Guiding a robotic surgical system to perform a surgical procedure

Abstract

A robotic surgical system may be used to perform a surgical procedure. Providing guidance for the robotic surgical system includes integrating a Point of View (PoV) surgical drill with a camera to capture a PoV image of a surgical area of a subject patient; displaying an image of the surgical area, based on a viewing angle of the PoV surgical drill, thus enabling the surgeon to operate on the surgical area using the PoV surgical drill. The PoV surgical drill operates based on the surgeon's control of a guidance drill. The content of the images may change based on a change in the viewing angle of the PoV surgical drill.

What is claimed is: 
     
         1 . A method of guiding a robotic endoscope, the method comprising:
 identifying a region of interest of an affected body part of a subject patient;   creating distance-based rules for the region of interest for generating alerts during a surgical procedure;   endoscope image referencing by displaying real images of the subject patient captured by the robotic endoscope along with augmented reality (AR) anatomical images of the region of interest;   wherein after the surgical procedure including inserting the robotic endoscope into the subject patient has been performed, guiding the robotic endoscope based on the captured real images and the AR anatomical images.   
     
     
         2 . The method of  claim 1 , wherein performing the endoscope image referencing includes displaying images taken by the robotic endoscope with the AR anatomical images. 
     
     
         3 . The method of  claim 2 , wherein the distance-based rules are created based on at least one of the AR anatomical image, the real images from the robotic endoscope, or the image of the robotic endoscope. 
     
     
         4 . The method of  claim 1 , wherein the images of the robotic endoscope are provided by an ultrasound device. 
     
     
         5 . The method of  claim 1 ,
 wherein a plurality of cameras is provided around a periphery of a head of the robotic endoscope, and   wherein a field of view of the plurality of cameras includes a point of view (PoV) image region.   
     
     
         6 . The method of  claim 5 , further comprising:
 displaying the PoV image region of the plurality of cameras with the AR anatomical images.   
     
     
         7 . The method of  claim 6 , wherein the displaying of the field of view of the plurality of cameras includes:
 displaying the field of view of the plurality of cameras in a subwindow of the AR anatomical images.   
     
     
         8 . The method of  claim 6 , wherein the displaying of the field of view of the plurality of cameras includes:
 automatically changing a size of a viewing window based on a distance of the robotic endoscope from one or more internal organs.   
     
     
         9 . The method of  claim 1 , wherein the guiding of the robotic endoscope is based on at least one of a point of view (PoV) of the robotic endoscope, a location of the robotic endoscope, or a distance of the robotic endoscope from one or more internal organs. 
     
     
         10 . The method of  claim 1 , wherein the distance-based rules include using a distance between one or more internal organs. 
     
     
         11 . A non-transitory computer-readable medium having executable instructions stored thereon that, when executed, cause one or more processors to:
 receive an identification of a region of interest of an affected body part of a subject patient;   create distance-based rules for the region of interest for generating alerts during a surgical procedure;   perform an endoscope image referencing by displaying captured real images of the subject patient from the robotic endoscope with augmented reality (AR) anatomical images of the region of interest;   wherein after the surgical procedure including inserting the robotic endoscope into the subject patient has been performed, guide the robotic endoscope based on the captured real images and the AR anatomical images.   
     
     
         12 . A system for a robotic endoscope, the system comprising:
 a robotic endoscope;   a measurement recognition module to receive an identification of a region of interest of an affected body part of a subject patient, wherein the measurement recognition module is configured to:
 create distance-based rules for the region of interest for generating alerts during a surgical procedure, and 
 perform an endoscope image referencing by displaying captured real images of the subject patient from the robotic endoscope with augmented reality (AR) anatomical images of the region of interest; and 
   an endoscope control system configured to guide the robotic endoscope based on the captured real images and the AR anatomical images.   
     
     
         13 . The system of  claim 12 , wherein the measurement recognition module is further configured to:
 display images of the robotic endoscope with the AR anatomical images.   
     
     
         14 . The system of  claim 13 , wherein the distance-based rules are created based on at least one of the AR anatomical image, the real images from the robotic endoscope, or the image of the robotic endoscope. 
     
     
         15 . The system of  claim 12 , wherein a plurality of cameras is provided around a periphery of a head of the robotic endoscope, wherein a field of view of the plurality of cameras includes a point of view (PoV) image region. 
     
     
         16 . The system of  claim 15 , wherein the measurement recognition module is further configured to:
 display the PoV image region of the plurality of cameras with the AR anatomical images.   
     
     
         17 . The system of  claim 16 , wherein the displaying the field of view of the plurality of cameras includes at least one of:
 displaying the field of view of the plurality of cameras in a subwindow of the AR anatomical images; or   automatically changing a size of a viewing window based on a distance of the robotic endoscope from one or more internal organs.