ROBOTIC CONTROL OF SURGICAL INSTRUMENT VISIBILITY

摘要

A robot guiding system employing a robot unit (10) including an endoscope (12) and a robot (11), and a control unit (20) including an endoscopic image controller (22) and a robot controller (21). In operation, the endoscope (12) generate an endoscopic image of an anatomical region as the robot (11) move the endoscope (12) within the anatomical region in response to robot actuator commands. The endoscopic image controller (22) controls a display of the endoscopic image (14) of the anatomical region and generates endoscope pose commands to maintain a visibility of two or more interventional instruments within the display of the endoscopic image (14) relative to a center of the endoscopic image (14). The robot controller (21) generates the robotic actuator commands responsive to the endoscope pose commands.

主权项

1. A robot guiding system, comprising:
a robot unit including
an endoscope operable to generate an endoscopic image of an anatomical region, anda robot operably connected to the endoscope a to move the endoscope within the anatomical region responsive to robotic actuator commands; and a control unit including
an endoscopic image controller operably connected to the endoscope to control a display of the endoscopic images of the anatomical region,
wherein the endoscopic image controller is operable to generate endoscope pose commands to maintain a visibility of at least two interventional instruments within the display of the endoscopic image relative to a center of the endoscopic image based on a selected spatial point positioned between the at least two interventional instruments,a robot controller operably connected to the robot and the endoscopic image controller to generate the robotic actuator commands responsive to the endoscope pose commands.