812 results about "Surgical robot" patented technology

The invention relates to the technical field of artificial intelligence, can be applied to the field of medical health and the field of financial transaction, discloses an action generation method and device based on multi-modal pre-training, a robot and a medium, and is applied to a high-frequency action generation scene of an intelligent surgical robot or an intelligent customer service and wealth management scene. The method comprises the following steps: acquiring a language instruction, a visual image and robot body sensing data; performing multi-modal feature alignment and cross-modal feature fusion on the language instruction, the visual image and the robot body sensing data through a pre-trained visual language model to generate a fused joint feature vector; generating a target continuous control instruction based on the fused joint features through a pre-trained target action model by adopting a flow matching technology; and generating continuous actions of the robot based on the target continuous control instruction. According to the method, the robot action generation efficiency and the cross-platform adaptability are improved.

A robotic surgical system includes a surgeon consol coupled to a patient console and coupled to one or more surgical instruments. The surgeon consol is used by a surgeon to perform a surgical procedure. A surgeon computer is coupled to or at the surgeon console. The surgeon consol is coupled to the one or more surgical instruments. A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. The feedback loop receives data from one or more sensors at the robotic surgical system. The data is analyzed by the robotic surgery control system, and in response operation of the robotic surgical system is adjusted as needed. The surgical control system or the AI system uses intraoperative data describing a surgical procedure being performed. The feedback loop receives data from one or more sensors of the robotic surgical system regarding performance of at least a portion of the robotic surgical system. The data is analyzed by the robotic surgical control system. In response to analysis, operation of the robotic surgical system is adjusted as needed. The robotic surgical control system or AI system extracts one or more programmed steps used by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The invention relates to the technical field of force feedback handles, in particular to a remote surgical robot control system based on a force feedback handle and a control method thereof. The method comprises the following steps: carrying out multi-dimensional force data acquisition on an end effector of the surgical robot, and carrying out contact force size, direction and time sequence feature extraction to obtain multi-dimensional force feature data; performing surgical operation safety baseline analysis according to the multi-dimensional force feature data to generate surgical operation safety baseline data; performing dynamic force feedback threshold calculation according to the surgical safety operation baseline data to obtain force feedback threshold range data; and performing adaptive compression processing on different force feedback signals according to the force feedback threshold range data to obtain dynamic force feedback control parameters. Through real-time control instruction optimization and a closed-loop feedback strategy, the system can quickly respond to an operation intention, early warning is carried out on potential risks, and it is ensured that the operation process is safer and more reliable.

The present invention relates to a flexible continuum joint, a flexible robotic arm, and a minimally invasive surgical robot for TEM. The flexible continuum joint comprises a double-helix structure formed by two helical springs, wherein a central channel is provided inside the double-helix structure, a hollow tube arranged coaxially with the double-helix structure is provided in the central channel, and a plurality of notches are formed on the hollow tube. The flexible robotic arm is composed of a linkage joint formed by an active section and a passive section, and an end joint, wherein the active section and the end joint are both driven by a drive wire, and the passive section is driven by a nickel-titanium alloy rod. The minimally invasive surgical robot comprises an endoscopic arm and two robotic arms, and has 19 degrees of freedom overall. In addition, the provision of the linkage joint in the flexible robotic arm and the application of a hybrid drive mode combining a drive wire and a nickel-titanium alloy rod not only reduces the number of drives, but also avoids the problem of motion coupling between joints, thus effectively overcoming the problems of insufficient degrees of freedom and poor motion accuracy in existing minimally invasive surgical robots for TEM.

The invention relates to the technical field of artificial intelligence and data processing, in particular to a surgical robot quality control and fault prediction method based on artificial intelligence, and the method specifically comprises the following steps: collecting the data of a surgical robot through a sensor, carrying out the manual marking of the collected data, and forming a sample data set; performing multi-scale normalization processing on the sample data set; constructing a fault prediction model of the surgical robot by adopting a convolutional neural network, and inputting normalized data into the model for training to obtain a trained fault prediction model; preprocessing the collected new data, inputting the preprocessed data into the trained fault prediction model, and outputting a fault category prediction result corresponding to the input data by the fault prediction model; and constructing a three-dimensional quality control matrix, wherein the three-dimensional quality control matrix triggers a corresponding automatic calibration program based on a category prediction result output by the fault prediction model. According to the method, the fault features of the surgical robot can be accurately captured, and the accuracy of fault prediction and the generalization ability of the model are improved.

