An automatic tracking control system and method for an external surgical scope

Abstract

The application provides an automatic tracking control system of an external surgery mirror, comprising: a tracking module, which realizes real-time video shooting, tracking and display of an arbitrary angle of a surgery target area; a control module, which controls movement, rotation and shooting angle of the tracking module; and a man-machine interaction module, which acquires a control instruction, and the control module adjusts the tracking module according to the control instruction. The application greatly reduces manual operation in the surgery process through automatic control and video image tracking, provides more convenient and flexible automatic operation, more effectively utilizes the activity space of the external surgery mirror, and improves the practical efficiency of the external surgery mirror. The application realizes automatic smooth control of the external surgery mirror system according to user intention, ensures wide-range and multi-angle shooting of the surgery area by the camera, and keeps the surgery area in the video center area through synchronous fine adjustment during the camera movement.

Description

Technical Field

[0001] This invention relates to the field of surgical exoscopy technology, and more specifically, to an automatic tracking control system and method for a surgical exoscopy. Background Technology

[0002] In recent years, surgical exoscopic systems have gradually shown their advantages as a replacement for traditional surgical microscopes due to their wider field of view, deeper depth of field, longer focal length, more comfortable operation, smaller size and weight.

[0003] The exoscopic system was proposed to address the shortcomings of surgical microscopes and neuroendoscopy in clinical applications. It was initially called external high-definition video microscopy. This system mainly consists of a rigid lens with a diameter of 8mm and a focal length of 200-400mm, a fiber optic light source, a camera, a pneumatic control device, and a high-definition display screen. This technology combines the advantages of traditional binocular microscopy and neuroendoscopy while overcoming their deficiencies. The advantages of surgical exoscopy were quickly recognized, and in recent years, several surgical exoscopy products have emerged abroad, such as the VITOM-3D exoscope from Germany and the ORBEYE high-definition surgical exoscopy system from Japan. Zeiss, with its mature series of surgical microscopes, is also developing an exoscopy system.

[0004] However, existing surgical exoscopy systems are all manually controlled, meaning the camera's position (spatial location and shooting angle) is adjusted by manually controlling knobs, foot pedals, or grips to adjust the camera bracket. The controllability of the exoscopy is primarily limited by the bracket system. Currently, the most commonly used bracket system for surgical exoscopy systems is the pneumatic bracket system, which has the advantage of a large range of motion, but can only be manually controlled and cannot receive external commands for automatic control. The VITOM-3D exoscopy bracket uses the VERSACRANE system, a 5-joint hinged bracket structure that requires the user to operate with both hands or use the IMAGE1PILOT control knob. Some researchers have attempted to integrate the VITOM-3D system onto the ARTip cruisero-botic support arm system; although it uses a five-DOF robotic arm structure, it still requires manual control by the user using a single hand to operate the knobs and foot pedals. The Japanese ORBEYE exoscopy system is characterized by its high-definition 3D display; however, its camera bracket uses a semi-automatic counterbalance system, which also requires manual and foot pedal operation.

[0005] Manual control during actual surgery requires the surgeon to manually adjust the position of the exoscope, which can affect the smoothness of the surgical procedure and thus reduce its efficiency. Furthermore, manual control can lead to sudden changes in the lens perspective, causing the surgical target area to be lost. Manually retrieving the target area is time-consuming and laborious, therefore it is not entirely suitable for current clinical trials of exoscopes.

[0006] From a clinical application perspective, automatically controlling the external endoscopic camera's shooting angle according to the user's intention is essential to fully leveraging the advantages of surgical external endoscopes. However, currently, there is no external endoscopic system that automatically controls the camera's spatial pose.

[0007] Previous research on the automatic control of surgical microscopes has limited its scope to lens pose control, achieving only limited degrees of freedom. Some proposed automatic microscope control systems that use joysticks to control motors that move the stage, but due to limited degrees of freedom (only translation in a few directions), these systems are only suitable for simple microscope control and interaction. Another proposed automatic microscope platform control system adds degrees of freedom to the robotic arm, enabling motor drive, motor control, and LCD display. It uses a PID method combined with grating feedback to achieve closed-loop control of the microscope platform, resulting in more stable performance compared to previous automatic control systems, but still lacking omnidirectional movement.

