the following S421 and S422.

[0076] S421, if the area ratio of the region to be processed in the field of view image exceeds the preset area ratio threshold, then the field of view control mode is set to master-slave follow mode.

[0077] If the proportion exceeds this threshold, it indicates that the instrument will move significantly during the processing of the area to be processed, and the corresponding field of view image needs to be adjusted extensively to keep the instrument in the field of view image at all times.

[0078] Of course, the mode can be switched by the operator according to the next surgical procedure, either by foot pedal or by a button on a display screen or by voice control.

[0079] S422, according to a preset specified rule, designate one of the multiple instruments as the main instrument, designate the other instruments besides the main instrument as auxiliary instruments, and obtain the coordinates of the geometric center point of the main instrument as the coordinates of the instrument center point.

[0080] The geometric center point of the main instrument can be the center of the smallest circumscribed rectangle of the main instrument.

[0081] For example, the following is an embodiment, such as Figure 4 As shown, instrument a3 is the auxiliary instrument, and instrument b3 is the main instrument. The center M3 of the smallest bounding rectangle of instrument b3 is taken as the instrument center.

[0082] Specifically, designating one of multiple instruments as the master instrument according to a preset rule includes one of the following methods:

[0083] 1) Identify the designated main instrument based on its appearance features using machine vision algorithms.

[0084] 2) The operator designates one of the instruments in the field of view as the master instrument. The designated command can be triggered by a button on the instrument or a foot pedal.

[0085] 3) Treat the device located within a specified area in the field of view as the primary device. For example, when only one device is located in the tracking area, define this device as the primary device.

[0086] 4) The device with the largest movement range within a specified time period is considered the master device. Calculate the displacement of each device within the set time period, and consider the device with the largest displacement as the master device.

[0087] 5) The main instrument has a make point, and the field of view image will automatically identify the make point.

[0088] In this embodiment, the geometric center of the main instrument is used as the instrument center, so that the visual field image can meet the operator's intention to the greatest extent and achieve the best state of surgical field exposure.

[0089] In one embodiment of this application, S600 includes the following S610 to S630.

[0090] S610, detect the current motion state of the instrument in the field of view image, and obtain the offset vector of the main instrument and the offset vector of the auxiliary instrument within a specified time.

[0091] S621, calculate the offset component of the offset vector of the auxiliary instrument in the offset direction of the main instrument.

[0092] S630, a control signal for controlling the movement of the field of view is generated based on the offset component of the offset vector of the auxiliary instrument in the offset direction of the main instrument and the offset vector of the main instrument.

[0093] In this embodiment, considering that the offset component of the secondary instrument's offset vector in the offset direction of the primary instrument may be much smaller or much larger than the primary instrument's offset vector, the secondary instrument is prone to moving outside the field of view. To avoid an excessive difference between the offset vectors of the primary and secondary instruments, a control signal is generated by combining the offset component of the secondary instrument in the offset direction of the primary instrument. This ensures that the field of view after movement always includes both the secondary and primary instruments, improving operational safety.

[0094] Considering the offset component of the secondary instrument's offset vector in the direction perpendicular to the primary instrument's offset, the field of view image following the movement of the primary instrument will also show the secondary instrument moving outside the field of view image. As a further solution, S622 is included before S630.

[0095] S622, calculate the offset component of the offset vector of the auxiliary instrument in the offset direction perpendicular to the main instrument.

[0096] Accordingly, step S630 further comprises: generating a control signal for controlling the movement of the field of view based on the offset component of the offset vector of the secondary instrument in the offset direction of the primary instrument, the offset component of the offset vector of the secondary instrument in the offset direction perpendicular to the primary instrument, and the offset vector of the primary instrument.

[0097] In this embodiment, the offset component of the offset vector of the secondary instrument is further increased in the offset direction perpendicular to the main instrument to generate a control signal for controlling the movement of the field of view, ensuring that the secondary instrument will not move out of the field of view in the offset direction perpendicular to the main instrument.

[0098] In one embodiment of this application, S700 includes the following S720.

[0099] S720, in master-slave follow mode, according to the control signal, the endoscope holding robotic arm 140 drives the endoscope 130 to move around the RCM point (RCM point is the distal motion center).

[0100] Specifically, such as Figure 5 As shown, the position of endoscope 130 at time t and the position of endoscope 130 at time t+1 are shown. The intersection of the contours of endoscope 130 at the two times is the RCM point, and the lens 132 of the endoscope can be adjusted over a wide range.

[0101] In this embodiment, since the instrument only moves within a wide range during the treatment of the area to be treated in the master-slave follow mode, simply controlling the movement of the bendable joint 133 of the endoscope 130 is insufficient to follow the movement of the instrument. Therefore, in this embodiment, the position of the endoscope lens 132 can be adjusted over a wide range to keep the instrument within the field of view and meet the requirements for visual exposure.