Systems and methods for autonomous robotic surgery are provided to control a movement of a robotic device so as to perform a surgical procedural step, wherein controlling of the movement is based on information including a spatial position and orientation of at least a part of the robotic device. A trigger information may cause the system to pause or stop the surgical procedural step and cause the system to receive a projection image. Further, the projection image may be processed so as to determine a spatial position and orientation of at least the part of the object or of the robotic device.

The invention discloses a motion error dynamic compensation method applied to a surgical mechanical arm, and belongs to the technical field of surgical mechanical arm control and medical automation. The method comprises the following steps: firstly, acquiring position data of each joint encoder of the surgical mechanical arm, a motor current signal, a position feedback signal of an end effector, load change information and accumulative operation duration in real time; processing the data, fusing the data through adaptive Kalman filtering to estimate a joint dynamic error, inputting a load change rate and an accumulated operation time length into a pre-training error prediction model to output a compensation basic quantity, and fusing the load change rate and the accumulated operation time length to generate a real-time error compensation quantity; and then the compensation amount is superposed to a joint original control instruction to correct motion parameters, and finally the compensated tail end position deviation is analyzed, and a precision identifier or an adjustment prompt is generated and fed back to a control system. According to the method, real-time error compensation is achieved, the compensation precision and working condition adaptability are improved, it is guaranteed that the mechanical arm is stably positioned, and the surgical operation risk is reduced.

The invention provides a control system and method for an oral surgery robot, and relates to the field of intelligent control, and the method comprises the steps: firstly obtaining thin-layer CT scanning data covering neck and throat regions, constructing a throat three-dimensional model, then collecting a surgery view three-dimensional image through a 3D endoscope, and carrying out the 3D image collection; performing semantic-level dynamic registration based on visual features on the three-dimensional model of the throat, determining pose information of the oral surgical robot, outputting a next target pose point of the oral surgical robot in combination with the pose information and a pre-operative planned surgical resection path, and finally determining the target pose point of the oral surgical robot on the basis of the target pose point. And generating a joint control instruction of the oral surgical robot. Therefore, the navigation preparation time in the operation is shortened, the high consistency of the motion track of the mechanical arm and the focus resection path is ensured, and the track deviation risk caused by registration deviation of a traditional system can be fundamentally solved.

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The invention relates to the medical instrument technology, and discloses an ultrasonic intervention automatic puncture surgical robot and a control method, and the ultrasonic intervention automatic puncture surgical robot comprises a needle feeding mechanism, a rotating mechanism, a probe clamping mechanism, a depth control mechanism and a force sensor mechanism; wherein the probe feeding mechanism is connected with the depth control mechanism through the rotating mechanism, the depth control mechanism is connected with the back surface of a main body substrate of the probe clamping mechanism, the front surface of the main body substrate is provided with a clamping piece of an ultrasonic probe, and the main body substrate is also fixedly provided with the force sensor mechanism; the rotating mechanism is used for adjusting the needle inserting angle of the needle inserting mechanism; the depth control mechanism is used for controlling the needle feeding mechanism to move in the vertical direction; a puncture needle which advances and retreats in a linear motion manner is arranged in the needle feeding mechanism, and the puncture needle is arranged on the coronal plane of the ultrasonic probe; the force sensor mechanism is used for measuring the force applied to the human tissue by the puncture needle. The invention aims to realize automation, precision and safety of the puncture operation and reduce the workload of doctors.

