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1. WO2021037381 - IMAGE BASED MOTION CONTROL CORRECTION

Publication Number WO/2021/037381
Publication Date 04.03.2021
International Application No. PCT/EP2019/073245
International Filing Date 30.08.2019
IPC
A61B 34/37 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
A61B 1/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/005 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
005Flexible endoscopes
A61B 90/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
A61B 34/30 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
CPC
A61B 1/00006
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00002Operational features of endoscopes
00004characterised by electronic signal processing
00006of control signals
A61B 1/00009
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00002Operational features of endoscopes
00004characterised by electronic signal processing
00009of image signals
A61B 1/00149
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00147Holding or positioning arrangements
00149using articulated arms
A61B 1/0016
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00147Holding or positioning arrangements
0016using motor drive units
A61B 2034/2055
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2055Optical tracking systems
A61B 2034/2065
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2065Tracking using image or pattern recognition
Applicants
  • BRAINLAB AG [DE]/[DE]
Inventors
  • BIRKENBACH, Rainer
Agents
  • SSM SANDMAIR PATENTANWÄLTE RECHTSANWALT PARTNERSCHAFT MBB
Priority Data
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) IMAGE BASED MOTION CONTROL CORRECTION
(FR) CORRECTION DE COMMANDE DE MOUVEMENT BASÉE SUR UNE IMAGE
Abstract
(EN)
The present invention relates to a method of adjusting control commands for moving a medical camera connected to a motorized support structure, wherein the adjustment is based on images provided by the camera. Based on a comparison of at least two images provided by the camera, an actual motion of the camera is determined and compared with an intended motion defined by a control command forwarded to the motorized support structure. In case a deviation between the intended motion and the actual motion is determined, a correction is applied to the control command such that the actual motion of the camera coincides with the intended motion.
(FR)
La présente invention concerne un procédé d'ajustement d'instructions de commande pour déplacer une caméra médicale connectée à une structure de support motorisée, l'ajustement étant basé sur des images fournies par la caméra. Sur la base d'une comparaison d'au moins deux images fournies par la caméra, un mouvement réel de la caméra est déterminé et comparé à un mouvement souhaité défini par une instruction de commande transmise à la structure de support motorisée. Dans le cas où un écart entre le mouvement prévu et le mouvement réel est déterminé, une correction est appliquée à l'instruction de commande de telle sorte que le mouvement réel de la caméra coïncide avec le mouvement souhaité.
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