Endoscope control method and surgical robot system

Abstract

The present disclosure relates to the field of medical instruments, disclosing an endoscope control method. The method comprises: controlling a motion of an endoscope, the endoscope comprising a main body, a first imaging unit, a second imaging unit and an end instrument protruding from a distal end of the main body; obtaining a first image from the first imaging unit; obtaining a second image from the second imaging unit, wherein the first and the second images 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.

CPC Classifications