This technology is a control system that automatically extracts an endoscope from the surgical field with the surgeon's consent, based on real-time quality assessment of endoscopic images. It generates an extraction path and performs real-time collision avoidance control by utilizing 3D surgical field images acquired preoperatively and location data of key biological structures.
When endoscopic image quality degrades during surgery due to debris or other factors, the process has traditionally relied on manual operation by a skilled nurse, which poses a risk of physical collision between the endoscope and vital structures such as organs, blood vessels, and nerves within the surgical field.
This technology monitors quantified image quality via an assessment unit and triggers a signal upon degradation to obtain surgeon approval. It then activates a 3D model-based collision risk assessment module and a path generation module. This ensures the endoscope is automatically extracted along a safe path, maintaining surgical continuity and safety. It minimizes surgical delays caused by image quality degradation in laparoscopic and robotic surgery, and fundamentally prevents collisions with biological tissues, significantly enhancing surgical safety.
This invention was developed with support from the Ministry of Science and ICT for the research and development of next-generation surgical robot systems through collision avoidance for robotic surgical arms.
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