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.]1. A telesurgical system including,a work station having an endoscope for capturing an image of a surgical site and at least one manipulator arranged to perform at least part of a surgical procedure at the surgical site;a remote operator station having an image display dev

[ What is claimed is:] [1.]1. A telesurgical system including,a work station having an endoscope for capturing an image of a surgical site and at least one manipulator arranged to perform at least part of a surgical procedure at the surgical site;a remote operator station having an image display device operatively associated with the endoscope to display the image captured by the endoscope and at least one hand control operatively associated with the manipulator to cause the manipulator to perform movements in response to inputs on the hand control, the hand control being positioned relative to the image display device to permit an operator to manipulate the hand control while viewing responsive movements of the manipulator in the image displayed on the image display device; anda control system which determines the operative association between the hand control and the manipulator so as to cause the manipulator as viewed in the image displayed on the display device to appear as if it extends from the hand control so that in use, an operating environment is induced in which the viewed image of the manipulator and the hand control appear to be integral portions of a single hand-held instrument.