CN-121985917-A - Following navigation camera

Abstract

A system and a method are described. An illustrative method includes receiving first image information from a camera at a first point in time, wherein the first image information provides a first view of a surgical space and a surgical navigational tracker positioned within the surgical space. The method may further include determining, based on the first image information, that the position of the camera relative to the surgical space is suboptimal at the first point in time, determining, based on the first image information, a physical motion of the camera that improves the position of the camera relative to the surgical space, and generating a camera movement signal configured to move the camera in accordance with the physical motion. The method may further include transmitting the camera movement signal to a motorized control unit configured to physically move the camera.

Inventors

• O. Rueff
• Z. Saiman
• I. Asher
• G. Balzani

Assignees

• 马佐尔机器人有限公司

Dates

Publication Date

20260505

Application Date

20241010

Priority Date

20231012

Claims (15)

1. 1. A system, comprising: A camera; A motorized control unit coupled with the camera and configured to physically adjust a position of the camera; processor, and A memory storing data that, when executed by the processor, causes the processor to: receiving first image information from the camera at a first point in time, wherein the first image information provides a first view of a surgical space and one or more surgical navigational trackers positioned within the surgical space; Determining, based on the first image information, that the position of the camera is suboptimal relative to the surgical space at the first point in time; Determining a physical movement of the camera based on the first image information that improves a position of the camera relative to the surgical space; Generating a camera movement signal configured to move the camera according to the physical motion; transmitting the camera movement signal to the motorized control unit; Receiving second image information from the camera at a second point in time after transmitting the camera movement signal, wherein the second image information provides a second view of the surgical space and the one or more surgical navigational trackers positioned within the surgical space, and Based on the analysis of the second image information, it is confirmed that the second view of the surgical space is improved relative to the first view of the surgical space.
2. 2. The system of claim 1, wherein the motorized control unit at least one of rotates, tilts, and scrolls the camera in response to receiving the camera movement signal.
3. 3. The system of claim 1 or 2, wherein a second view of the surgical space captures at least one additional surgical navigational tracker that is not captured by the first view.
4. 4. The system of any of the preceding claims, wherein the physical motion moves the one or more surgical navigational trackers closer to a center of a field of view of the camera.
5. 5. The system of any of the preceding claims, wherein the physical movement causes a change in a perspective of the one or more surgical navigational trackers, thereby improving tracking accuracy associated with the one or more surgical navigational trackers.
6. 6. The system of any of the preceding claims, wherein the physical motion moves an image plane closer to parallel to a plane bisecting the one or more surgical navigational trackers.
7. 7. The system of any of the preceding claims, wherein the one or more surgical navigational trackers comprise a first set of surgical navigational trackers associated with a first surgical instrument and a second set of surgical navigational trackers associated with a second surgical instrument.
8. 8. The system of claim 7, wherein the second view improves tracking associated with the first surgical instrument and the second surgical instrument relative to the first view.
9. 9. The system of claim 7 or 8, wherein at least one of the first and second surgical instruments comprises a robotically guided surgical instrument.
10. 10. The system of any one of the preceding claims, wherein the motorized control unit imparts translational movement to the camera relative to an operating table.
11. 11. The system of any of the preceding claims, wherein objects in the first view block the camera from viewing a surgical navigation tracker of the one or more surgical navigation trackers, and wherein the surgical navigation tracker is not blocked in the second view.
12. 12. A method, comprising: receiving first image information from a camera at a first point in time, wherein the first image information provides a surgical space and a first view of a surgical navigational tracker positioned within the surgical space; Determining, based on the first image information, that the position of the camera is suboptimal relative to the surgical space at the first point in time; Determining a physical movement of the camera based on the first image information that improves a position of the camera relative to the surgical space; Generating a camera movement signal configured to move the camera according to the physical motion; transmitting the camera movement signal to a motorized control unit configured to physically move the camera; Receiving second image information from the camera at a second point in time after transmitting the camera movement signal, wherein the second image information provides a second view of the surgical space and the surgical navigational tracker positioned within the surgical space, and Based on the analysis of the second image information, it is confirmed that the second view of the surgical space is improved relative to the first view of the surgical space.
13. 13. The method of claim 12, wherein the camera movement signal causes the camera to at least one of rotate, tilt, and tumble.
14. 14. The method of claim 12 or 13, wherein the physical movement moves an image plane closer to parallel to a plane bisecting the surgical navigational tracker.
15. 15. The method of any of claims 12-14, wherein the surgical navigational tracker includes a first set of surgical navigational trackers associated with a first surgical instrument and a second set of surgical navigational trackers associated with a second surgical instrument, wherein the second view improves tracking associated with the first and second surgical instruments relative to the first view, and wherein at least one of the first and second surgical instruments includes a robotic guided surgical instrument.

