Telescopic camera mount with remotely controlled positioning
First Claim
1. A control system for a remote apparatus, said apparatus being capable of movement in at least one direction based upon a predefined motion of the human body, said predefined motion having a positive and a negative direction with respect to a null position of the human body, said control system comprising:
- at least one module constructed and arranged to be mounted upon a portion of the human body which will undergo the predefined motion;
a sensing unit for determining at least one attribute of said module selected from the group consisting of;
a position of said module with respect to a second portion of the human body;
a position of said module with respect to the ground, an orientation of said module with respect to a second portion of the human body, and an orientation of said module with respect to the ground;
at least one of said module and said sensing unit providing input signals relating to said attribute;
a control switch movable between first and second conditions;
control means receiving said input signals and generating output signals to cause said movement of said apparatus, said control means being operatively connected to said control switch to monitor said condition of said switch, said control means (1) in said first condition of said switch, not causing said movement of said apparatus, (2) upon said switch moving from said first to said second condition said control means taking said attribute from said input signal as the null position of the human body, and (3) in said second position of said switch said control means evaluating said input signal to determine a rate of change of said attribute, to determine whether said attribute changes is consistent with the predefined motion of the human body, and to determine whether the predefined motion is in the positive or the negative direction, said control means causing said movement of said apparatus when said rate of change of said attribute is above a predetermined limit, and said attribute change does correspond to the predefined motion, and the predefined motion is in the positive direction.
1 Assignment
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Accused Products
Abstract
A motorized mount for a laparoscopic camera, with the mount being remotely controlled based upon movements of the user'"'"'s head. The camera mount is connected to the operating table and to the laparoscopic camera. Control means may cause motion of the mount to pan horizontally, tilt vertically, and zoom the camera. The control means receives input signals from a tracking device which determines the three-dimensional position of a special headset mounted on the user. A foot pedal is operatively connected to the control means. In a first setting of the foot pedal the user may move freely without causing camera movement. Upon moving the foot pedal to the second condition, the control means sets the position of the user'"'"'s head as a null position. Thereafter, pivotal movement of the head to the left, right, up, or down, or translational movement of the head forward or rear, will result in similar movements of the camera. Only actual movement in a defined "positive" direction will cause movement, such as tilting the head upward from the null position. Movement back towards the null position is considered a "negative" direction, resulting in no camera movement. In this manner, the standard head movements to look in a particular direction will cause appropriate camera movements to simulate these movements with the camera.
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Citations
17 Claims
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1. A control system for a remote apparatus, said apparatus being capable of movement in at least one direction based upon a predefined motion of the human body, said predefined motion having a positive and a negative direction with respect to a null position of the human body, said control system comprising:
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at least one module constructed and arranged to be mounted upon a portion of the human body which will undergo the predefined motion; a sensing unit for determining at least one attribute of said module selected from the group consisting of;
a position of said module with respect to a second portion of the human body;
a position of said module with respect to the ground, an orientation of said module with respect to a second portion of the human body, and an orientation of said module with respect to the ground;
at least one of said module and said sensing unit providing input signals relating to said attribute;a control switch movable between first and second conditions; control means receiving said input signals and generating output signals to cause said movement of said apparatus, said control means being operatively connected to said control switch to monitor said condition of said switch, said control means (1) in said first condition of said switch, not causing said movement of said apparatus, (2) upon said switch moving from said first to said second condition said control means taking said attribute from said input signal as the null position of the human body, and (3) in said second position of said switch said control means evaluating said input signal to determine a rate of change of said attribute, to determine whether said attribute changes is consistent with the predefined motion of the human body, and to determine whether the predefined motion is in the positive or the negative direction, said control means causing said movement of said apparatus when said rate of change of said attribute is above a predetermined limit, and said attribute change does correspond to the predefined motion, and the predefined motion is in the positive direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A robotic mount for a medical telescopic camera, comprising:
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a mount portion constructed and arranged to be secured to a medical table; a slide arm connected to said mount portion and capable of substantially vertical motion with respect to said mount portion; a first pivot arm having first and second ends, a first end of said pivot arm being connected to said slide arm and capable of oscillation with respect to said slide arm about a substantially vertical axis; a second pivot arm having first and second ends, a first end of said second pivot arm being connected to said second end of said first pivot arm and capable of oscillation with respect to said first pivot arm about a substantially vertical axis; a gimbal assembly connected to said second end of said second pivot arm, said gimbal assembly mounting said camera, and being capable of rotation with respect to said second pivot arm about a substantially vertical axis and about substantially horizontal axes; means for moving said lift arm with respect to said mounting portion; means for moving said first pivot arm with respect to said lift arm; and means for moving said second pivot arm with respect to said first pivot arm. - View Dependent Claims (16, 17)
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Specification