METHOD OF CONTROLLING A CAMERA IN A ROBOT-SURGICAL SYSTEM Russian patent published in 2020 - IPC A61B34/37 B25J9/16 B25J19/04 

FIELD: medicine.

SUBSTANCE: invention refers to medicine, namely to a method of controlling movement of a camera attached to a manipulator of a robot-surgical complex. Robot-surgical complex comprises two controllers, a manipulator with a camera for observing an operative field and an automatic control system. Each of the controllers is configured to digitize the movements of the hands of the surgeon and provides transmission of motion vectors on three translational and three rotational degrees of freedom, representing difference between coordinates of controller of control in initial position and coordinates of controller of control at change of position of surgeon's hand. Manipulator provides movement of camera in three translational degrees of freedom. Automatic control system is connected to both controllers and manipulator. Method is characterized by following steps: transmission of motion vectors data on three translational and three rotational degrees of freedom of right and left controllers to automatic control system with constant frequency; performing controllers switching to camera control mode; control of manipulator movement with camera fixed on it. Controllers are switched to the camera control mode by pressing the control pedal. Signal from the control pedal is transmitted to the automatic control system and controllers to lock the rotational degrees of freedom in the latter vector. After the rotary degrees of freedom of the control controller are locked, the vector of rotational coordinates in the automatic control system is reset. Control of manipulator movement is carried out by simultaneous movement of controllers and subsequent execution of following stages: storing the obtained motion vectors of the controllers in the automatic control system; a step of processing and combining the motion vectors of the right and left controllers to find the total movement; a scaling step of the displacement vector obtained at a previous step; a motion compensation stage; stage of horizontal line deviation compensation from frame center line; stage of simultaneous transmission of data received on previous steps to actuators of manipulator for its translational movement and rotation around longitudinal axis of camera fixed on it. Motion compensation stage comprises summation of the scaled displacement vector and the current position vector of the said manipulator in its local Cartesian coordinate system and translation of the obtained manipulator position vector from the Cartesian coordinate system in the spherical coordinate system. Compensation stage of deviation of horizon line from midline of frame is performed by calculation of divergence of angle depending on angles of inclination of camera in spherical coordinate system.

EFFECT: invention provides reduced duration of operation, reduced risks of surgeon's errors, as well as reduction of surgeon's fatigue based on maximally intuitive procedure of camera control.

1 cl, 26 dwg