In endoscopic nasal surgery, robots, rather than surgical assistants, can be introduced to hold endoscopes and act as the surgeon's third hand, which helps to reduce their operation burden. To address the problem of robot-assisted surgical field of view (FOV) acquisition in endoscopic nasal surgery, this letter proposes an automatic surgical FOV control method based on tracking motion for the entire surgical process to achieve efficient and safe surgical FOV acquisition. First, through the analysis of the spatial pose relationship between the nasal endoscope and the surgical instrument, the desired endoscope pose corresponding to the optimal surgical FOV during surgery is obtained. Then, an automatic surgical FOV control method based on tracking motion is proposed. For automatic FOV acquisition outside the nasal cavity, an unconstrained tracking motion control strategy is proposed. For automatic FOV acquisition inside the nasal cavity, a remote center of motion (RCM) constrained control strategy is proposed. Combined with the entire surgical process, the overall control framework of the surgical FOV during nasal surgery is established. After that, a virtual fixtures (VFs) model based on the CT data of the nasal cavity and a safety contact force threshold control method are proposed to improve the safety of robot motion. Finally, the robot-assisted maxillary sinus surgery experiment is carried out. The results show that the proposed automatic FOV control method can realize clear and safe automatic FOV acquisition during the entire surgical process so that the surgeon can realize the “one surgeon three hands” operation, which reduces the surgeon's operation burden.

中文翻译：

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机器人辅助鼻外科手术中的自动手术视野控制

在鼻内窥镜手术中，可以引入机器人而不是手术助手来握持内窥镜并充当外科医生的第三只手，这有助于减轻他们的手术负担。针对鼻内窥镜手术中机器人辅助手术视野（FOV）采集的问题，本文提出了一种基于全程跟踪运动的自动手术视野控制方法，实现高效安全的手术视野采集。首先，通过分析鼻内窥镜与手术器械的空间位姿关系，得到与手术时最佳手术视场对应的理想内窥镜位姿。然后，提出了一种基于跟踪运动的自动手术视场控制方法。对于鼻腔外的自动 FOV 采集，提出了一种无约束跟踪运动控制策略。针对鼻腔内的自动FOV采集，提出了一种远程运动中心（RCM）约束控制策略。结合整个手术过程，建立了鼻部手术过程中手术视野的整体控制框架。之后，提出了基于鼻腔CT数据的虚拟夹具（VF）模型和安全接触力阈值控制方法，以提高机器人运动的安全性。最后进行了机器人辅助上颌窦手术实验。结果表明，所提出的FOV自动控制方法能够在整个手术过程中实现清晰、安全的自动FOV采集，使外科医生能够实现“一个外科医生三手”的操作，减少了外科医生的工作负担。