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

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 ▼

[ What is claimed is:] [1.] A telemanipulation surgical system for surgery at a worksite internal to a patient wherein the surgical system comprises a surgical instrument and a controller having a hand control in an apparent workspace for remote control of the surgical instrument by an operator, an

[ What is claimed is:] [1.] A telemanipulation surgical system for surgery at a worksite internal to a patient wherein the surgical system comprises a surgical instrument and a controller having a hand control in an apparent workspace for remote control of the surgical instrument by an operator, an image capture device for taking a real-time image of the internal worksite within the patient, and an image generator for producing a display on a monitor for eyes of the operator, said controller further comprising:an image processor coupled to said image capture device for processing the real-time image into a processed image for display to the operator, wherein said image capture device is at an angle and an arbitrary position relative to the surgical instrument at the worksite which differs from an anthropomorphic relative position of eyes of the operator and the hand control in the apparent workspace, said image processor and said image generator cooperating to produce an image of said surgical instrument which image is coincident with the anthropomorphic position of said hand control;a sensor coupled to the surgical instrument for detecting an actual position of the surgical instrument within the internal worksite; anda coordinate transformer coupled to the image processor and the sensor, the coordinate transformer translating the actual position of the surgical instrument in the real-time image to a perceived position in the processed image such that the surgical instrument appears at or near the anthropomorphic position to the image capture device in the processed image.