[0102] like Figure 6 As shown, in one embodiment of this application, S700 is followed by S900.

[0103] S900 acquires the posture information of the wristband sensor 150 worn by the operator and determines whether to scale or magnify the field-of-view image.

[0104] In this embodiment, by acquiring the posture information of the wristband sensor 150, the field of view image can be scaled or magnified to obtain a larger field of view or better clarity, which facilitates the operation of the instrument.

[0105] like Figure 6 As shown, in one embodiment of this application, the following control flow is also disclosed:

[0106] St10, after the system is powered on, performs device self-test, system parameter initialization, node status query, and configuration and reading of parameters for each module.

[0107] After self-testing, St20 waits for touchscreen control signals and enters the equipment preparation stage according to the touchscreen control instructions. Upon receiving the trolley button control signal, it sends trolley motor control commands to move the trolley up and down to adjust the overall height of the robotic arm. Once the trolley height is adjusted, it enters the robotic arm adjustment stage.

[0108] St30: When the device detects that the robotic arm drag button is pressed, it can obtain the torque output by each joint of the lens-holding arm to achieve the predetermined action based on parameters such as the mass of the link, the inertia tensor, and the position of the center of mass. The output torque can compensate for the gravity and friction terms to achieve dragging. Then, the corresponding control commands are sent through the CAN bus until the robotic arm is adjusted to the appropriate position.

[0109] St40: Once the robotic arm is adjusted to the appropriate position, the system enters either master-slave follow mode or adaptive control mode.

[0110] In master-slave follow mode, the image algorithm actively identifies the master tool's movements, and the image center point moves with the master tool. During the control process, the device acquires the position information and current information of each joint module of the robotic arm in real time within each control cycle, and acquires the wristband sensor's attitude information in real time to determine whether to perform scaling processing.

[0111] In adaptive mode, the image identifies the center point of the device and changes in real time according to the position of the center point. Similarly, in each control cycle, the device obtains the position information and current information of each joint module of the robotic arm in real time and issues corresponding control commands.

[0112] This application also provides an endoscope system 100.

[0113] like Figure 7 As shown, in one embodiment of this application, the endoscope system 100 includes: a processor 110, an endoscope 130, and a display device 120.

[0114] Processor 110 is used to execute the field of view control method mentioned above. Endoscope 130 is electrically connected to processor 110. Display device 120 is used to display images captured by lens 132 of endoscope, and display device 120 is communicatively connected to processor 110.

[0115] Specifically, the display device 120 includes a touch screen.

[0116] like Figure 7 As shown, in one embodiment of this application, the endoscope system 100 further includes an endoscope-holding robotic arm 140.

[0117] The endoscope is mounted on the endoscope-holding robotic arm 140. The endoscope-holding robotic arm 140 is mounted on a movable trolley for easy relocation. The endoscope-holding robotic arm 140 is electrically connected to the processor 110, which controls the endoscope-holding robotic arm 140 to adjust the images captured by the endoscope 130 based on the images captured by the endoscope lens 132.

[0118] like Figure 7 and Figure 8 As shown, in one embodiment of this application, the endoscope 130 includes: an endoscope 130 body, a lens 132, and a bendable joint 133.

[0119] The endoscope 130 body is equipped with a drive device. The lens 132 is used to capture images. One end of the bendable joint 133 is connected to the endoscope 130 body, and the other end is connected to the lens 132.

[0120] The drive device is communicatively connected to the processor 110 and is used to output a torque in response to the control signal output by the processor 110, which causes the flexible joint 133 to deform so that the center of the image captured by the lens 132 moves toward the target point.

[0121] like Figure 7 As shown, in one embodiment of this application, the endoscope system 100 further includes a wristband sensor 150.

[0122] The wristband sensor 150 is communicatively connected to the processor 110. The wristband sensor 150 is worn by the operator during use, and the processor 110 determines whether to scale or magnify the field-of-view image by acquiring the posture information of the wristband sensor 150.

