Surgical Imager Positioning and Display Alignment During Resection
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Solution Overview
Problem
Existing surgery systems struggle to maintain a clear field of view of anatomical features, such as blood vessels, when they are obscured by fat or positioned outside the endoscope's view, by using robot control to visualize these features based on pre-surgery images.
Innovation Solution
A surgery system with an imager, display, and processor that calculates the position and orientation of a resection end section and a marking on the screen, adjusting the display area to maintain these at prescribed reference positions and orientations, even as the treatment target deforms during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the endoscope is manually positioned to capture anatomical features, then the field of view can be adjusted, but the anatomical feature may still be obscured by fat or positioned outside the field of view
Solution Approach 1:
The patent replaces manual mechanical positioning of the endoscope with automated image processing and robot control. The system automatically calculates the required endoscope pose based on pre-surgery images and anatomical feature detection, then uses a robot to execute the positioning, eliminating the need for manual adjustment and ensuring consistent visualization of anatomical features.
Solution Approach 2:
The system uses feedback from pre-surgery images and real-time endoscope images to automatically adjust the endoscope position. By comparing the current field of view with the target anatomical feature location derived from pre-surgery imaging, the system generates corrective positioning commands to ensure the anatomical feature remains visible throughout the procedure.
2Reliability
If the endoscope position is fixed, then the system is simple to operate, but the treatment target deforms during resection causing the anatomical feature to move outside the field of view
Solution Approach 1:
The patent implements dynamic endoscope positioning that automatically adapts to treatment target deformation during resection. The system continuously monitors the position of anatomical features and adjusts the endoscope pose in real-time to maintain optimal visualization, transforming the system from static to dynamic operation to accommodate changing surgical conditions.
Solution Approach 2:
The system performs preliminary calculation of the endoscope pose based on pre-surgery images before the actual resection begins. This pre-planned positioning strategy, combined with real-time adjustments, ensures that the endoscope is initially positioned optimally and can subsequently track anatomical features as the treatment target deforms during the procedure.
3Measurement precision
If robot control is used to position the endoscope based on pre-surgery images, then anatomical features can be visualized, but the system complexity increases
Solution Approach 1:
The patent introduces an image processing and pose calculation module as an intermediary between the pre-surgery images and the robot control system. This intermediary automatically extracts anatomical feature positions, calculates the optimal endoscope pose, and generates robot control commands, thereby reducing the complexity of direct robot control while maintaining high positioning accuracy through automated image-based guidance.
Data Source
AI summary
A surgery system includes: an imager capturing an image of a treatment target; a display having a screen displaying the image of the treatment target captured by the imager; and a processor configured to control a display area of the treatment target on the screen, wherein the processor is configure to: calculate a position of a resection end section of the treatment target on the basis of the image of the treatment target acquired by the imager; cause the display area of the treatment target to be moved to a position at which the resection end section is disposed at a prescribed reference position on the screen; calculate an orientation of a marking added to the treatment target on the screen; and cause the display area of the treatment target to be rotated to an orientation in which the marking is disposed in a prescribed reference orientation on the screen.