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Publication Number
US-12336776-B2
Publication Date
2025-06-24
Expiration Date
Abstract
A surgical robot for use in endoscopic surgery includes a control device that implements a position information calculator that calculates information relating to a distal end position of the treatment instrument used in endoscopic surgery, and information relating to a distal end position of an endoscope, a first display section that displays a relative positional relationship between the distal end of the treatment instrument and the distal end of the endoscope by using a calculation result obtained from the position information calculator, and a second display section that displays an image captured by the endoscope.
Core Innovation
A surgical robot includes a control device that implements a position information calculator. The calculator calculates information relating to a distal end position of a treatment instrument used in endoscopic surgery, information relating to a distal end position of an endoscope, and information relating to a pivot point position, where the pivot point position is a pivot point around which the treatment instrument pivots. The calculated results are used to provide relative positional relationship information for display.
A first display section displays relative positional relationships between the distal end of the treatment instrument and the distal end of the endoscope, and between the distal end position of the treatment instrument and the pivot point, based on the calculation result. A second display section displays an image captured by the endoscope. The first state information and second state information are presented as separate displays together with the endoscope image.
The display content on the first display can include a circular protractor and icon-based figures for the distal end of the endoscope and the treatment instrument. The center of the circular protractor can align with the center of the display screen, and a figure representing the distal end of the endoscope can be shown at the screen center. The display mode or display position of the treatment-instrument figure updates based on changes in the relative positional relationship between the distal ends, and when a camera icon is shown, the display angle of the camera icon changes based on the endoscope rotation angle.
Claims Coverage
The independent claims in the provided set are clm-00001, clm-00007, and clm-00013. Across these independent claims, there are three core inventive feature areas: calculation of distal-end and pivot-point positional information, first-display presentation of relative positional relationships, and second-display presentation of the endoscope image.
Calculating distal end and pivot-point positional information
A control device/processor calculates information relating to a distal end position of a treatment instrument, information relating to a distal end position of an endoscope, and information relating to a pivot point position, the pivot point position being a pivot point around which the treatment instrument pivots.
Displaying relative positional relationships on a first display
A first display section/first monitor displays first state information including a relative positional relationship between the distal end of the treatment instrument and the distal end of the endoscope and a relative positional relationship between the distal end position of the treatment instrument and the pivot point, by using a result obtained from the position information calculator.
Displaying an endoscope image on a second display
A second display section/second monitor displays an image captured by the endoscope, while the first display presents the relative positional relationship information.
The independent claims require computation of distal-end and pivot-point positional information, presentation of relative positional relationships on a first display/monitor, and simultaneous presentation of the endoscope image on a second display/monitor.
Stated Advantages
Improved operator ability to handle loss of sight when the instrument distal end deviates from the endoscope imaging region.
Separate monitors to reduce occlusion of the captured image.
Reliable indication that the incision/pivot alignment is ready for surgery.
Documented Applications
Endoscopic surgery using a surgical robot with a treatment instrument and an endoscope, where relative positional information between the instrument distal end, the endoscope distal end, and a pivot point is displayed together with an endoscope image.
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