The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 13, 2025
Filed:
Oct. 28, 2022
Peking Union Med. College Hosp., Chinese Acad. of Med. Sci. and Peking Union Med. College, Beijing, CN;
Abstract
The present disclosure relates to the field of medical instruments, disclosing an endoscope master-slave motion control method. The endoscope includes an operating arm, a main body disposed at an end of the operating arm, a first imaging unit, a second imaging unit, and an end instrument protruding from a distal end of the main body. The method comprises: determining a current pose of a master manipulator; based on the current pose of the master manipulator and a pose relationship between the master manipulator and the end of the operating arm, determining a target pose of the end of the operating arm; based on the target pose, generating a drive instruction for driving the end of the operating arm; obtaining a first image from the first imaging unit; obtaining a second image from the second imaging unit, wherein the first image and the second image have different fields of view and include images of the end instrument; based on the first and second images, generating a composite scene image to remove an actual image of the end instrument; and generating a virtual image of the end instrument in the composite scene image.