The invention provides a unicompartmental knee arthroplasty robot navigation and positioning system and method. The system comprises a preoperative planning module, a positioning and navigation module and a mechanical arm control module. The preoperative planning module is used for carrying out knee joint segmentation and reconstruction according to the obtained knee joint medical image, carrying out preoperative planning and determining a unicompartmental knee arthroplasty scheme; the positioning navigation module is used for registering the intraoperative solid knee joint and the preoperative knee joint three-dimensional model according to the navigator and the tracer, and tracking the poses of the osteotomy tool and the solid knee joint in real time; and the mechanical arm control module is used for planning a motion path of the mechanical arm and controlling the mechanical arm to execute the motion path. In this way, the mechanical arm can be controlled to assist in completing the osteotomy operation of unicompartmental knee arthroplasty in a preoperative planning and intraoperative optical navigation mode, and the problems that the operation level is uneven and the operation effect is not expected due to different individuals in the current manual operation are solved.

The embodiment of the invention provides a force sensing surgical instrument and a surgical robot. The force sensing surgical instrument is used for adjusting the posture of the end tool and comprises a driving box assembly and an instrument shaft. The driving box assembly comprises a driving structure and a driving cable connected with the driving structure; the instrument shaft is connected between the driving box assembly and the tail end tool and provided with a guide structure extending in the first direction, and the driving cable penetrates through the guide structure to be connected with the tail end tool. The driving structure drives the driving cable to drive the end tool to adjust the posture or state; the instrument shaft is provided with a first sensing structure to detect stress parameters of the end tools, and the stress parameters are used for representing the sum of stress of the end tools. A second sensing structure is arranged in the driving box assembly to detect the traction force of the driving cable, the stress parameters and the traction force are used for obtaining clinical feedback force, the magnitude of the clinical feedback force is used for representing the characteristics of different human tissues, the precision of the clinical feedback force can be determined by the lifting force sensing surgical instrument, and the surgical precision and safety are improved.

The invention discloses a tail end instrument for minimally invasive surgery, and relates to the technical field of surgical robots. A bearing groove is formed in the top of the bottom base, two wrapping posts are arranged at a port of the bottom base, threading holes are machined in the bottom face of the groove and the bottom ends of the outer sides of the wrapping posts respectively, two connecting arms at the bottom of the middle connecting piece are fixedly connected with the bottom base, and forward and reverse spiral wire grooves are machined in the side wall of a rotating shaft part of the top rotating piece and rotationally connected with the bottom base and the middle connecting piece. A threading hole is machined in the bottom face of an inner cavity, a sliding block is assembled in the inner cavity of the barrel-shaped part, two rope threading channels are machined, a clamp is installed at the top ends of the two supporting arms through a pin shaft, a wire guide wheel is arranged between the two supporting arms, the bottom ends of clamp arms are hinged to the sliding block through a transmission connecting rod, and two driving ropes control opening and closing of the clamp and rotation of a top rotating piece. Only two driving ropes are adopted, one driving rope achieves opening and closing actions of the clamp at the same time, the other driving rope controls the shaft rotation action, and the structural complexity and the operation difficulty of a tail end instrument are reduced.

The invention belongs to the technical field of surgical robots, and particularly relates to a tenon-and-mortise connection-based modular quick assembly and disassembly robot structure for arthroscopic surgery, which comprises a continuum skeleton made of a flexible material and of a cylindrical structure; the flexible body anti-turning shell is arranged on the outer side of the continuum framework in a sleeving mode, the flexible body anti-turning shell and the continuum framework are bent at the same time, and the flexible body anti-turning shell is used for reducing deformation of the continuum framework; and the driving structure is in transmission connection with the continuum framework, and the driving structure enables the continuum framework to be bent. According to the invention, the deformation degree of the continuum skeleton can be reduced through the flexible body anti-turning shell, so that the situation of bending or excessive deformation of the continuum skeleton in a high-load and complex environment is avoided, and the accuracy and stability of the surgery can be remarkably improved.

