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Autonomous control method and system for visual field of endoscope and medium

An autonomous control, endoscopy technology, applied in endoscopy, medical science, surgical robotics, etc., can solve problems such as single optimization goal, lack of endoscope posture control and visual feedback quality evaluation and optimization, etc. Improved safety, reduced hand-eye incoordination, accurate and effective tracking

Pending Publication Date: 2022-04-26
SUN YAT SEN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, most of the traditional servo control methods are based on the master-slave endoscopic robot, which not only has a single optimization goal, but also lacks the control of endoscope attitude and the evaluation and optimization of visual feedback quality.

Method used

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  • Autonomous control method and system for visual field of endoscope and medium
  • Autonomous control method and system for visual field of endoscope and medium
  • Autonomous control method and system for visual field of endoscope and medium

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Embodiment Construction

[0069] Such as figure 1 As shown, the auxiliary mirror-holding robot system is mainly composed of a computer with control software, a rope-driven flexible arm, an endoscope connector, an endoscope and a monitor. The computer is connected with the rope-driven flexible arm, the endoscope and the monitor, and is the control center of the whole auxiliary mirror-holding robot system. The endoscope connector is installed at the end of the rope-driven flexible arm for fixing the endoscope. During laparoscopic surgery, the auxiliary mirror-holding robot system adjusts the posture of the endoscopic camera through active or passive control modes to provide correct and stable visual feedback to the surgeon, and assist the surgeon to complete a series of surgical operations.

[0070] Such as figure 2 As shown, the present invention provides a method for autonomous control of endoscope field of view, including:

[0071] Obtain visual feedback from the endoscope camera and the actual ro...

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Abstract

The invention discloses an autonomous control method and system for the visual field of an endoscope and a medium. The method comprises the steps that visual feedback of an endoscope camera and the real rope length of a rope-driven mechanical arm are obtained; on one hand, image definition is calculated based on visual feedback, and the tip of the surgical instrument is segmented and positioned; on the other hand, a rope-tail end kinematic model and a position-level RCM constraint equation are established based on the real rope length; according to the obtained information, establishing an optimization model for adjusting the operation visual field; calculating the expected speed of an endoscope camera by using a multi-objective optimization-based operation visual field intelligent adjustment method; and a speed-level RCM constraint equation and a tail end-rope inverse kinematics model are established, the length of the rope is obtained through calculation, and then motion control over the lens-holding robot is achieved. By using the invention, the tip of the instrument can be quickly, accurately and effectively tracked, the hand-eye discordance is reduced, the image definition is improved, and the safety and the stability of intelligent visual field adjustment are improved.

Description

technical field [0001] The invention relates to the technical field of surgical auxiliary control, in particular to a method, system and medium for autonomous control of an endoscope field of view. Background technique [0002] With the popularity of minimally invasive surgery and the application of robotics, research on endoscopic surgery robots has become very active. Different from the master-slave control system, the cooperative operation of the auxiliary mirror-holding robot and the chief surgeon has higher reliability, and the research and development cost of the auxiliary mirror-holding robot is much lower than that of the master-slave control system. In laparoscopic surgery, the intelligent auxiliary mirror-holding robot has the advantages of fast response, strong stability and high precision, and can assist the surgeon to intelligently adjust the surgical field of view. The intelligent assisted mirror-holding robot realizes the rapid positioning of the tip of the s...

Claims

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Application Information

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IPC IPC(8): A61B1/04A61B1/045A61B34/30G06F30/20
CPCA61B1/04A61B1/045A61B34/30A61B34/70G06F30/20A61B2034/301
Inventor 彭键清张弛
Owner SUN YAT SEN UNIV
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