[특허]Method and apparatus for transforming coordinate systems in a telemanipulation system

Method and apparatus for transforming coordinate systems in a telemanipulation system 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06K-009/00
출원번호	US-0425965 (1995-04-20)
발명자 / 주소	Green Philip S. (Redwood City CA)
출원인 / 주소	SRI International (Menlo Park CA 02)
인용정보	피인용 횟수 : 90 인용 특허 : 0

초록 ▼

In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator\s station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator\s station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.

대표청구항 ▼

For use with a telemanipulation system for manipulating objects located in a workspace at a remote worksite by a control operator from a control operator station, said telemanipulation system including a manipulator means at the worksite with end effector means for manipulation of an object in the workspace, controller means including hand control means at the control operator station for remote control by the control operator of the manipulator means, image capture means for taking a real-time image of the workspace, and image producing means for reproducing a viewable real-time image on a monitor for eyes of the control operator, a method for dynamic calibration of the manipulator means through actual movement using a control loop wherein movements of the manipulator means directly follow movements of the hand control means, the method comprising the steps of: a) superimposing a representation of a four-point coordinate graphic element in three-dimensional space on the viewable real-time image; b) causing the hand control means to move to control motion of the end effector means; thereupon c) positioning the end effector means so that the end effector means appear to be touching a first reference point of said graphic element in the viewable real-time image; d) indicating to the system that superposition of the end effector means and said first reference point has been achieved; e) determining an offset by the relation s3=L′-L to adjust the extension L of the hand control means to match the extension L′of the manipulator means; f) causing the hand control means to move about its pivot point to an angular orientation (YWs1=YYs2=WWYWYWYWYW

이 특허를 인용한 특허 (90)

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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

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Method and apparatus for transforming coordinate systems in a telemanipulation system 원문보기

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Method and apparatus for transforming coordinate systems in a telemanipulation system 원문보기

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