Robotic Surgical Stereoscopic Display Observer Movement Compensation
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Solution Overview
Problem
Conventional 3D video images in robotic surgery systems do not adjust based on the clinician's head movement, leading to a mismatch between perceived and expected images, especially in systems using head or gaze tracking for robotic arm control.
Innovation Solution
A robotic surgical system that includes an image capture device, a stereoscopic display, and a computing device with sensors to detect observer movement, processing images to shift or crop them based on the observer's position, ensuring the displayed images align with the clinician's expected view, and optionally repositioning the endoscopic camera.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional 3D video images are displayed without adjustment, then the system is simple and stable, but the images do not match the clinician's expected view when the head moves
Solution Approach 1:
The system uses head position sensors to detect the clinician's head movements and feeds this information back to the image processing system. The processed 3D images are then adjusted based on the detected head position, creating a closed-loop feedback system that maintains image alignment with the clinician's expected view throughout the procedure.
Solution Approach 2:
The image processing system dynamically adjusts the 3D images in real-time based on changing head positions. Rather than using a fixed display configuration, the system continuously modifies image parameters such as perspective, focus, and positioning to match the clinician's current viewing angle, making the display adaptive to movement.
2Ease of operation
If head or gaze tracking is used to control robotic arm movement, then the ease of operation is improved, but the mismatch between perceived and expected 3D images increases when the head moves
Solution Approach 1:
The system merges the head tracking function with the image processing function. The same head position data used to control the robotic arm's movement is also used to adjust the 3D image display in real-time. This unified approach ensures that both the robotic arm and the visual feedback remain consistent with the clinician's current perspective.
Solution Approach 2:
The head position sensor acts as an intermediary that provides data to both the robotic arm control system and the image processing system. By using this intermediate data source, the patent coordinates both the mechanical movement and visual display adjustments from a single reference point, eliminating the mismatch between perceived and expected images.
3Reliability
If the 3D images are adjusted dynamically based on head position, then the alignment with clinician's perspective is improved, but the processing time and computational requirements increase
Solution Approach 1:
The system pre-calculates and stores transformation matrices and image processing parameters for various head positions. When the head moves to a detected position, the system retrieves the pre-computed parameters rather than calculating them in real-time, significantly reducing processing delay while maintaining accurate image alignment.
Solution Approach 2:
The system anticipates head movement by pre-adjusting image parameters based on predicted head positions. By preparing multiple sets of adjusted images in advance for different possible head positions, the system can switch between pre-prepared images rapidly, avoiding the need for time-consuming real-time calculations when actual movement occurs.
Data Source
AI summary
Systems and methods for compensating for observer movement during robotic surgery. An exemplary system includes an image capture device configured to capture images of a surgical site, a stereoscopic display device, a sensor configured to detect positions of an observer, and a computing device including a processor and a memory storing instructions. The instructions, when executed by the processor, cause the computing device to receive the images of the surgical site from the image capture device, receive data from the sensor indicating a position of the observer, process the received images of the surgical site based on the movement of the observer, and cause the stereoscopic display device to display the processed images of the surgical site.