Surgical Arm Path Planning Within the Camera Vision Field
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Solution Overview
Problem
Existing minimally invasive surgical robots face challenges in safely guiding surgical arms outside the vision field of the camera arm, leading to potential accidents due to blind insertion or extraction, which can vary based on doctor experience and patient conditions.
Innovation Solution
A method for generating a guiding path from the original position of the surgical arm's operation end effector to a target position using the vision field of the camera arm, incorporating kinematic models and stereoscopic environmental mapping to ensure the surgical arm remains within the camera's field of view, with adjustable vision fields and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the surgical arm is moved outside the vision field of the camera arm during insertion or extraction, then the operation can be completed, but the safety is compromised due to blind operation
Solution Approach 1:
The system performs preliminary actions by pre-planning the surgical arm movement path using the camera arm's vision field data before actual insertion or extraction. The guiding path is calculated in advance to ensure the surgical arm remains within the visible range, eliminating blind operations while maintaining operational efficiency
Solution Approach 2:
The system continuously monitors the real-time position of the surgical arm relative to the camera arm's vision field and adjusts the movement path dynamically. This feedback mechanism ensures the surgical arm stays within the visible range during insertion and extraction, preventing unsafe blind operations while maintaining operational smoothness
2Reliability
If the surgical arm is guided to move within the vision field of the camera arm, then the safety is improved, but the operation complexity increases due to path planning requirements
Solution Approach 1:
The system introduces an intermediary guiding path that connects the surgical arm's start and end positions while remaining within the camera arm's vision field. This intermediate path planning mechanism simplifies the control complexity by providing a predefined safe trajectory, eliminating the need for complex real-time collision avoidance algorithms
Solution Approach 2:
The system solves the path planning problem by transitioning from direct linear movement to a multi-segment path that navigates through the vision field boundaries. By adding dimensional complexity to the movement trajectory (moving through multiple waypoints rather than direct insertion), the system ensures safety while maintaining manageable control complexity
Data Source
AI summary
A surgical robot, a method for guiding a surgical arm to move, and a computer readable storage medium thereof. The method includes: acquiring an original position of the operation end effector; determining a target position where the operation end effector is expected to reach; generating a guiding path extended from the original position to the target position according to a vision field of the image end effector; adjusting the operation end effector to move along the guiding path from the original position to the target position. The surgical robot can ensure a safety and a reliability of a surgery.