Roll pitch roll tool
First Claim
1. A teleoperator system for manipulating objects located in a workspace at a worksite by an operator from a remote control operator'"'"'s station comprising, manipulator means at the work site including end effector means for manipulation of an object at the workspace, controller means including hand-operated means at the control station connected to said manipulator means for remote control of the manipulator means by control of the hand-operated means by the operator, video camera means for viewing the workspace, and means responsive to the video camera means for producing an image of the workspace which image is located adjacent the hand-operated means for viewing by the operator in the direction of said hand-operated means during operation of the hand-operated means and providing the operator with a sense that the end effector means and hand-operated means are substantially integral.
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Accused Products
Abstract
A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and 76L) the operator is provided with a sense that end effectors (40R and 40L) carried by manipulator arms (34R and 34L) and control arms (76R and 76L) are substantially integral. This sense of connection between the control arms (76R and 76L) and end effectors (40R and 40L) provide the operator with the sensation of directly controlling the end effectors by hand. By locating visual display (246) adjacent control arms (244R and 244L) image (240I) of the workspace is directly viewable by the operator. (FIGS. 12 and 13.) Use of the teleoperator system for surgical procedures also is disclosed. (FIGS. 7-9 and FIG. 13.)
196 Citations
25 Claims
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1. A teleoperator system for manipulating objects located in a workspace at a worksite by an operator from a remote control operator'"'"'s station comprising,
manipulator means at the work site including end effector means for manipulation of an object at the workspace, controller means including hand-operated means at the control station connected to said manipulator means for remote control of the manipulator means by control of the hand-operated means by the operator, video camera means for viewing the workspace, and means responsive to the video camera means for producing an image of the workspace which image is located adjacent the hand-operated means for viewing by the operator in the direction of said hand-operated means during operation of the hand-operated means and providing the operator with a sense that the end effector means and hand-operated means are substantially integral.
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20. In a method of performing surgery by an operator at a remote location which includes,
inserting the insertion end of an endoscope and of first and second manipulators into a subject, supporting the operating ends of the endoscope and first and second manipulators, employing said endoscope for viewing an object inside the subject by video camera means, controlling said first and second manipulators by respective first and second hand-operated controllers remotely located from said manipulators, and presenting an image of the object viewed by the video camera means at a location adjacent the first and second hand-operated controllers for viewing by the operator during operation of the first and second hand-operated controllers and providing the operator with a sense that the first and second manipulators, and respective first and second hand-operated controllers are substantially integral.
Specification