Method and system for remote reconstruction of a surface

• US 20030144768A1
• Filed: 11/21/2002
• Published: 07/31/2003
• Est. Priority Date: 03/21/2001
• Status: Abandoned Application

• Current Assignee: Orange S.A.
• Original Assignee: Orange S.A.
• Inventors: Hennion, Bernard, Guerraz, Agnes
• Application Number:
  US10/296,298
• Publication Number:
  US 20030144768A1
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

A method for remote reconstruction of a surface, in which a local system sends information on the position of a mobile element of said local system to a remote system, the mobile element of the local system replicating the position of the mobile element of the remote system, the remote system comprising a remote model of the surface, and a remote operator displaces the mobile element of the remote system, and when the mobile element of the local system comes into contact with said surface, said remote model is modified for each point of contact between the mobile element of the local system and said surface so that the remote model approximates said surface.

Claims

1. A method for remote reconstruction of a surface, in which:

a local system sends information on the position of a mobile element of said local system to a remote system, the mobile element of the local system replicating the position of the mobile element of the remote system, the remote system comprising a remote model of the surface,

a remote operator displaces the mobile element of the remote system, and when the mobile element of the local system comes into contact with said surface, said remote model is modified for each point of contact between the mobile element of the local system and said surface so that the remote model approximates said surface.

2. The method as claimed in claim 1, in which the remote model is initially a meshed flat surface.

3. Method according to claim 1 or 2, in which the remote model overall approximates said surface along a translational movement normal to a portion of said surface and normal to a portion of the remote model, up to a first point of contact of the mobile element of the local system with said surface.

4. The method as claimed in any one of the preceding claims, in which a point of contact is a point in space common to the mobile element of the local system and to said surface and such that the mobile element of the local system exerts a predetermined force on said surface.

5. The method as claimed in any one of the preceding claims, in which a remote model comprises a plurality of nodes, one node approximates said surface by translation along an axis.

6. The method as claimed in any one of the preceding claims, in which the reaction force exerted by said surface on the mobile element of the local system is replicated by the mobile element of the remote system so that the operator experiences said reaction force and is able to apprehend said surface.

7. The method as claimed in any one of the preceding claims, in which, during an initialization phase, the mobile element of the remote system replicates the position of the mobile element of the local system.

8. The method as claimed in any one of the preceding claims, in which the mobile element of the remote system exerts a braking force when the mobile element of the local system is displaced toward said surface in a part of the space contained between the remote model and said surface.

10. A computer program comprising program code means for implementing the steps of the method according to any one of claims 1 to 8, when said program runs on a computer.

9. A system for remote reconstruction of a surface, characterized in that it comprises a local system (S2) provided with a mobile element (SE2) capable of coming into contact with said surface to be reconstructed, and a remote system (S1) provided with a mobile element (SE1) capable of being manipulated by an operator, a remote model (Mo) of the surface, and a means for modifying said remote model for each point of contact between the mobile element of the local system and said surface when the mobile element of the local system comes into contact with said surface, so that the remote model approximates said surface, the local system being provided with a means for sending information on the position of the mobile element of said local system to the remote system, and with a means for replicating the position of the mobile element of the remote system.