CPC A61B 1/045 (2013.01) [A61B 1/00004 (2013.01); A61B 1/00009 (2013.01); A61B 1/0004 (2022.02); A61B 1/00147 (2013.01); A61B 34/35 (2016.02); A61B 90/37 (2016.02); B25J 13/08 (2013.01); B25J 19/021 (2013.01); A61B 2017/00026 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/00084 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/741 (2016.02); A61B 2034/742 (2016.02)] | 8 Claims |
1. A method for controlling an endoscope comprising steps of:
displaying in real time images of a field of view (FOV) acquired by an endoscope within a body cavity, said FOV defining at least two axes of a coordinate system fixed with respect to the camera and the displayed images, said at least two axes selected from a group consisting of FOVx-axis, FOVy-axis and FOVz-axis and any combination thereof, such that at least two axes selected from said FOVx-axis, said FOVy-axis, said FOVz-axis and any combination thereof are configured to be real time updated as at least a tip of said endoscope moves and said FOV changes;
receiving as user input FOV commands of motions to maneuver said at least a tip of said endoscope in real time in a desired direction, said FOV commands of motion being commands of motion relative to at least two axes selected from said FOVx-axis, said FOVy-axis and said FOVz-axis, as real time displayed in said image;
converting said FOV commands of motion to maneuvering system commands of motions for a maneuvering system configured to maneuver at least a tip of said endoscope in at least two DOF; said maneuvering system defining a constant x-axis, a constant y-axis and a constant z-axis, said maneuvering system commands of motion being commands of motion relative to said x-axis, said y-axis and said z-axis; and
causing said maneuvering system to maneuver said at least a tip of said endoscope according to said maneuvering system commands of motions.
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