[0008] The Beijing Huake Precision Surgical Robot uses structured light for spatial positioning and registration, and achieves flexible control of the robotic arm through automatic control. However, it can only automatically move to the target position according to the path planned by the surgeon before surgery. The autonomous dental implant surgery robot launched by Beijing Baihui Weikang still relies on a meticulously prepared digital surgical plan before surgery, completing the prescribed actions through automatic calibration, automatic lifting, and automatic drilling. Currently, other surgical robot products, both domestically and internationally, have not yet achieved real-time automatic control during surgery based on the surgeon's needs. Summary of the Invention

[0009] In view of the deficiencies in the prior art, the purpose of this invention is to provide an automatic tracking control system and method for surgical exoscopes.

[0010] According to one aspect of the present invention, an automatic tracking control system for a surgical exoscope is provided, comprising:

[0011] The tracking module performs real-time video capture, tracking, and display of the surgical target area from any angle;

[0012] A control module that controls the movement, rotation, and shooting angle of the tracking module;

[0013] A human-computer interaction module is provided, which acquires control commands and adjusts the tracking module according to the control commands.

[0014] Preferably, the tracking module includes:

[0015] The camera, which captures surgical videos in real time,

[0016] The display shows a real-time surgical video.

[0017] The control module includes:

[0018] A 6-DOF robotic arm supports the camera and controls its movement. It includes 6 joints, each equipped with a servo motor. The structure of the 6-DOF robotic arm conforms to Pieper's criterion.

[0019] The host computer controls the 6-DOF robotic arm;

[0020] A bus controller that exchanges data between the 6-DOF robotic arm and the host computer;

[0021] A rangefinder that measures and reports back the distance between the 6-DOF robotic arm and the surgical target area in real time;

[0022] The human-computer interaction module includes:

[0023] Both the microphone and the UI interface are used to collect control commands.

[0024] Preferably, the detection mode of the control module includes detecting the initial pose, executing control commands, adjusting pose offset, and controlling the smooth trajectory.

[0025] Preferably, the detection of the initial pose includes:

[0026] The 6-DOF robotic arm is equipped with a robotic arm joint pose calibration component.

[0027] The control module uses the joint poses collected by the robotic arm joint pose calibration component to determine whether the initial pose is in place.

[0028] Preferably, the execution control instructions include:

[0029] The human-computer interaction module inputs the received control commands to the control module;

[0030] The control module calculates the required rotation angle for each joint of the 6-DOF robotic arm based on the control command and controls its execution.

[0031] Preferably, the adjustment of pose offset includes:

[0032] The control module receives real-time surgical video collected by the tracking module;

[0033] The control module calculates the offset vector of the surgical target area in the field of view of the camera in the real-time surgical video;

[0034] The required rotation angle of the 6-DOF robotic arm is calculated using the offset vector.

[0035] The control module controls the 6-DOF robotic arm to perform fine adjustments according to the rotation angle.

[0036] Preferably, the controlled smooth trajectory includes:

[0037] The 6-DOF robotic arm is equipped with signal acquisition equipment, which collects the current motion speed and rotation position of each motor;

[0038] The control module performs interpolation calculations on the current speed and rotation position.

[0039] Preferably, the current speed and rotation position of each motor are used as the characteristic pose of the 6-DOF robotic arm and stored in the control module; the 6-DOF robotic arm can return to the characteristic pose.

[0040] Preferably, the human-computer interaction module converts the user's intention to change the camera's orientation into motion control commands for the six motors of the 6-DOF robotic arm, controlling the movement and rotation of the camera to ensure that the camera's shooting angle changes according to the user's intention.

[0041] According to a second aspect of the present invention, an automatic tracking control method for a surgical excision endoscope is provided, comprising:

[0042] Listen for user commands;

[0043] Initialize the robotic arm pose;

[0044] Select the target area for surgery;

[0045] Human-computer interaction to obtain camera motion commands;

[0046] The camera tracks the surgical target area;

[0047] Determine if the current surgical target area is centered;

[0048] If it is not present, calculate its offset vector;

[0049] Simultaneously, based on the motion commands and infrared ranging data, the inverse kinematics of each joint of the robotic arm is solved, and the motion control parameters of each joint are calculated.

[0050] Motion control parameters are sent to each joint of the robotic arm via a bus controller.

