Robotic Endoscope Control Using an Offset Virtual Control Point
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Solution Overview
Problem
Conventional robotic surgical systems experience significant changes in the endoscope's field of view due to the pivot position being set at the incision site, leading to large movements of the endoscope's field of view even with minor manipulations, especially when the endoscope is close to the incision site.
Innovation Solution
The system introduces a virtual control point offset ahead of the endoscope's distal end by a given distance to manage movements, reducing the actual movement of the endoscope's distal end and thereby minimizing large field of view changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the endoscope rotates around the incision site as a fulcrum, then the endoscope can be positioned to view the surgical site, but the field of view moves suddenly and largely when the distal end is moved slightly
Solution Approach 1:
The patent introduces a virtual position point located at a predetermined distance ahead of the distal end of the endoscope along its axial direction. This virtual position acts as an intermediary control point that mediates between the operator's manipulation inputs and the actual endoscope movement. When the operator manipulates the endoscope, the system calculates the movement based on this virtual position rather than directly controlling the distal end, thereby reducing the amplification effect and achieving smoother, more predictable field of view changes while maintaining positioning capability
2Length of moving object
If the distance between the distal end of the endoscope and the incision site is short, then the endoscope can be positioned close to the surgical site, but the rotation angle becomes large even with slight movement of the distal end
Solution Approach 1:
By using the virtual position point as an intermediary, the system decouples the relationship between distal end position and rotation angle. The virtual position serves as a buffer that absorbs the geometric amplification effect, allowing the endoscope to be positioned close to the incision site while maintaining controlled rotation angles through the virtual position calculation
3Productivity
If the distal end of the endoscope is moved by a given distance, then the endoscope responds to the operation input, but the field of view moves largely which reduces precision
Solution Approach 1:
The patent changes the control parameter from direct distal end position to virtual position distance. By calculating the virtual position at a predetermined distance ahead of the distal end, the system transforms the control relationship to reduce field of view movement magnitude while preserving endoscope responsiveness to operator inputs
Data Source
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AI summary
A robotic surgical system (500) includes a controller (310) configured or programmed to perform a process to move a control point set at a virtual position (P0) offset ahead of a distal end of an endoscope (3) in an axial direction of the endoscope (3) by a distance corresponding to a given distance (ΔX) when an operation unit (110) receives an operation to move the endoscope (3) by the given distance (ΔX).