Surgical Robot Camera Autofocus Using Arm Position Data
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Solution Overview
Problem
Conventional robotic surgical systems require manual focus adjustments by surgeons, leading to distractions and inadequate focus on the surgical site, especially with semi-fixed cameras and limited fields of view, which can result in increased separation and potential injuries due to unfamiliar motion and force application.
Innovation Solution
A surgical robotic system that uses the positional information of cameras and robotic arms to automatically determine the focal length and point, allowing continuous focus on the desired surgical site without relying solely on image data, employing an autofocus unit to adjust camera lenses based on the calculated focal distance and filtering rapid changes in focal data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual focus adjustment is used, then the surgeon can control the focus, but the surgeon experiences distractions and the focus may not remain on the desired surgical site
Solution Approach 1:
The system performs focus adjustment automatically using an autofocus unit that responds to surgeon input or system-determined parameters, eliminating the need for manual focus manipulation and reducing surgical distractions
Solution Approach 2:
The system uses real-time position data from robotic arms and end effectors to dynamically adjust focus, creating a feedback loop that maintains optimal focus on the surgical site without requiring surgeon intervention
2Extent of automation
If conventional autofocus based solely on image data is used, then the system can automatically focus, but the focus does not align with the actual surgical site the surgeon needs to view
Solution Approach 1:
The system combines image data from the camera with positional information from robotic arm sensors to determine focus, merging multiple data sources to achieve accurate focus alignment with the surgical site
Solution Approach 2:
The system uses the known position of end effectors as an intermediary reference point to determine where the surgeon is looking and should be focused, rather than relying solely on image analysis
3Area of stationary object
If a larger depth of field is used to cover the surgical site, then the field of view can be maintained, but more light is required and total resolvability decreases
Solution Approach 1:
The system dynamically adjusts the depth of field based on the surgical situation and distance to the surgical site, allowing for smaller depth of field when close to the target (improving resolvability) and larger depth of field when farther away (maintaining field of view coverage)
Data Source
AI summary
A surgical robotic system includes a sensor unit, a controller, and a robotic subsystem. The robotic subsystem is in communication with the sensor unit and the controller. Additionally, the robotic subsystem includes a plurality of robotic arms that each have an end effort at a distal end thereof. The robotic subsystem also includes a camera assembly that has at least two cameras and an autofocus unit that automatically focuses a lens of each of the cameras.