[0051] Each joint of the degree-of-freedom robotic arm moves according to the aforementioned motion control parameters;

[0052] Update the live video feed of the surgery;

[0053] If the current user does not issue a command to stop the movement or end the procedure, the system will wait for the user to issue a new control command after the current movement ends.

[0054] Save the surgical video after the user issues the command to end the surgery.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] The embodiments provided by the present invention greatly reduce manual operations during surgery through automatic control and video image tracking, providing more convenient and flexible automatic operation, and making more effective use of the operating space of the surgical exoscope, thereby improving the practical performance of the surgical exoscope.

[0057] It enables the surgical external endoscope system to be automatically and smoothly controlled according to the user's intention, ensuring that the camera captures the surgical target area from multiple angles over a wide range, and through synchronous fine-tuning during camera movement, keeps the surgical target area always in the center of the video. Attached Figure Description

[0058] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0059] Figure 1 This is a schematic diagram of an automatic tracking control system for a surgical external mirror according to an embodiment of the present invention;

[0060] Figure 2 This is a flowchart of an automatic tracking control method for a surgical external mirror according to another embodiment of the present invention;

[0061] In the diagram: 1 is a 6-DOF robotic arm, 2 is a robotic arm joint pose calibration component, 3 is a rangefinder, 4 is a signal acquisition device, 5 is a bus controller, 6 is a host computer, 7 is a microphone, 8 is a camera, and 9 is a monitor. Detailed Implementation

[0062] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0063] To achieve real-time, all-around control of the external endoscope system's shooting angle and keep the surgical target area from deviating from the center of the video frame, it is necessary to design and develop a camera support system that can receive external control commands. This requires the use of automatic tracking of the surgical target area and automatic control of the robotic arm.

[0064] This invention provides an embodiment of an automatic tracking control system for a surgical exoscope, comprising a tracking module, a control module, and a human-computer interaction module. The tracking module performs real-time video capture, tracking, and display of the surgical target area at any angle; the control module controls the movement, rotation, and shooting angle of the tracking module; the human-computer interaction module performs human-computer interaction, obtains control commands, and adjusts the spatial pose of the tracking module according to the control commands.

[0065] Based on the above embodiments, a preferred embodiment is provided, such as... Figure 1 As shown,

[0066] The tracking module includes: a camera 8 for capturing high-definition images of the surgery; and a monitor 9 for displaying real-time surgical video.

[0067] The control module includes: a 6-DOF robotic arm 1 that can be automatically controlled for camera support and movement; a host computer 6 for running the tracking method; a bus controller 5 for data exchange between the host computer and the robotic arm; a robotic arm joint pose calibration component 2 for initial pose calibration of the six joints of the robotic arm; a signal acquisition device 4 for the movement speed and current position of the robotic arm joint motors; and a rangefinder 3 for real-time measurement of the spatial distance between the camera and the surgical target area.

[0068] The human-computer interaction module includes a microphone device for acquiring voice signals.

[0069] In a preferred embodiment of this invention, the 6-DOF robotic arm is independently developed and manufactured using all-aluminum alloy components, and its structure conforms to Pieper's criteria. The six joints utilize high-performance low-voltage DC servo motors with built-in encoders, achieving FOC vector control, speed closed-loop control, current (torque) closed-loop control, and position closed-loop control. The motor operates at 24V, has a rated output speed of 35rpm, and a reduction ratio of 1:50. The control commands for the servo motors and the feedback of encoder parameters are communicated via an industrial fieldbus controller area network (CAN), with a maximum communication rate of 1Mbps.

[0070] In another embodiment of the present invention, the control module includes four control modes: detection of initial pose, execution of control commands, lens fine-tuning, and smooth trajectory control.

[0071] When the entire system starts up, the first step is to control the six joints of the robotic arm to reach the initial posture defined by the system. To achieve more accurate detection of the initial posture, this invention provides a preferred embodiment by installing infrared laser beam sensors at each of the six joints to calibrate the initial posture of each joint. When the driver receives a signal from the infrared laser beam sensor, it informs the host computer that the joint has reached the initial position, completing the initial posture detection.

