Autonomous Camera Control for Surgical Robots
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Solution Overview
Problem
Current robotic surgical systems lack autonomous camera control, requiring surgeons to manually adjust the camera position, which can lead to fatigue, reduced accuracy, and increased surgical difficulty due to the fulcrum effect and tremors, especially in minimally invasive surgeries where ergonomic conditions are poor.
Innovation Solution
A system with a controller that uses kinematic models of both the surgical tool and camera robots to autonomously position the camera, calculating optimal angles and distances to maintain the tool in the camera's view, thereby reducing the surgeon's workload and improving image stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual camera adjustment is used, then the surgeon can control the camera view, but surgeon fatigue increases and accuracy decreases
Solution Approach 1:
The camera control system operates autonomously by detecting tool position and orientation, then automatically adjusting camera parameters (zoom, pan, tilt) to maintain optimal viewing angles. This self-service mechanism eliminates the need for manual camera adjustment by the surgeon, thereby reducing fatigue while maintaining or improving accuracy through consistent automated positioning.
Solution Approach 2:
The system continuously monitors tool position and orientation data, compares it against desired viewing parameters, and automatically adjusts camera settings in real-time. This closed-loop feedback mechanism ensures the camera maintains optimal views of surgical instruments without requiring manual intervention, thus improving both ease of operation and surgical accuracy.
2Adaptability or versatility
If manual camera adjustment is used, then the surgeon can adapt the camera view, but surgical time increases due to frequent adjustments
Solution Approach 1:
The autonomous camera system automatically adapts to different surgical scenarios by detecting tool positions and independently adjusting camera parameters. This eliminates the time surgeons spend manually repositioning the camera while maintaining full adaptability to various surgical instruments and procedures, thereby improving surgical efficiency without sacrificing view adaptability.
Solution Approach 2:
The system pre-configures camera parameters based on detected tool positions and anticipated surgical needs, proactively adjusting zoom, pan, and tilt before the surgeon requires a specific view. This preliminary action reduces wait time and maintains optimal views continuously, improving surgical throughput while preserving adaptability.
3Ease of operation
If autonomous camera control is implemented, then surgeon workload is reduced, but system complexity increases
Solution Approach 1:
The autonomous camera control system integrates multiple functions (tool tracking, parameter detection, automated positioning, zoom control) into a single unified platform that works across different surgical instruments and procedures. This multi-functionality reduces the need for separate manual control mechanisms, thereby managing system complexity while significantly reducing surgeon workload through automation.
4Measurement precision
If the camera is positioned close to the tool, then detailed views are achieved, but the fulcrum effect and tremors are amplified
Solution Approach 1:
The system dynamically adjusts camera position and zoom level based on real-time tool position and surgical context. When detailed views are needed, the camera automatically zooms in through electronic control rather than physical proximity, maintaining optimal distance to avoid amplifying tremors and fulcrum effects while still achieving high-resolution imaging through digital zoom and image processing.
Data Source
AI summary
A system for autonomous camera control includes a first robot having a surgical tool mounted as an end effector and a second robot having a camera mounted as an end effector. A controller may be provided for manipulating the second robot, where the controller stores a first kinematic model for the first robot and a second kinematic model for the second robot. The controller may be configured to automatically manipulate the second robot to position the camera based on the second kinematic model and an expected position of the surgical tool according the first kinematic model of the first robot. The controller is further configured to identify a threshold angle from a viewing axis of the camera, calculate a tool angle from the viewing axis of the camera, and move the camera toward or further away from the tool depending on if the tool angle is greater than or less than the threshold angle.