ROBOTIC CONTROL OF AN ENDOSCOPE FROM ANATOMICAL FEATURES

摘要

A robotic control system employs a robot unit (10) and a control unit (20). The robot unit (10) includes an endoscope (12) for generating an endoscope image (14), and a robot (11) for moving the endoscope (12) within an anatomical region. The control unit (20) includes an endoscope controller (22) for a determination of an endoscope pose within the anatomical region for an intraoperative visualization of the anatomical feature within the endoscope image (14), wherein the endoscope path is derived from a delineation of a volume coordinate position of the anatomical feature within a pre-operative image (43) of the anatomical region. The control unit (20) further includes a robot controller (21) for commanding the robot (11) to move the endoscope (12) to the endoscope pose within the anatomical region to visualize the anatomical feature within the endoscope image (14).

主权项

1. A robotic control system, comprising:
a robot unit including
an endoscope operable to generate an endoscope image, anda robot operable to move the endoscope within an anatomical region; and a control unit (20) including
an endoscope controller operable to determine an endoscope pose within the anatomical region for an intra-operative visualization of an anatomical feature within the endoscope image,
wherein the endoscope pose is derived from a delineation of a volume coordinate position of the anatomical feature within a pre-operative image of the anatomical region, anda robot controller operable to command the robot to move the endoscope to the endoscope pose within the anatomical region to visualize the anatomical feature within the endoscope image.