[0072] Furthermore, the encoders on the joint motors of the 6-DOF robotic arm are relative encoders, and in practical applications, a robotic arm joint pose calibration component is also required. The main function of the calibration component here is to calibrate the initial poses of the six joints of the robotic arm. This initial pose is typically the standard position at the start of each surgery. The surgeon can set multiple initial positions in the system, and after the system is running, a suitable position can be selected according to the needs of the current surgery. In this embodiment, the robotic arm joint pose calibration component uses an E3Z-LT61 infrared laser beam sensor, which has an effective detection range of up to 20 meters. Each sensor has an independent infrared laser transmitter and an infrared laser signal receiver. The sensor's output state only changes when the infrared laser from the transmitter illuminates the receiver. By capturing this change, it can be determined whether the robotic arm joints have reached their initial positions.

[0073] To accurately execute control commands collected by the human-computer interaction module, this invention provides a preferred embodiment. The host computer obtains user control commands for the camera through voice interaction and a UI interface, transmits these commands to the driver program, which performs inverse kinematics calculations to determine the rotation angles of the six robotic arm joints. These angles are then sent to the motors of the six joints via a bus control device, controlling the movement of the six motors. The movement of the two end-effector motors changes the camera lens orientation, while the movement of the first four motors changes the camera's spatial position.

[0074] The process of obtaining the rotation angle is as follows: The control command gives the motion of the camera lens in the coordinate system of the end effector of the robotic arm. To calculate the rotation angle of each joint of the 6-DOF robotic arm, the coordinates of the camera lens in the base coordinate system of the 6-DOF robotic arm need to be given. Then, the angle of each joint of the 6-DOF robotic arm is obtained by the "inverse kinematics solution" method.

[0075] The "inverse kinematics solution" requires the transformation matrix from the base coordinate system to the end effector coordinate system of the 6-DOF robot. The transformation matrices T1, T2, T3, T4, T5, T6 of adjacent joints are obtained using the "DH" modeling method.

[0076]

[0077]

[0078]

[0079]

[0080]

[0081]

[0082] In the transformation matrix, d1, d2, d3, d4, d5, and d6 represent the link lengths between the joints of the 6-DOF robotic arm, which are structural parameters; angle1, angle2, angle3, angle4, angle5, and angle6 are the rotation angles of each joint. The total transformation matrix from the base coordinate system to the end effector coordinate system is final = T1·T2·T3·T4·T5·T6. In the initial posture, the initial angle of each joint of the 6-DOF robotic arm is 0, from which the initial total transformation matrix can be calculated. After each movement, the control module updates the total transformation matrix from the base coordinate system to the end effector coordinate system using the current joint angles.

[0083] This invention provides a preferred embodiment for fine-tuning the video feed. During the automatic control of the robotic arm motors, the host computer processes video frame images in real time, tracks the surgical target area, and obtains the offset vector of the surgical target area in the camera's field of view during lens movement. This offset is transmitted to the driver program in real time, and the rotation angles of the six robotic arm joints are calculated using inverse kinematics. This calculation is then sent to the motors of the six joints via a bus control device, controlling the camera's automatic fine-tuning during pose changes to ensure the surgical area remains centered in the video feed.

[0084] Specifically, the process of calculating the required rotation angle of the 6-DOF robotic arm using offset vectors is as follows: The offset vectors contain the offset angles xAngle and yAngle of the center of the surgical target area in the X and Y directions, respectively. Rotation matrices around the x-axis and y-axis of the camera in the end-effector coordinate system are constructed using these offset vectors.

[0085]

[0086]

[0087] Multiply these two rotation matrices to the right of the total transformation matrix final from the base coordinates to the end coordinates of the 6-DOF manipulator to generate a new transformation matrix. Use the new transformation matrix to perform inverse kinematics calculations to calculate the rotation angle of each joint of the 6-DOF manipulator.

[0088] This invention provides a preferred embodiment for implementing smooth trajectory control, which requires real-time acquisition of the current speed and rotational position of each motor by signal acquisition devices mounted on six robotic arm motors. The acquired motor data is then interpolated in a host computer, using, but not limited to, fifth-order polynomial interpolation, to achieve smooth trajectory control of the robotic arm joint movements.

[0089] Furthermore, in a preferred embodiment, the motor is controlled by a bus controller using speed control to perform five position interpolation calculations. The independently developed 6-DOF automatic control robotic arm driver program implements inverse kinematics, allowing the robotic arm's end effector to move in a Cartesian coordinate system with the world coordinate system as a reference, conforming to conventional cognitive and control habits.

