METHOD AND APPARATUS FOR TRANSFORMING COORDINATE SYSTEMS IN A TELEMANIPULATION SYSTEM
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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.
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Citations
25 Claims
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1-9. -9. (canceled)
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10. A method for operating a telerobotic system, the system comprising at least one slave manipulator and at least one master manipulator, the slave manipulator having a distal portion and a proximal portion, the system further comprising a display and an endoscope for capturing an image of the slave manipulator, the method comprising:
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moving the slave manipulator in response to movement of the master manipulator; displaying the image of the slave manipulator on the display to an operator controlling the master manipulator; and transforming the image on the display such that a first vector aligns with a second vector, the first vector defined as originating from the master manipulator pointing toward the distal portion of the slave manipulator in the image, the second vector defined as originating from the proximal portion of the slave manipulator in the image pointing toward the distal portion of the slave manipulator in the image. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A telerobotic system comprising:
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at least one slave manipulator, the slave manipulator having a distal portion and a proximal portion; at least one master manipulator, the slave manipulator moved in response to movement of the master manipulator; an endoscope for capturing an image of the slave manipulator; a display for displaying the image of the slave manipulator to an operator controlling the master manipulator; and means for transforming the image on the display such that a first vector aligns with a second vector, the first vector defined as originating from the master manipulator pointing toward the distal portion of the slave manipulator in the image, the second vector defined as originating from the proximal portion of the slave manipulator in the image pointing toward the distal portion of the slave manipulator in the image. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification