Robotic Endoscope Reset Control for Stable Instrument Perspective
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Solution Overview
Problem
Current medical systems face difficulties in maintaining a stable and consistent visual perspective during minimally invasive procedures, as existing camera robot modes either keep the camera stationary or move it in fixed increments, making it hard for operators to control instruments effectively.
Innovation Solution
A medical system with a manipulator arrangement and a recording device that automatically adjusts the target movement of the manipulator to maintain a consistent transformation between the recording device and the medical instrument, allowing for a reset movement to restore the original perspective when deviations exceed predetermined limits, thereby improving image stability and operator control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If the camera robot moves in following mode to keep the instrument tip centered, then the instrument visibility is improved, but the environmental stability deteriorates causing unfavorable perspective shifts
Solution Approach 1:
The system continuously monitors the relative position and orientation between the recording device and the instrument, and automatically adjusts the manipulator arrangement to maintain a target transformation. This closed-loop feedback mechanism ensures the instrument remains visible while minimizing environmental shifts by dynamically compensating for position changes.
Solution Approach 2:
The system changes the transformation parameters (position and orientation) of the recording device relative to the instrument to optimize both visibility and environmental stability. By adjusting these parameters dynamically, the system maintains the instrument in the optimal viewing position while minimizing unwanted perspective shifts of the surrounding environment.
2Stability of the object's composition
If the camera robot remains stationary in stationary mode, then the environmental stability is improved, but the instrument visibility deteriorates
Solution Approach 1:
The system transitions from a static stationary mode to a dynamic mode where the recording device's position is continuously adjusted based on the instrument's position. The manipulator arrangement enabling the recording device to move dynamically while maintaining a stable transformation relationship resolves the contradiction between environmental stability and instrument visibility.
3Adaptability or versatility
If the camera robot moves in zoom mode with fixed increments, then the viewing angle is adjusted, but the perspective consistency deteriorates causing unfavorable perspective shifts
Solution Approach 1:
Instead of using fixed increment zoom movements, the system employs feedback-based continuous adjustment of the recording device's position. The system monitors the transformation between the recording device and instrument, and makes precise adjustments to maintain consistent perspective while adapting the viewing angle as needed.
Data Source
Figure 1~2
AI summary
A method according to the invention for automatically predetermining an intended movement (d) of a manipulator arrangement (30, 31, 40, 41) of a medical system having a medical instrument (20, 21) and a recording means (10, 11) for generating images (5), the recording means and/or the instrument being guided by the manipulator arrangement, comprises the following steps: establishing (S10) an intended transformation (T s) between a reference (K, B) stationary in relation to the recording means and a reference (W, W') stationary in relation to the instrument; monitoring (S20, S30) a deviation (Δ) between the intended transformation and a current transformation (TKW(t)) between the reference stationary in relation to the recording means and the reference stationary in relation to the instrument; and determining (S40) a reset movement (d) of the manipulator arrangement for returning the current transformation to the intended transformation if the deviation satisfies a predetermined condition (Δ>Δ0) which, in particular, is predetermined in a variable manner.