[0090] The collected motor data can also be used to record the characteristic poses of the robotic arm, making it easy to control the robotic arm to return to a certain characteristic pose at any time.

[0091] In other embodiments of the present invention, a human-computer interaction interface and interaction mode are provided, supporting the acquisition, recognition, and response to various user control commands. This allows for the control of the camera's translation, rotation, stopping, and restoration of its characteristic pose in any spatial direction. It also supports surgical target area selection, initial pose selection, and tracking start. Furthermore, a Keda iFlytek speech recognition package is employed to acquire user voice commands via a microphone, understanding user commands regarding camera pose changes and some hand gestures. A UI interface is also provided, allowing users to send various operation commands via mouse and keyboard.

[0092] In other preferred embodiments of the present invention, the signal acquisition device 4 is an industrial-grade 14-channel digital signal acquisition card, connected to the host computer 6 via a USB 2.0 bus. It can complete hundreds of input / output requests per second to acquire sensor signals from the robotic arm posture calibration component 2. The acquisition card integrates a 5V to 3.3V converter, thus being compatible with both 5V and 3.3V TTL levels. The voltage level of each sensor connected to a specific channel can be obtained by calling specific application programming interface functions.

[0093] Bus controller 5 is an industrial-grade CAN bus controller, model CANalyst-II, which connects to the host computer via a USB 2.0 bus. It features CAN bus protocol analysis capabilities, supporting SAE J1939, DeviceNet, CANopen, iCAN, and custom high-level protocol analysis. It can function as a standard CAN node, implementing CAN bus communication and control functions. Bus controller 5 transmits the robotic arm motor control commands from the host computer and, when needed, provides feedback to the host computer 6 on the robotic arm motor's operating status parameters, including speed and position.

[0094] A PLS_K60 infrared ranging module is used and mounted on the end effector of the robotic arm, maintaining a fixed distance from the camera. Signal acquisition is performed at a sampling frequency of 4Hz using a signal acquisition device to measure the absolute distance between the ranging module and the target surgical area. This absolute distance serves two purposes:

[0095] First, the distance measurement is transmitted to the host computer via the USB port and converted into the absolute distance H between the front end of the camera and the surgical area of ​​the human body. This absolute distance H is used as the rotation radius of the camera around the center point of the surgical target area. This is used to calculate the position of the next target point after the camera rotates around the center point of the surgical target area by a specific angle, providing a calculation basis for the inverse solution of the movement of each joint of the robotic arm.

[0096] Secondly, the offset angles xAngle and yAngle of the offset vector in the X and Y directions are calculated using this absolute distance.

[0097]

[0098]

[0099] In the formula, X and Y are the offsets of the center of the surgical target area in the x and y directions, respectively.

[0100] In the above embodiments, the host computer can employ template matching, correlation filtering-based target tracking, or neural network-based target tracking methods. As a preferred embodiment, a target tracking method based on the SiamBAN network is used, achieving stable tracking of the surgical target region.

[0101] Based on the same concept, other embodiments of the present invention also provide an automatic tracking control method for a surgical exoscope, such as... Figure 2 As shown in the flowchart of this embodiment, it specifically includes:

[0102] S1, after the tracking system is started, begins to listen to user commands (including voice commands and UI interface operation commands) in real time;

[0103] S2, the user first selects the initial posture of the 6-DOF robotic arm (there are two initial postures: vertical downward shooting and horizontal shooting, which can meet the requirements of different surgeries for the initial position of the camera);

[0104] S3, at this time, the user can use any two surgical instrument tips as the diagonal points of a rectangular area in the initial image transmitted back by the camera. The tracking system will automatically identify the position of the surgical instrument tips and determine the surgical target area.

[0105] S4, the tracking system will always track this area and keep it centered in the video as the camera moves;

[0106] S5, when the user issues a command such as the camera to pan or rotate in a certain direction, the system obtains and parses the command, and determines whether the current surgical target area is in the center position through the surgical target area tracking algorithm;

[0107] S6. If it is not in the center position, calculate its offset vector. At the same time, based on the motion command and infrared ranging data, perform the inverse solution of the motion of each joint of the robotic arm and calculate the motion control parameters of each joint.

[0108] S7 sends signals to each joint of the robotic arm via the bus controller, driving the movement of each joint.

