Robotic Surgical Pivot Control With Endoscope Range Overlay
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Solution Overview
Problem
Conventional robotic surgical systems face challenges in making work easier in the space close to a patient's body surface due to the obstruction caused by the mechanism holding the cannula, which complicates assistance during operations and limits the operator's ability to recognize the pivot position changes.
Innovation Solution
A robotic surgical system with a pivot position specifier that stores the pivot position in a storage and displays a graphical user interface on an endoscope image, allowing operators to easily recognize and adjust the pivot position without the need for a structurally specified manipulator arm or cannula-holding mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a mechanism that holds the cannula is provided in the manipulator arm, then the pivot position can be mechanically specified, but the mechanism obstructs the assistance work and makes work difficult in the space close to the surface of the patient's body
Solution Approach 1:
The patent replaces the mechanical mechanism for specifying pivot position with a software-based approach. The pivot position is determined through image processing of endoscopic images and coordinate transformations, eliminating the need for a physical cannula-holding mechanism in the manipulator arm. This substitution resolves the contradiction by maintaining precise pivot position specification while removing the obstructive mechanical components.
Solution Approach 2:
The patent creates a virtual model of the surgical field using endoscopic images and overlay graphics to represent the pivot position and instrument trajectory. This virtual copy allows the operator to visualize and adjust the pivot position without requiring physical mechanical guides, thereby eliminating obstruction in the actual surgical space while maintaining precise control.
2Ease of operation
If the pivot position is stored in storage by software, then the mechanism that holds the cannula is not required, but the operator needs a way to recognize the pivot position change range
Solution Approach 1:
The patent uses color-coded graphical overlays on the endoscopic display to indicate the pivot position and its correctable range. Different colors represent different states or boundaries of the pivot position, allowing the operator to easily recognize the adjustable range without mechanical indicators. This visual information system prevents loss of critical position information while maintaining an unobstructed surgical space.
Solution Approach 2:
The system provides real-time visual feedback by displaying the current pivot position and its correctable range on the endoscopic image overlay. When the operator adjusts the pivot position, the system immediately updates the display to show the new position and whether it remains within the correctable range, enabling informed adjustment without mechanical guidance.
3Measurement precision
If a mechanism that holds the cannula is provided, then the pivot position can be mechanically specified, but the device complexity increases
Solution Approach 1:
The patent replaces complex mechanical structures with software-based solutions. The pivot position specification is achieved through image processing, coordinate system transformations, and computational algorithms rather than through mechanical linkages, joints, or physical guides in the manipulator arm. This dramatically reduces device complexity while maintaining or improving pivot position precision.
Solution Approach 2:
The software-based pivot position determination system can adapt to different surgical instruments, patient anatomies, and surgical approaches without requiring physical reconfiguration of the manipulator arm. The same image processing and coordinate transformation algorithms work universally across different surgical scenarios, reducing the need for specialized mechanical components for each application.
Data Source
AI summary
This robotic surgical system has a controller that performs the process of displaying, on the display, a graphical user interface overlayed on the image captured by the endoscope, wherein the graphical user interface includes a correctable range indication indicating a pivot correctable range that is set based on the pivot position stored in the storage.