Description

Following navigation camera Technical Field The present disclosure relates generally to surgical navigation systems and imaging devices used in surgical navigation systems. Background The imaging device and navigation system may assist a surgeon or other medical provider in performing a surgical procedure. The imaging may be used by a medical provider for visual guidance associated with diagnostic and/or therapeutic procedures. The navigation system may be used to track objects (e.g., instruments, imaging devices, etc.) associated with performing a surgical procedure. Disclosure of Invention The present disclosure provides improvements to navigation systems. In particular, embodiments of the present disclosure are directed to enabling changing the field of view of a camera during a surgical procedure. Achieving movement of the navigation camera has technical difficulties (e.g., changes in registration due to movement), but helps to improve the performance of the system because the camera may not always be in an optimal position at the beginning of the surgical procedure, or because environmental changes may occur during the surgical procedure, affecting the optimal performance of the navigation system. By adding multiple degrees of freedom to a camera for a navigation system, the overall performance of the system may be improved, and thus patient outcome may be improved. Example aspects of the present disclosure include: A system includes a camera, a motorized control unit coupled to the camera and configured to physically adjust a position of the camera, a processor, and a memory storing data that, when executed by the processor, causes the processor to receive first image information from the camera at a first point in time, wherein the first image information provides a first view of a surgical space and one or more surgical navigational trackers positioned within the surgical space, determine that the position of the camera relative to the surgical space is suboptimal at the first point in time based on the first image information, determine a physical movement of the camera that improves the position of the camera relative to the surgical space based on the first image information, generate a camera movement signal configured to move the camera according to the physical movement, transmit the camera movement signal to the motorized control unit, receive second image information from the camera at a second point in time after transmitting the camera movement signal, wherein the second image information provides the surgical space and the one or more surgical navigational trackers positioned within the surgical space and the second view is determined based on the first view of the surgical space. A system includes a processor and a memory that stores data that, when executed by the processor, causes the processor to receive first image information from a camera at a first point in time, wherein the first image information provides a first view of a surgical space and a surgical navigation tracker positioned within the surgical space, determine that a position of the camera relative to the surgical space is suboptimal at the first point in time based on the first image information, determine a physical motion of the camera that improves the position of the camera relative to the surgical space based on the first image information, generate a camera movement signal configured to move the camera in accordance with the physical motion, transmit the camera movement signal to a motorized control unit configured to physically move the camera, receive second image information from the camera at a second point in time after transmitting the camera movement signal, wherein the second image information provides a second view of the surgical space and the surgical navigation tracker positioned within the surgical space, and confirm the second view of the camera relative to the surgical space based on the first image information. A method includes receiving first image information from a camera at a first point in time, wherein the first image information provides a first view of a surgical space and a surgical navigation tracker positioned within the surgical space, determining that a position of the camera relative to the surgical space is suboptimal at the first point in time based on the first image information, determining a physical motion of the camera that improves the position of the camera relative to the surgical space based on the first image information, generating a camera movement signal configured to move the camera according to the physical motion, transmitting the camera movement signal to a motorized control unit configured to physically move the camera, receiving second image information from the camera at a second point in time after transmitting the camera movement signal, wherein the second image information provides a second view of the surgical space and the surgical navigation tracker positi