Rule-Based Endoscope Positioning for Laparoscopic Tool Tracking
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Solution Overview
Problem
Current laparoscopic surgery interfaces, such as those using head-mounted sensors or voice-operated systems, provide limited feedback and require constant attention from surgeons, diverting focus from the primary surgical task and failing to indicate which instrument the surgeon's attention is focused on, leading to complications in spatial repositioning of the endoscope for optimal viewing.
Innovation Solution
A surgical controlling system that includes a surgical tool, location estimating means, movement detection means, and a controller with a database to determine allowed and restricted movements based on predefined rules, such as route, environmental, and operator input rules, to control the spatial position of the endoscope and alert the surgeon of restricted movements, ensuring safe and optimal instrument positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If automated assistants with directional interfaces are used to control endoscope movement, then the endoscope can be repositioned automatically, but the surgeon's attention is diverted from the primary surgical task
Solution Approach 1:
The automated assistant autonomously controls endoscope movement based on detected positions of surgical instruments and pre-defined spatial rules, without requiring continuous surgeon input or attention. The system serves itself by automatically determining when and how to reposition the endoscope based on instrument locations and spatial relationships.
2Ease of operation
If conventional directional interfaces are used for automated assistance, then the system can provide navigation control, but the feedback to the surgeon is limited and cumbersome
Solution Approach 1:
The system continuously monitors the positions of all surgical instruments and the endoscope, and automatically adjusts endoscope positioning based on detected spatial relationships. This closed-loop feedback mechanism eliminates the need for manual directional commands and provides continuous optimization of the surgical view based on real-time instrument positions.
3Ease of operation
If manual control by human assistants is used, then the endoscope can be held steady, but it is difficult to maintain stable image and optimal view throughout the procedure
Solution Approach 1:
The system replaces manual mechanical control by human assistants with an automated robotic assistant that uses sensors and computer control to position the endoscope. This substitution eliminates human fatigue and inconsistency, providing stable and reliable endoscope positioning throughout the entire surgical procedure.
4Extent of automation
If automated assistants are used without spatial rules, then movement can be freely controlled, but instrument collisions and unsafe positioning may occur
Solution Approach 1:
The system pre-defines spatial rules and safe zones for endoscope movement relative to surgical instruments before the procedure begins. These pre-established constraints prevent the endoscope from entering dangerous positions or colliding with instruments, eliminating the need for real-time collision detection and response.
Data Source
AI summary
Methods of assisting an operator to perform a surgical procedure include inserting at least one surgical tool into a surgical environment of a human body. The 3D spatial position of the surgical tool within the surgical environment is estimated in real time, and movement of the surgical tool is detected. The spatial position of the surgical tool within the surgical environment is controlled using a controller, including by determining using image processing whether each of the detected movements is an ALLOWED movement or a RESTRICTED movement based on a predetermined rule stored in a database in communication with the controller.