Robotic Display Linkage Gaze Tracking for Surgical View Control
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Solution Overview
Problem
Minimally invasive surgical procedures using robotic systems face inefficiencies due to the need for manual adjustment of endoscopic cameras to maintain a desired field of view, often requiring frequent movements to position tissue or tools within the camera's field, which can be time-consuming and distracting for surgeons.
Innovation Solution
A robotic system with a display and linkage mechanism, equipped with sensors and a processor, that automatically adjusts the image capture and display to maintain a focused view by digitally zooming and panning in response to surgeon's gaze and tool movements, reducing the need for mechanical camera adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the endoscopic camera is manually moved inward to achieve desired magnification of tissue, then the magnification of tissue is improved, but the field of view becomes narrow and requires frequent manual adjustments
Solution Approach 1:
The system dynamically adjusts the field of view by detecting surgeon gaze direction and automatically panning the endoscopic camera to follow the gaze, allowing the camera to remain at high magnification while the field of view adapts to surgeon needs
Solution Approach 2:
The system uses gaze detection feedback to automatically adjust camera positioning and field of view, creating a closed-loop control system that responds to surgeon intent without requiring manual camera manipulation
2Reliability
If the endoscopic camera is manually moved to follow tissue or tools, then the tissue remains in the field of view, but the surgeon's attention is diverted from the procedure
Solution Approach 1:
The system performs automatic camera following by detecting surgeon gaze and autonomously adjusting the endoscopic camera to keep the gazed-at tissue or tool in view, eliminating the need for manual intervention
Solution Approach 2:
The patent replaces manual mechanical camera manipulation with an automated optical/electronic system that uses gaze detection and digital image processing to achieve camera following functionality
3Area of stationary object
If the surgeon manually adjusts the endoscopic camera frequently to maintain desired view, then the field of view is optimized, but surgical efficiency decreases
Solution Approach 1:
The system provides continuous automatic camera following that continuously adjusts the field of view based on surgeon gaze, eliminating intermittent manual adjustments and maintaining optimal view throughout the procedure
Solution Approach 2:
Real-time gaze detection provides continuous feedback to the control system, enabling dynamic field of view adjustment that adapts to surgeon needs without interrupting the surgical workflow
Data Source
AI summary
A robotic system includes a display to display an image captured by an image capture device, a linkage movably supporting the display, the linkage including a multitude of links, a multitude of joints coupling the multitude of links, and a multitude of sensors configured to sense configuration information of the linkage. A physical movement of the display corresponds to a configuration change of the linkage. The robotic system further includes a processor coupled to the multitude of sensors. The processor is configured to obtain sensor signals from the multitude of sensors, the sensor signals indicative of the configuration change, and adjust the image in response to the sensor signals.