Surgical Robot Arm Virtual Camera Projection for Full Visibility
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Solution Overview
Problem
Existing minimally invasive surgical robots face challenges in providing a comprehensive view of the surgical arm's motion, leading to potential collisions and limited visibility due to the camera's restricted field of view, which can compromise surgical precision and safety.
Innovation Solution
A surgical robot system with a graphical control device and display method that utilizes a virtual camera to project a comprehensive image of the operating arm, incorporating feature points, kinematic models, and joint variables to generate a projected image on a display, enabling full visibility and collision detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If a camera arm is used to observe the surgical arm, then real-time visual feedback is provided, but the field of view is limited and cannot capture the entire operating arm
Solution Approach 1:
The patent creates a virtual copy of the operating arm by projecting its spatial position and pose information onto a two-dimensional display plane. This virtual image replicates the three-dimensional arm structure without requiring a physical camera to capture it, thereby eliminating the field of view limitation while maintaining real-time visual feedback.
Solution Approach 2:
The patent transforms the three-dimensional operating arm into a two-dimensional projected image on the display. By using perspective projection mathematics, the system maps spatial coordinates (x, y, z) to display coordinates, creating a comprehensive 2D representation that captures the entire arm structure regardless of its 3D position or orientation.
2Reliability
If the camera arm observes only local area, then detailed view is provided, but collision detection in invisible areas becomes difficult
Solution Approach 1:
The system creates a complete virtual copy of the operating arm's spatial configuration and projects it onto the display. This virtual representation includes all parts of the arm regardless of whether they are visible to a physical camera, enabling comprehensive collision detection and motion state observation throughout the entire arm structure.
Solution Approach 2:
The system pre-calculates and displays the projected image of the operating arm based on its current spatial position and pose. This preliminary visual representation is generated in advance of any potential collision, allowing the surgeon to detect and prevent collisions before they occur by observing the complete arm structure in real-time.
3Ease of operation
If traditional camera-based observation is used, then direct visual feedback is obtained, but comprehensive observation of all orientations is not possible
Solution Approach 1:
The patent makes the display screen universal by enabling it to show the operating arm from multiple orientations and perspectives. The same display device can present the arm in various views (front, side, top, angled) by adjusting the projection parameters, eliminating the need for multiple cameras or physical repositioning while maintaining ease of operation.
Data Source
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AI summary
A surgical robot, and a graphical control device and graphic display method therefor. The surgical robot includes: an input portion; a display (22); an operating arm (31) having a feature point sequence consisting of feature points arranged orderly, the feature points representing joints; and a controller. The controller is coupled to the input portion, the display (22) and sensors, and configured to: obtain the feature point sequence of the operating arm (31) and a corresponding kinematic model thereof (S11); obtain joint variables sensed by the sensors (S12), and obtain a virtual camera selected by the input portion(S13); determine a projection point of each feature point in the feature point sequence on a projection plane of the virtual camera according to the kinematic model and the joint variables (S14); orderly fit and connect each projection point to generate a projected image of the operating arm (3 1)(S15); and display the projected image on the display (22)(S16). The surgical robot helps a doctor in observing a motion state of the operating arm (31) in all orientations.