Auxiliary View for Robotic Camera Linkage Control
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Solution Overview
Problem
In medical robotic systems, the bundling of camera instruments with surgical tools limits their positioning and viewing capabilities, leading to potential collisions and difficulties in intuitive control during minimally invasive procedures, as the camera's field of view does not include its own linkage, making it hard for operators to avoid collisions and navigate the surgical site effectively.
Innovation Solution
A medical robotic system that provides a computer-generated auxiliary view of the camera, allowing operators to intuitively control the positioning and orientation of the camera tip by determining mechanical element positions, generating a virtual camera model, and displaying it on a screen, enabling intuitive control and avoiding collisions by visualizing the camera's linkage and surgical tools outside its field of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If the camera instrument is bundled with surgical tools through a single entry guide, then the number of incisions is reduced and tissue trauma is minimized, but the camera's positioning freedom and field of view are limited
Solution Approach 1:
The system adds a virtual visualization dimension by generating computer-generated auxiliary views that display camera linkage positions and surgical tool locations. This virtual dimension allows operators to monitor and control camera positioning without physically moving the camera, thereby maintaining the benefits of bundled instrumentation while overcoming positioning limitations through virtual feedback and planning.
2Measurement precision
If the camera field of view is focused on the surgical site, then surgical visualization is optimized, but the camera's own linkage and potential collision zones become invisible
Solution Approach 1:
The visualization is segmented into multiple views: the primary endoscopic view shows the surgical site with high detail, while separate computer-generated auxiliary views display camera linkage positions and surgical tool locations. This segmentation allows simultaneous optimization of surgical visualization and linkage monitoring without compromising either function.
3Ease of operation
If intuitive control is provided for teleoperating the camera, then operator ease of use is improved, but the complex linkage motions required may not be obvious or intuitive
Solution Approach 1:
The system provides real-time feedback by displaying computer-generated auxiliary views that show camera linkage positions and predicted tip locations as the operator manipulates controls. This visual feedback loop allows operators to intuitively understand the relationship between control inputs and camera/linkage motions, maintaining ease of operation while preventing information loss about linkage states.
4Object-affected harmful factors
If the entry guide diameter is kept small for minimally invasive access, then patient injury is reduced, but the camera and surgical tools have limited positioning capability
Solution Approach 1:
The system creates virtual copies of the camera and surgical tools in computer-generated auxiliary views. These virtual representations allow operators to plan and execute positioning maneuvers without requiring physical space for manual manipulation, thereby maintaining small entry guide dimensions while preserving full positioning capability through virtual simulation and guidance.
Data Source
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AI summary
A medical robotic system includes an entry guide (200) with surgical tools (231, 241) and a camera (211) extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen (140) from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.