[0109] S8, If the current user does not issue a command to stop the movement or end the operation, after the current movement ends, it will wait for the user to issue a new control command.

[0110] S9: When the user issues the command to end the surgery, the system automatically saves the complete surgical video and ends the processing flow.

[0111] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention. The above preferred features can be used in any combination without conflict.

Claims

1. An automatic tracking control system for a surgical exoscope, characterized in that, include: The tracking module performs real-time video capture, tracking, and display of the surgical area from any angle; A control module that controls the movement, rotation, and shooting angle of the tracking module; A human-computer interaction module, wherein the human-computer interaction module acquires control commands, and the control module adjusts the tracking module according to the control commands; The detection modes of the control module include adjusting pose offset; The adjustment of pose offset includes: The control module receives real-time surgical videos collected by the tracking module; The control module calculates the offset vector of the surgical target area in the real-time surgical video within the lens's field of view; The required rotation angle of the 6-DOF robotic arm is calculated using the offset vector. The control module controls the 6-DOF robotic arm to perform fine adjustments according to the rotation angle; The control module includes: A 6-DOF robotic arm that supports and controls the movement of a camera includes 6 joints, each equipped with a servo motor. The host computer controls the 6-DOF robotic arm; A bus controller that exchanges data between the 6-DOF robotic arm and the host computer; A rangefinder that measures and reports back the distance between the 6-DOF robotic arm and the surgical target area in real time; The calculation of the required rotation angle of the 6-DOF robotic arm using the offset vector refers to: performing inverse kinematics of the robotic arm's joints based on the control commands and infrared ranging data, and calculating the motion control parameters of each joint. Specifically: An infrared ranging module is installed at the end of the robotic arm, maintaining a fixed distance from the camera; the signal is acquired by a signal acquisition device at a sampling frequency of 4Hz, and the absolute distance between the ranging module and the target area of ​​the human surgical procedure is measured. The absolute distance serves two purposes: First, the absolute distance H is used as the rotation radius of the camera around the center point of the surgical target area. This is used to calculate the position of the next target point after the camera rotates around the center point of the surgical target area by a specific angle, providing a calculation basis for inversely solving the motion of each joint of the robotic arm. Second, the offset angles xAngle and yAngle of the offset vector in the X and Y directions are calculated using this absolute distance. ； In the formula, X and Y are the offsets of the center of the surgical target area in the x and y directions, respectively.

2. The automatic tracking control system for a surgical exoscope according to claim 1, characterized in that, The tracking module includes: The camera, which captures surgical videos in real time, The display shows a real-time surgical video. The human-computer interaction module includes: Both the microphone and the UI are used to capture control commands.

3. The automatic tracking control system for a surgical exoscope according to claim 2, characterized in that, The detection modes of the control module include detecting the initial pose, executing control commands, and controlling the smooth trajectory.

4. The automatic tracking control system for a surgical exoscope according to claim 3, characterized in that, The detection of the initial pose includes: The 6-DOF robotic arm is equipped with a robotic arm joint pose calibration component. The robotic arm joint pose calibration component collects joint poses. The control module determines whether the initial pose is in place based on the joint pose.

5. The automatic tracking control system for a surgical exoscope according to claim 3, characterized in that, The execution control instructions include: The human-computer interaction module inputs the received control commands to the control module; The control module calculates the required rotation angle for each joint of the 6-DOF robotic arm based on the control command and controls its execution.

6. The automatic tracking control system for a surgical exoscope according to claim 3, characterized in that, The smooth trajectory control includes: The 6-DOF robotic arm is equipped with signal acquisition equipment, which collects the current motion speed and rotation position of each motor; The control module performs interpolation calculations on the current motion speed and the rotation position.

7. The automatic tracking control system for a surgical exoscope according to claim 6, characterized in that, The current speed and rotation position of each motor are used as the characteristic pose of the 6-DOF robotic arm and stored in the control module; the 6-DOF robotic arm can return to the specified characteristic pose.

8. The automatic tracking control system for a surgical exoscope according to claim 1, characterized in that, The human-computer interaction module converts the user's intention to change the camera's orientation into motion control commands for the six motors of the 6-DOF robotic arm, controlling the camera's movement and rotation to ensure that the camera's shooting angle changes according to the user's intention.

Images