Surgical Robot Position Tracking for Endoscopic Visibility
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Solution Overview
Problem
During endoscopic surgery, if the distal end position of the treatment instrument deviates from the imaging region of the endoscope, the operator loses sight of the instrument, leading to delays in surgery.
Innovation Solution
A surgical robot equipped with a control device that calculates and displays the relative positional relationship between the distal end of the treatment instrument and the endoscope, allowing the operator to maintain visibility and control even when the instrument deviates from the imaging region.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the operator relies solely on the endoscope's imaging region to monitor the treatment instrument, then the imaging system remains simple, but the operator loses sight of the instrument when it deviates from the imaging region, causing surgical delays
Solution Approach 1:
The system creates a virtual copy of the treatment instrument's position and orientation on the display screen, allowing the operator to see where the instrument is relative to the imaging region without needing to physically track it within the camera's field of view. This virtual representation enables continuous monitoring even when the instrument deviates from the imaging region.
Solution Approach 2:
The system adds a dimensional representation by displaying the treatment instrument's position on a 2D screen that encompasses the entire working space, not just the limited 3D field of view of the endoscope. This allows the operator to perceive instrument position in a broader context beyond what the endoscope camera can capture.
2Ease of operation
If the treatment instrument is allowed to move freely during surgery, then the operator has greater operational flexibility, but the distal end may deviate from the imaging region, causing the operator to lose sight of the instrument
Solution Approach 1:
The system continuously provides visual feedback to the operator by displaying the treatment instrument's position and orientation on the screen. This feedback loop allows the operator to maintain awareness of the instrument's location even when it moves outside the endoscope's imaging region, enabling flexible manipulation without loss of situational awareness.
Solution Approach 2:
The display screen acts as an intermediary that bridges the gap between the treatment instrument's physical position and the operator's visual perception. By representing the instrument's position on the screen, the system mediates the operator's awareness of the instrument without requiring the instrument to remain within the endoscope's limited field of view.
Data Source
AI summary
A surgical robot for use in endoscopic surgery includes a control device that implements a position information calculator that calculates information relating to a distal end position of the treatment instrument used in endoscopic surgery, and information relating to a distal end position of an endoscope, a first display section that displays a relative positional relationship between the distal end of the treatment instrument and the distal end of the endoscope by using a calculation result obtained from the position information calculator, and a second display section that displays an image captured by the endoscope.