Master-Slave System Image Correction for Intuitive Manipulation
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Solution Overview
Problem
In master-slave systems, the rotation of the handle of the master device causes mismatched positions between the handle and treatment tools on the monitor due to the simultaneous rotation of the observation optical system, leading to difficulties in intuitive manipulation and maintaining the association between the handle and treatment tools.
Innovation Solution
A master-slave system with a slave device featuring an observation optical system and treatment portion, a master device with a rotating handle, a control portion that associates handle rotation with slave device rotation, and an image processing portion that generates and displays a corrected image to maintain the relative positions of the handle and treatment tools on the monitor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the handle of the master device is rotated to cause the distal end of the insertion portion to perform a rotating movement, then the observation optical system is also rotated at the same time, but the position of the handle of the master device and the positions of the treatment tools on the monitor are mismatched
Solution Approach 1:
The patent creates a virtual copy of the treatment tools' positions on the monitor by rotating the image based on the relative rotation angle between the observation optical system and treatment tools. This virtual copy maintains the correct positional relationship even when the physical handle position differs from the treatment tool position, allowing intuitive manipulation without losing positional information.
Solution Approach 2:
The patent changes the parameter of the displayed image by rotating it by the relative rotation angle. This parameter change (image rotation) compensates for the mismatch between handle position and treatment tool position, maintaining the correct positional relationship on the monitor while allowing the observation optical system to be rotated for wide-angle observation.
2Adaptability or versatility
If the observation optical system is rotated together with the handle to allow wide-angle observation, then the field of view is expanded, but the association between the handle position and treatment tool position is lost
Solution Approach 1:
The patent creates a corrected virtual image that copies the treatment tools' positions relative to the observation field. By rotating this virtual copy by the relative rotation angle, the system maintains the correct association between handle position and treatment tool position on the monitor, even when the observation optical system is rotated for wide-angle observation.
Solution Approach 2:
The patent introduces an intermediary element (the rotated image) between the observation optical system and the display. This intermediary image rotation acts as a mediator that decouples the rotation of the observation system from the displayed positions, allowing wide-angle observation while maintaining correct handle-treatment tool association on the monitor.
Data Source
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AI summary
Provided is a master-slave system (1) including: a slave device (4) that includes an observation optical system and a treatment portion that protrudes from a surface on which the observation optical system is provided; a master device (2) that includes a handle (22) that is supported so as to be capable of rotating about a predetermined axis and a treatment manipulation portion (23); a control portion (6) that associates rotation of the handle (22) with rotation of the slave device (4) about an axis intersecting the surface and that associates manipulation of the treatment manipulation portion (23) with movement of the treatment portion; an image processing portion that generates a corrected image obtained by rotating an image of a subject and the treatment portion acquired by the observation optical system by a rotation angle of the slave device (4); and a monitor (7) that displays the corrected image.