Head Tracking Control for Endoscopic Surgical Robot
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Solution Overview
Problem
In endoscopic surgery, the reliance on a physician assistant to manually operate the endoscope is costly and requires extensive training, leading to potential fatigue and image instability.
Innovation Solution
A controlling system and method using head tracking to control an endoscopic surgical robot, where a complex camera with 2D and 3D capabilities tracks the surgeon's head movements to adjust the endoscope's angle of view, reducing the need for manual operation by assistants.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a physician assistant manually operates the endoscope, then the endoscope can be controlled to capture images, but the physician assistant requires extensive training and may experience fatigue leading to image instability
Solution Approach 1:
The system enables the surgeon to control the endoscope independently through head tracking technology. The surgeon's head movements are automatically detected and converted into endoscope control commands, eliminating the need for a physician assistant and reducing training requirements while improving image stability.
Solution Approach 2:
The patent replaces the manual mechanical control system with an automated optical tracking system. Head tracking cameras detect the surgeon's head position and movements, which are then transformed into robotic endoscope control signals, substituting human manual operation with an automated vision-based control mechanism.
2Duration of action of moving object
If the physician assistant holds the endoscope for extended periods, then continuous imaging is possible, but the assistant feels weary causing image shaking
Solution Approach 1:
The robotic system performs the endoscope holding and positioning function autonomously based on surgeon's head movements. The robot can maintain stable imaging for extended periods without fatigue, as it automatically adjusts to the surgeon's viewing direction through continuous head tracking.
Solution Approach 2:
The system continuously monitors the surgeon's head position through tracking cameras and provides real-time feedback control to the robotic endoscope. This closed-loop feedback mechanism ensures the endoscope remains aligned with the surgeon's line of sight, maintaining image stability during prolonged procedures.
3Ease of operation
If the surgeon uses two hands to control instruments, then surgical manipulation is possible, but the surgeon cannot directly control the endoscope view
Solution Approach 1:
The head tracking system serves as an intermediary between the surgeon's natural head movements and the robotic endoscope control. The tracking cameras capture head position, transform these movements into control signals, and transmit them to the robot, enabling intuitive endoscope control without requiring the surgeon to use their hands.
Data Source
AI summary
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.