[0123] The technical features of the above embodiments can be combined arbitrarily, and the execution order of the method steps is not restricted. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling field of view, characterized in that, An application to an endoscope system, the endoscope system comprising an endoscope having a bendable joint and a robotic arm for mounting the endoscope; the field of view control method includes: Import CT image data and fuse the CT image data with the field of view images captured by the endoscope; Obtain the coordinates of the center point of the field of view image; Determine whether the area proportion of the region to be processed in the visual field image exceeds a preset area proportion threshold. If the area of ​​the region to be processed in the field of view does not exceed the preset area ratio threshold, the field of view control mode is set to adaptive control mode, and the coordinates of the instrument center point are obtained. Calculate the offset vector between the coordinates of the image center point and the coordinates of the instrument center point; At least a control signal for controlling the movement of the field-of-view image is generated based on the offset vector; The movement of the endoscope lens is controlled according to the control signal and the field of view control mode; The process of importing CT image data and fusing it with the visual field images captured by the endoscope includes: Import CT image data; The real-time endoscopic images are fused with CT image data for display, and the area of ​​the region to be processed is identified based on the fusion result. The initial lowering angle and initial lowering position of the endoscope are determined based on the area of ​​the region to be processed, so as to maximize the overlap between the field of view image captured by the endoscope and the region to be processed. Among them, the real-time endoscopic images are fused with CT image data for display, and the area of ​​the region to be processed is identified based on the fusion result; Correct the sequence of images captured by the endoscope; Because the images captured by endoscopes usually have radial distortion, eccentric distortion and thin prism distortion, it is necessary to perform distortion correction on the sequence of images in order to restore them to normal images that conform to observation habits. Extract feature points from the corrected sequence of images and match feature points from adjacent frames in the sequence; Based on the features that have been matched between adjacent frame images, the motion matrix between adjacent frame sequence images is obtained; Surface point clouds are extracted from CT image data, and the surface point clouds are matched with feature points reconstructed from endoscopic sequence images to obtain the rotation matrix and translation vector between endoscopic sequence images and CT image data. After calculating the rotation matrix and translation vector between the endoscope sequence images and CT image data, the pose of the endoscope in the CT image data can be accurately obtained. Then, the real-time endoscope images and CT image data can be fused and displayed according to its pose.

2. The field-of-view control method according to claim 1, characterized in that, The step of setting the field-of-view control mode to adaptive control mode, obtaining the instrument center point in the coordinates of the instrument center point as the joint center point of all instruments, and the calculation method of the joint center point includes: Obtain the coordinates of the geometric center point of the minimum bounding rectangle of each instrument; Calculate the average of the abscissas of the geometric center points of all instruments as the abscissa of the joint center point; The average of the ordinates of the geometric center points of all instruments is used as the ordinate of the joint center point.

3. The field-of-view control method according to claim 1, characterized in that, The step of controlling the movement of the endoscope lens according to the control signal and the field of view control mode includes: In adaptive control mode, the flexible joint of the endoscope is driven by the control signal to move the lens.

4. The field-of-view control method according to claim 1, characterized in that, After setting the field-of-view control mode to adaptive control mode, the field-of-view control method further includes: The input pause mode command is obtained and the field of view image is locked so that the field of view image remains fixed when the instrument moves.

5. The field-of-view control method according to claim 1, characterized in that, After determining whether the area proportion of the region to be processed in the visual field image exceeds a preset area proportion threshold, the visual field control method further includes: If the area of ​​the region to be processed in the field of view exceeds the preset area ratio threshold, the field of view control mode will be set to master-slave follow mode. According to a preset specified rule, one of the multiple instruments is designated as the main instrument, and the other instruments are designated as auxiliary instruments. The coordinates of the geometric center point of the main instrument are obtained as the coordinates of the instrument center point.

6. The field-of-view control method according to claim 5, characterized in that, The step of generating control signals for controlling the movement of the field of view image based at least on the offset vector includes: The current motion state of the instrument in the field of view is detected, and the offset vectors of the main instrument and the auxiliary instrument are obtained within a specified time. Calculate the offset component of the offset vector of the auxiliary instrument in the offset direction of the main instrument; A control signal for controlling the movement of the field of view is generated based on the offset component of the offset vector of the auxiliary instrument in the offset direction of the main instrument and the offset vector of the main instrument.

7. The field-of-view control method according to claim 5, characterized in that, The step of controlling the movement of the endoscope lens according to the control signal and the field of view control mode further includes: In master-slave follow mode, the control signal drives the endoscope holding robotic arm to move the entire endoscope around the RCM point.

8. An endoscope system, characterized in that, include: A processor for executing the field-of-view control method according to any one of claims 1 to 7; The endoscope is electrically connected to the processor; A display device is used to display images captured by the lens of the endoscope, and the display device is communicatively connected to the processor.

9. The endoscope system according to claim 8, characterized in that, The endoscope system also includes: An endoscope-holding robotic arm, wherein the endoscope is mounted on the endoscope-holding robotic arm; The endoscope-holding robotic arm is electrically connected to the processor, and the processor controls the endoscope-holding robotic arm to adjust the images captured by the endoscope lens according to the images captured by the endoscope lens; The endoscope includes: The endoscope body is equipped with a drive mechanism; A lens, used to capture images; It has a bendable joint, with one end connected to the endoscope body and the other end connected to the lens; The drive device is communicatively connected to the processor and is used to output a torque in response to a control signal output by the processor, causing the bendable joint to deform so that the center of the image captured by the lens moves toward the target point.

Images