Surgical Instrument Position Detection With Deviation-Aware Imaging
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Solution Overview
Problem
In existing surgical systems, the distal end position of surgical instruments can deviate significantly due to manufacturing errors and positional deviations, making it difficult for operators to accurately determine and confirm the instrument's position within the endoscope's field of view.
Innovation Solution
A surgical system with a controller that acquires the distal end position of the surgical instrument, accounts for positional deviations, and determines whether the instrument is within the endoscope's field of view by adjusting the imaging range, and provides visual cues to guide the operator in correcting the endoscope's orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the controller determines tool position based on the first imaging range (angle of view), then the determination is simple, but the distal end position of the surgical instrument deviates significantly from the actual position due to manufacturing errors and positional deviations
Solution Approach 1:
The controller changes the parameter of imaging range from the first imaging range (angle of view) to the second imaging range, which is calculated by reflecting positional deviation and shaft diameter. This parameter change allows the system to account for manufacturing errors and positional deviations, thereby improving measurement precision of the distal end position without significantly increasing device complexity
Solution Approach 2:
The system performs preliminary calculation of the second imaging range by incorporating expected positional deviations and shaft diameter before determining whether the distal end position is within the field of view. This preliminary action compensates for manufacturing errors in advance, improving measurement precision while maintaining relatively simple device complexity
2Ease of operation
If the controller uses the first imaging range (angle of view) for determination, then the system is simple to operate, but the operator cannot easily confirm the position of the surgical instrument when it is positionally deviated
Solution Approach 1:
The controller changes the determination parameter from the first imaging range to the second imaging range that incorporates positional deviation and shaft diameter. This allows the operator to easily confirm the surgical instrument position even when deviated, while the system maintains robustness against manufacturing precision variations through the expanded imaging range calculation
3Area of stationary object
If the controller determines position using only the first imaging range, then the field of view coverage is maximized, but the distal end position may fall outside the determined range due to positional deviation
Solution Approach 1:
The controller transitions from using only the first imaging range to using the second imaging range that reflects positional deviation and shaft diameter. This parameter change maintains adequate field of view coverage while improving position determination reliability by accounting for manufacturing errors and positional variations
Solution Approach 2:
The system performs preliminary expansion of the imaging range to create the second imaging range that anticipates positional deviations. This preliminary action ensures that the distal end position remains within the determined range even when manufacturing errors occur, thereby improving reliability while maintaining field of view coverage
Data Source
AI summary
A controller (8b, 31) of a surgical system (100) is configured or programmed to acquire a distal end position of a surgical instrument (4), acquire a second imaging range (A2) reflecting a positional deviation related to the distal end position of the surgical instrument (4) and a diameter of a shaft of the surgical instrument with respect to a first imaging range (A1) corresponding to an angle of view of an endoscope (6), and determine whether or not the distal end position of the surgical instrument (4) is within the second imaging range (A2).