METHOD FOR AUTOMATED CONTROL OF A ROBOTIC OPERATIONAL EXOSCOPE Russian patent published in 2021 - IPC A61B34/20 G05B19/00 G06F3/01 

FIELD: medical equipment.

SUBSTANCE: invention relates to medicine, namely to a method for automated control of a robotic operating exoscope, based on mechanical movement of the video camera of the exoscope, using a closed system of combining tracking drives forming an internal circuit and performing controlled movement of the moving parts of the manipulator according to the degrees of freedom thereof. The angular coordinates of the moving parts of the manipulator are measured therein. The input control impacts on said closed system are formed by means of technological actions of the surgeon. The focal length of the optical system of the video camera of the exoscope is altered. An image of the surgical operation area is formed on the monitor screen based on the signals from the video camera of the exoscope. The input control impacts on the internal circuit are formed in the external circuit of a two-circuit system for automated control of the observation processes closed through the surgeon using the robotic operating exoscope. For this purpose, the coordinates of the spatial position of the head of the surgeon observing the image of the surgical operation area on the monitor screen are measured in the initial state and in the current time of performing the surgical operation. Signals completing the measurements of the position of the head of the surgeon in the initial state to the signals corresponding to the current spatial position of the head of the surgeon are formed. The completing signals are converted into signals proportional to the coordinates of the required spatial position of the video camera of the exoscope. The input control impacts are formed for the local movement tracking drives of the manipulator links in accordance with the converted signals for completing to the signals corresponding to the required spatial position of the video camera of the exoscope.

EFFECT: increase in the efficiency of using the operation time, reduction in the labour intensity of the work of the surgeon due to the reduction in the volume of auxiliary supporting technological operations and the improvement in the quality of performed surgical operations are achieved.

3 cl, 8 dwg