The invention discloses a surgical tool system based on a flexible arm and a minimally invasive surgical robot, the surgical tool system comprises a flexible arm sleeve assembly and a manual driving mechanism, a distal end of the sleeve assembly is provided with a tip, the tip is at least integrated with a surgical tool and an endoscope camera, and the proximal end of the sleeve assembly is connected with the manual driving mechanism; a regulating cable for controlling the tail end of the surgical tool to move is arranged in the sleeve assembly in a penetrating manner, and the near end of the regulating cable is connected with the manual driving mechanism; a rotating module, a push-pull module and a regulation and control cable control module are arranged in the manual driving mechanism, the rotating module is used for achieving overall rotation of the cannula assembly, the push-pull module is used for achieving bending of the far end of the cannula assembly, and the regulation and control cable control module is used for tensioning / loosening a regulation and control cable to achieve opening and closing of the tail end of the surgical tool. According to the minimally invasive surgery robot, the surgical tool can rotate, bend and open and close the tail end under the control of the manual driving mechanism, the minimally invasive surgery operation requirement is met, the minimally invasive surgery robot has multiple degrees of freedom, and the surgical tool can conveniently reach a deeper surgery area.

The present disclosure relates to a remote surgical robot system and a method for device interconnection therein. The method comprises: receiving second device information, which is sent by a server, of a pairable second device; acquiring target second device information, which is determined on the basis of the second device information, of a target second device that is expected to be paired, and sending a first pairing request to the server; receiving device network information, which is sent by the server when detecting that the first pairing request matches a second pairing request sent by the target second device, of the target second device; and establishing pairing with the target second device on the basis of the device network information, thereby implementing direct communication with the target second device. When the server detects that a pairing request initiated by a remote surgeon console matches a pairing request initiated by a patient surgery platform, device network information of a peer device is sent to at least one of the two for establishing the pairing, thereby avoiding incorrect pairing, ensuring the reliability of establishing the pairing, and improving the safety of remote surgery.

The invention discloses a path planning method based on clustering, a surgical robot and related products. The method comprises the following steps: acquiring a first three-dimensional CT image, wherein the first three-dimensional CT image comprises a skin area of a target object and a first tissue of the target object; an end point of the target path is determined from the first tissue. At least two first candidate points of the target path are determined from the skin region. And determining at least two first candidate paths based on the at least two first candidate points and the end point of the target path. And clustering the at least two first candidate paths to obtain at least one first path set. And determining a second path set from the at least one first path set, wherein the number of the first candidate paths in the second path set is greater than or equal to a second threshold. And determining a target path based on the second path set. Through the method, the error-tolerant rate of the target path can be improved.

A co-maneuvering robotic system that can be used to assist laparoscopic surgical procedures is described herein. The co-manipulated robotic system allows a surgeon to use commercially available surgical tools while providing benefits associated with surgical robots. Advantageously, the surgical tool can be seamlessly coupled to the robotic arm using a disposable coupler while the reusable portion of the robotic arm remains in the sterile drape. Further, the co-manipulated robotic system may operate in multiple modes to enhance availability and safety while allowing a surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robotic arm.

The utility model provides a surgical robot. The surgical robot comprises a base; the rotating assembly is provided with a rotating part, and the rotating part is rotatably arranged on the base; a first lifting assembly and a second lifting assembly; the end, away from the rotating part, of the first lifting assembly is provided with a first lifting structure, and the end, away from the rotating part, of the second lifting assembly is provided with a second lifting structure. The first lifting structure and the second lifting structure are arranged at an interval; the first lifting structure and the second lifting structure are both movably arranged, and the first lifting structure and the second lifting structure are relatively movably arranged; the handheld assembly is connected with the base, the handheld assembly is provided with a containing cavity, and the containing cavity is used for containing the first lifting assembly and the second lifting assembly; the power assembly is connected with the first lifting structure and the second lifting structure; the power assembly is provided with a feeding part, and the feeding part is movably arranged in the preset direction. The problem that a mechanical arm is large in size in the prior art is solved.

