Surgical Arm Control for Oblique-Viewing Endoscope Visibility

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Solution Overview

Problem

Oblique-viewing endoscopes experience a less intuitive visual field after rotation, leading to the observation target being out of the visual field and losing sight of instruments due to non-intuitive movement.

Innovation Solution

A control system for oblique-viewing endoscopes that includes a support arm device with multiple joints and links, allowing precise control of the endoscope's position and posture, and a control unit that adjusts rotation speed and follows the observation target to maintain it within the visual field.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If oblique-viewing rotation is performed by rotating the endoscope around its scope axis, then the endoscope can obtain roundabout and peripheral visual fields, but the visual field becomes less intuitive and the observation target may be lost from the visual field

Engineering Contradiction:

Improvevisual field coverageVSAvoidvisual field intuitiveness

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

Instead of rotating the endoscope around its scope axis (conventional method), the invention inverts the approach by rotating the entire arm device around a virtual axis that passes through the tip of the endoscope. This reversal of the rotation mechanism maintains intuitive visual field representation while achieving comprehensive visual field coverage during oblique-viewing rotation.

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The invention introduces a virtual axis as an intermediary element that passes through the endoscope tip. By rotating the arm device around this virtual axis rather than directly rotating the endoscope scope axis, the system mediates between the need for comprehensive visual field coverage and the need for intuitive visual representation, preventing the observation target from being lost.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If the endoscope is rotated during oblique-viewing operation, then peripheral visual fields can be observed, but the observation target may move out of the visual field and instruments may be lost from sight

Engineering Contradiction:

Improveperipheral visual field observationVSAvoidtarget visibility

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The control unit continuously monitors the position of the observation target and instrument tips relative to the visual field during rotation. Based on this feedback, the system dynamically adjusts the rotation speed and direction to ensure that the observation target and instruments remain within the visual field, maintaining reliable target visibility while enabling peripheral observation.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The invention implements dynamic control of the rotation parameters (speed, direction, acceleration) based on real-time positional information of the observation target and instruments. This dynamic adjustment ensures that the rotation adapts to the surgical situation, maintaining target visibility while maximizing the utility of peripheral visual field observation.

Inventive Principle:

Principle #15Dynamics

3Ease of operation

If simple horizontal or vertical movement is used instead of oblique-viewing rotation, then the visual field remains intuitive, but the endoscope cannot obtain roundabout and peripheral visual fields

Engineering Contradiction:

Improvevisual field intuitivenessVSAvoidvisual field coverage

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The invention inverts the conventional rotation approach by rotating the arm device around a virtual axis through the endoscope tip rather than rotating the endoscope scope axis. This inversion enables the endoscope to obtain roundabout and peripheral visual fields while maintaining intuitive visual field representation, thus achieving both comprehensive visual field coverage and visual intuitiveness.

Inventive Principle:

Principle #13The other way round (Inversion)

Data Source

PatentEP3705018B1Surgical arm system and surgical arm control system

Publication Date: 2025.08.13 SONY GROUP CORP

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AI summary

[Problem] To prevent sight of an observation target from being lost from a visual field of a monitor. [Solution] A surgical arm system includes: an articulated arm in which a plurality of joints is rotatably connected by a plurality of links and which is capable of supporting an oblique-viewing endoscope at a tip; and a control system which controls the articulated arm to change a position and a posture of the oblique-viewing endoscope. The control system controls at least one of a rotation speed and a movement speed of the oblique-viewing endoscope in a visual field imaged through the oblique-viewing endoscope based on a position of the observation target in the visual field.