Method and apparatus for transforming coordinate systems in a telemanipulation system
First Claim
1. A telesurgical method comprising:
- positioning a surgical end effector within an internal surgical site in a patient body, the surgical end effector operatively associated with a hand controller via a processor so that the processor effects movement of the end effector in response to movement of the hand controller;
capturing an image of the surgical end effector within the internal surgical site with an endoscope;
displaying the image of the end effector so that the end effector defines a displayed position relative to the hand controller;
moving the endoscope within the internal surgical site;
statically realigning the displayed position of the image of the end effector relative to the hand controller.
0 Assignments
0 Petitions
Accused Products
Abstract
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.
-
Citations
9 Claims
-
1. A telesurgical method comprising:
-
positioning a surgical end effector within an internal surgical site in a patient body, the surgical end effector operatively associated with a hand controller via a processor so that the processor effects movement of the end effector in response to movement of the hand controller;
capturing an image of the surgical end effector within the internal surgical site with an endoscope;
displaying the image of the end effector so that the end effector defines a displayed position relative to the hand controller;
moving the endoscope within the internal surgical site;
statically realigning the displayed position of the image of the end effector relative to the hand controller. - View Dependent Claims (2, 3, 4)
-
-
5. A telesurgical method comprising:
-
positioning a surgical end effector within an internal surgical site in a patient body, the surgical end effector operatively associated with a hand controller via a processor so that the processor effects a movement of the end effector in response to a movement of the hand controller;
capturing an image of the surgical end effector within the internal surgical site with an endoscope;
displaying the image of the end effector;
moving the endoscope within the internal surgical site;
altering a coordinate transformation of the processor so as to dynamically realigning the movement of the image of the end effector relative to the movement of the hand controller. - View Dependent Claims (6, 7, 8, 9)
-
Specification