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US 12,575,904 B2Granted
Endoscope control method and surgical robot system
AssigneePeking Union Medical College Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College
InventorsDawei Sun, Lan Zhu, Chang Ren
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Abstract
The present disclosure relates to the field of medical instruments, disclosing an endoscope control method. The method comprises: controlling a motion of an endoscope, the endoscope comprising a main body, a first imaging unit, a second imaging unit and an end instrument protruding from a distal end of the main body; obtaining a first image from the first imaging unit; obtaining a second image from the second imaging unit, wherein the first and the second images 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.
Claims17
An endoscope control method, comprising:
- controlling a motion of the endoscope, the endoscope comprising a main body, a first imaging unit, a second imaging unit and an end instrument protruding from a distal end of the main body;
- 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;
- generating, based on the first image and the second image, 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,
- wherein the endoscope control method further comprises:
- generating, based on the first image and/or the second image, an actual scene image to display an actual image of the end instrument;
- and
- displaying, in response to a display mode instruction, the composite scene image with the virtual image and/or the actual scene image, wherein the display mode instruction comprises at least one of:
- a motion control instruction for controlling a motion of the endoscope;
- an end instrument operation instruction for controlling an operation of the end instrument;
- or
- a display mode selection instruction for selecting a display mode;
- wherein the motion control instruction comprises a first endoscope motion instruction which comprises a feed instruction or a steering instruction, and
- wherein the endoscope control method further comprises:
- displaying, in response to the first endoscope motion instruction, the composite scene image with the virtual image;
- and
- controlling, based on the first endoscope motion instruction, the endoscope to move towards an operating area.
16 more elements
A robot system, comprising:
- a motion arm;
- an endoscope disposed at an end of the motion arm, the endoscope including:
- an operating arm including at least one segment capable of being bent controllably
- a main body disposed at a distal end of the operating arm;
- a first imaging unit for taking a first image;
- a second imaging unit for taking a second image;
- and
- an end instrument configured to protrude from a distal end of the main body;
- a control device configured to perform an endoscope control method;
- and
- a display device configured to display an image based on a instruction output by the control device;
- wherein the endoscope control method comprises:
- controlling a motion of the endoscope, the endoscope comprising a main body, a first imaging unit, a second imaging unit and an end instrument protruding from a distal end of the main body;
- 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;
- generating, based on the first image and the second image, 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,
- wherein the endoscope control method further comprises:
- generating, based on the first image and/or the second image, an actual scene image to display an actual image of the end instrument;
- and
- displaying, in response to a display mode instruction, the composite scene image with the virtual image and/or the actual scene image, wherein the display mode instruction comprises at least one of:
- a motion control instruction for controlling a motion of the endoscope;
- an end instrument operation instruction for controlling an operation of the end instrument;
- or
- a display mode selection instruction for selecting a display mode;
- wherein the motion control instruction comprises a first endoscope motion instruction which comprises a feed instruction or a steering instruction, and
- wherein the endoscope control method further comprises:
- displaying, in response to the first endoscope motion instruction, the composite scene image with the virtual image;
- and
- controlling, based on the first endoscope motion instruction, the endoscope to move towards an operating area.
28 more elements
A non-transitory computer-readable storage medium for storing at least one instruction, that when executed by a computer, causes the computer to perform an endoscope control method, wherein the endoscope control method comprises:
- controlling a motion of the endoscope, the endoscope comprising a main body, a first imaging unit, a second imaging unit and an end instrument protruding from a distal end of the main body;
- 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;
- generating, based on the first image and the second image, 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,
- wherein the endoscope control method further comprises:
- generating, based on the first image and/or the second image, an actual scene image to display an actual image of the end instrument;
- and
- displaying, in response to a display mode instruction, the composite scene image with the virtual image and/or the actual scene image, wherein the display mode instruction comprises at least one of:
- a motion control instruction for controlling a motion of the endoscope;
- an end instrument operation instruction for controlling an operation of the end instrument;
- or
- a display mode selection instruction for selecting a display mode,
- wherein the motion control instruction comprises a first endoscope motion instruction which comprises a feed instruction or a steering instruction, and
- wherein the endoscope control method further comprises:
- displaying, in response to the first endoscope motion instruction, the composite scene image with the virtual image;
- and
- controlling, based on the first endoscope motion instruction, the endoscope to move towards an operating area.
16 more elements
Dependencies are inferred from the claim text.