Spatially-aware camera transitions in robotic surgery
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Solution Overview
Problem
During robotic surgical procedures, surgeons face difficulties in easily determining the pose of cameras relative to the surgical site, which can lead to disorientation when switching between different camera viewpoints.
Innovation Solution
A method and system for synthesizing spatially aware transitions between multiple camera viewpoints by tracking the pose of robotic arms equipped with cameras using pose detection sensors, comparing image poses, and generating transitions that indicate the relative positions of cameras, allowing for seamless switching and maintaining spatial awareness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple cameras are positioned at different locations to provide different views of the surgical site, then the coverage and information available to the surgeon is improved, but the surgeon's ability to easily ascertain the pose of each camera relative to the surgical site deteriorates
Solution Approach 1:
The patent introduces pose estimation data as an intermediary element that mediates between the multiple camera viewpoints and the surgeon's understanding of spatial relationships. This intermediary layer translates the complex spatial configuration of multiple cameras into interpretable pose information, resolving the contradiction by enabling the surgeon to easily ascertain camera poses while maintaining multiple viewpoint coverage
Solution Approach 2:
The system provides feedback to the surgeon by displaying pose estimation data that indicates the pose of each camera relative to the surgical site. This feedback mechanism allows the surgeon to understand the spatial relationships between different camera viewpoints, thereby maintaining the benefits of multiple cameras while eliminating the confusion about their relative positions
2Adaptability or versatility
If the surgeon switches between different camera viewpoints during the procedure, then comprehensive coverage of the surgical site is achieved, but the surgeon becomes disoriented and loses spatial awareness
Solution Approach 1:
The patent uses pose estimation data as an intermediary that maintains spatial awareness during viewpoint transitions. By displaying the pose of each camera relative to the surgical site, this intermediary element serves as a spatial reference that prevents disorientation when switching between different camera viewpoints, thus maintaining ease of operation while enabling comprehensive coverage
Solution Approach 2:
The system adds another dimension to the traditional 2D surgical view by incorporating pose estimation data that provides spatial context. This dimensional enhancement includes visual indicators showing camera position and orientation relative to the surgical site, creating a multi-dimensional display that maintains spatial awareness during viewpoint switching
Data Source
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AI summary
Disclosed are systems, devices, and methods for synthesizing spatially-aware transitions between camera viewpoints. An exemplary method includes receiving images of a surgical site from a first camera, tracking a position of a robotic arm including a second camera coupled thereto, tracking the pose of the second camera, receiving images of the surgical site from the second camera that are different from the images received from the first camera as the robotic arm is moved to different positions, comparing a pose from which at least one of the images received from the second camera were captured to a pose from which at least one of the images received from the first camera were captured, generating a transition between the compared images, and displaying the transition when switching between displaying images received from the first and second cameras.