Surgical Robot Camera Autofocus for Surgeon-Intended View
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Solution Overview
Problem
Conventional robotic surgical systems require manual focus adjustments, leading to distractions and inaccurate camera positioning during surgeries, and existing autofocus mechanisms often fail to align with the surgeon's desired field of view, necessitating extensive training and increased risk of injury.
Innovation Solution
A robotic surgical system that uses the positional information of cameras and end effectors to automatically determine the focal length and point of focus, adjusting focus based on the surgeon's intended view without relying solely on image data, employing a weighted algorithm to filter focal changes and ensure precise focus.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual focus adjustment is used, then the surgeon can control the focus, but it causes distractions and interruptions during the surgical procedure
Solution Approach 1:
The system performs focus adjustment automatically using image data from the camera and robotic arm position information. The processor determines the focal length and adjusts the camera focus without requiring surgeon intervention, allowing the system to serve itself in the focus control task.
Solution Approach 2:
The manual mechanical focus adjustment by the surgeon is replaced with an automated electronic system. The processor analyzes image data and robotic arm position to calculate the appropriate focal length, substituting the mechanical manual adjustment process with an automated computational and electronic control system.
2Extent of automation
If conventional autofocus based on image data is used, then focus can be adjusted automatically, but the focal point does not align with the surgeon's intended field of view
Solution Approach 1:
The system merges multiple data sources including image data from the camera, position information from the robotic arm, and spatial relationship data. By combining these different types of information, the system achieves more accurate focus alignment that reflects both the visual field and the surgeon's intended field of view.
Solution Approach 2:
The system uses feedback from the robotic arm position and camera image data to continuously adjust and refine the focal length. This feedback loop ensures that the focus remains aligned with the surgeon's intended field of view by comparing the current state with the desired state and making corrective adjustments.
3Area of stationary object
If a larger depth of field is used to cover the surgical site, then the entire area can be in focus, but the camera requires more light and has less total resolvability
Solution Approach 1:
The system dynamically adjusts the focal length based on the robotic arm position and surgical needs. Rather than using a fixed large depth of field that reduces resolvability, the system can concentrate focus on the specific area of interest, providing high resolvability where needed while maintaining flexibility to adjust the field of view coverage as the surgery progresses.
Data Source
AI summary
A surgical robotic system includes a sensor unit, a controller, and a robotic subsystem. The robotic subsystem is in communication with the sensor unit and the controller. Additionally, the robotic subsystem includes a plurality of robotic arms that each have an end effector at a distal end thereof. The robotic subsystem also includes a camera assembly that has at least two cameras and an autofocus unit that automatically focuses a lens of each of the cameras.