The invention provides a multi-disease artificial intelligence surgical robot system for the whole orthopedics department, and the system comprises a total hip joint replacement module which is used for preoperative planning, intraoperative total hip joint replacement and real-time display; the total knee joint replacement module is used for preoperative planning, intraoperative total knee joint replacement and real-time display; the unicondylar joint replacement module is used for preoperative planning, intraoperative unicondylar joint replacement and real-time display; the acetabulum periphery osteotomy module is used for pre-operation planning, acetabulum periphery osteotomy during operation and real-time display; the sports medicine module is used for bone tunnel planning and ligament reconstruction and real-time display; the spine screw placement positioning navigation module is used for positioning navigation and real-time display of intraoperative spine screw placement; and the trauma positioning and navigation module is used for performing trauma positioning and navigation and real-time display during operation. According to the embodiment of the invention, the auxiliary operation can be quickly and accurately carried out.

The invention discloses an online compensation method for reset pose errors of a long bone fracture surgical robot. The online compensation method comprises the steps that a target pose matrix # imgabs0 # is obtained through preoperative path planning, # imgabs1 # and # imgabs2 # are obtained through robot calibration, and the joint position theta temp is obtained through a robot inverse kinematics numerical method; s3, inputting the theta temp obtained in the step S3 into a robot controller, and enabling the robot to move to a theoretical target pose; measuring a current pose # imgabs3 # after the movement of S4 through an optical positioning system; calculating an error differential operator delta T between the obtained current pose # imgabs4 # and the target pose matrix # imgabs5 #; calculating an error motion vector delta d according to the obtained delta T; adopting the delta d to judge whether the delta d2 is smaller than a threshold value epsilon or not; if yes, compensation is stopped; if not, entering the next step; and according to the initial target pose # imgabs6 # and the error motion vector delta d, calculating a stage target pose # imgabs7 #, and according to the stage target pose # imgabs8 #, obtaining new # imgabs9 # and # imgabs10 #, and repeatedly iterating the S2-S8.

The method for recognizing the position information change of the surgical body surface positioning piece comprises the following steps that a micro camera is embedded in the tail end of a needle inserting device at the tail end of a mechanical arm of a puncture surgical robot, and the micro camera continuously shoots the positioning piece located on the body surface of a patient within the time period of the puncture needle inserting process; obtaining all to-be-processed images, performing initialization processing on the images, and outputting the images as first to-be-processed images in sequence; all the first to-be-processed images are sequentially sent to a pre-trained first sample training model, X and Y position information of the center points of the positioning pieces in the image plane in all the first to-be-processed images is inferred, and a second to-be-processed image is formed; sending all the second to-be-processed images to a second sample training model in sequence, and reasoning longitudinal Z position information of the center point of the positioning piece; and outputting the X, Y and Z position information of the central points of the positioning pieces in all the second to-be-processed images in sequence to form a real-time output data stream.

The embodiment of the invention provides an intelligent bone drilling self-adaptive control method for a mechanical arm, which comprises the following steps: acquiring displacement deviation of the tail end of a drill bit of an orthopedic surgical robot, obtaining an error change rate through differential calculation, and combining a bone layer type as an input variable of a fuzzy controller and a feeding speed as an output variable; input variables are fuzzified through a membership function, and a fuzzy language variable set is obtained; according to the set and a preset rule base, constructing a multi-rule group structure comprising three types of scenes of free space, cancellous bone and cortical bone, and setting corresponding fuzzy rule subsets for different bone layers; designing a ''minimum-maximum'' rule activation and combination strategy for reasoning by adopting a Mamdani type fuzzy reasoning method according to fuzzification input and a multi-rule group structure, and generating a fuzzification output variable set; and defuzzification is performed through a gravity center method to obtain a continuous speed instruction, and dynamic regulation and control of the drill bit feeding speed are achieved. When approaching a penetration point, the device automatically decelerates and safely stops, so that the safety and accuracy of an operation are effectively guaranteed, and over-drilling injury is prevented.

The invention relates to the field of medical instruments, and discloses a method for evaluating an operation based on artificial intelligence and an operation robot system. The operation comprises a plurality of actual operation stages, and the method comprises the following steps: obtaining an operation information set of the operation; and evaluating the operation based on the operation information set and a pre-trained artificial intelligence evaluation model.

