Endoscope master-slave motion control method and surgical robot system

US12295687B2 · kind B2 · utility

Assignee

• PEKING UNION MEDICAL COLLEGE HOSPITAL, CHINESE ACADEMY OF MEDICAL SCIENCE AND PEKING UNION MEDICAL COLLEGE · CN

Inventors

• Lan Zhu · Shanghai, CN
• Dawei Sun · Suqian, CN
• Chang Rui Ren · Beijing, CN

Key dates

• Filing date: Oct 28, 2022
• Grant date: May 13, 2025
• Expiry date: Apr 10, 2043

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2210/41
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

The present disclosure relates to the field of medical instruments, disclosing an endoscope master-slave motion control method. The endoscope includes an operating arm, a main body disposed at an end of the operating arm, a first imaging unit, a second imaging unit, and an end instrument protruding from a distal end of the main body. The method comprises: determining a current pose of a master manipulator; based on the current pose of the master manipulator and a pose relationship between the master manipulator and the end of the operating arm, determining a target pose of the end of the operating arm; based on the target pose, generating a drive instruction for driving the end of the operating arm; obtaining a first image from the first imaging unit; obtaining a second image from the second imaging unit, wherein the first image and the second image have different fields of view and include images of the end instrument; based on the first and second images, generating a composite scene image to remove an actual image of the end instrument; and generating a virtual image of the end instrument in the composite scene image.