A controlling system of an endoscopic surgical robot based on head tracking is disclosed. The system includes a host, the robot and a complex camera. The robot holds an endoscope at a specific position through a specific gesture. The complex camera includes a 2D camera for obtaining facial features of a doctor to identify whether the doctor is a registered user. The complex camera includes a 3D camera for obtaining depth information of the doctor's head. The host estimates a 2D space information and a 3D space information of the doctor's head according to the facial features and the depth information, and transforms the 2D space information and 3D space information to a robot moving information by a transformation matrix to control the robot to move.

The invention relates to a femoral stem prosthesis installation indication method, a surgical robot system and computer equipment, and the method comprises the steps: obtaining target medical image data, and determining the index data of the opposite side according to the target medical image data; the real-time position of the femoral stem prosthesis is tracked, and index data of the operation side are determined; determining an index data difference value according to the index data of the opposite side and the index data of the operation side; and according to the index data difference value, determining a target movement vector indicating the installation of the femoral stem prosthesis. According to the method and the device, the problems of long installation time and low installation precision caused by the fact that the installation direction of the femoral stem prosthesis cannot be indicated in the prior art are solved, and the installation of the femoral stem prosthesis is rapidly and accurately completed according to the target movement vector indicating the optimal installation of the femoral stem prosthesis; the mounting precision is ensured.

The invention discloses a force feedback main manipulator suitable for a puncture surgery robot, and belongs to the technical field of medical instruments, the force feedback main manipulator comprises a base, a position adjusting mechanism, a posture adjusting mechanism and a grip module, one end of the position adjusting mechanism is connected with the base, and the other end of the position adjusting mechanism is connected with the grip module; one end of the position adjusting mechanism is connected with the handle module, the other end of the position adjusting mechanism is connected with the posture adjusting mechanism, the handle module is arranged on the posture adjusting mechanism, and the position adjusting mechanism comprises a position compensation mechanism and a vertical position adjusting mechanism. According to the force feedback main manipulator suitable for the puncture surgery robot, complete decoupling of the position and the posture of the grip module is achieved, a real puncture surgery method is simulated, force feedback is provided for an operation doctor through the force feedback driving module, and the immediacy, intuition and flexibility of the doctor during operation are enhanced.

The present invention is entitled "Method and system for engaging a surgical tool with an actuator of a tool driver in a surgical robotic system". The present invention discloses a system and a computerized method for detecting the engagement of a surgical tool with a tool driver of a robotic arm in a surgical robotic system. The method may include activating the actuator of the tool driver to rotate a drive disk to mechanically engage with a tool disk in the surgical tool. While activating the actuator, one or more motor operating parameters of the actuator that cause the rotation of the drive disk are monitored. The method detects when the drive disk is mechanically engaged with the tool disk based on the monitored one or more motor operating parameters. Other embodiments are also described and claimed herein.

The utility model discloses a tracer, a surgical instrument and an orthopedic surgical robot, and belongs to the technical field of orthopedic navigation surgical instruments, the tracer comprises a positioner assembly and a rotating assembly, the positioner assembly comprises a positioning reference frame, at least three marking balls are arranged on the front face of the positioning reference frame, and the rotating assembly is arranged on the front face of the positioning reference frame. A connecting shaft is fixedly arranged in the middle of the back face of the positioning reference frame, and the rotating assembly is fixedly arranged at the tail end of the connecting shaft. The rotating assembly comprises a rotating sleeve arranged on the rod portion of the surgical instrument in a sleeving mode and a locking device used for enabling the rotating sleeve to be axially fixed and rotatably connected to the rod portion of the surgical instrument in the circumferential direction. According to the utility model, when a doctor uses a surgical instrument which needs to rotate along the axis of the doctor, the tracer can always face one direction (namely the camera direction), the instrument can be tracked in real time, the purpose of navigating the instrument in real time is achieved, the tracer is suitable for the surgical instrument which rotates along the axis of the doctor, and camera tracking is facilitated.