Remote manipulator with eyeballs
First Claim
Patent Images
1. A manipulator comprising:
- a distal end having a manipulating instrument configured for manipulation at a manipulation site;
a proximate end connectable to an interface;
detectors configured to capture stereoscopic images of said manipulation site;
saiddetectors being configured for a first connection to said interface, and said manipulating instrument being further configured for a second connection to said interface; and
a force detector for detecting a force at said distal end;
wherein said detectors are co-locatable at said manipulation site with said manipulating instrument;
wherein at least one of said first connection and said second connection includes at least one guide having a flexible state and a rigid state; and
wherein said interface is configured to change flexibility of the at least one guide in response to said force.
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Abstract
A manipulator includes a distal end having a manipulating instrument configured for manipulation at a manipulation site, and a proximate end connectable to an interface. A pair of detectors is configured to capture stereoscopic images of the manipulation site. The pair of detectors and manipulating instrument are connected to the interface, by at least a flexible guide and a wired and/or wireless communication link. The detectors are co-locatable at the manipulation site with the manipulating instrument and may be removable attached to manipulating instrument. A force detector may also be removable attached to manipulating instrument.
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Citations
39 Claims
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1. A manipulator comprising:
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a distal end having a manipulating instrument configured for manipulation at a manipulation site; a proximate end connectable to an interface; detectors configured to capture stereoscopic images of said manipulation site;
saiddetectors being configured for a first connection to said interface, and said manipulating instrument being further configured for a second connection to said interface; and a force detector for detecting a force at said distal end; wherein said detectors are co-locatable at said manipulation site with said manipulating instrument; wherein at least one of said first connection and said second connection includes at least one guide having a flexible state and a rigid state; and wherein said interface is configured to change flexibility of the at least one guide in response to said force. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A manipulator comprising:
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a distal end having a manipulating instrument configured for manipulation at a manipulation site; a proximate end connectable to an interface; a first detector configured to capture images of said manipulation site;
said first detector being configured for a first connection to said interface, and said manipulating instrument being configured for a second connection to said interface;a second detector located at a predetermined distance from said first detector for providing a stereoscopic image of said manipulation site; and a force detector for detecting a force at said distal end; wherein said first detector and said second detector are co-locatable at said manipulation site with said manipulating instrument; wherein at least one of said first connection and said second connection includes at least one guide having a flexible state and a rigid state; and wherein said interface is configured to change flexibility of the at least one guide in response to said force. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. A manipulation system comprising:
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a manipulator having an interface at a proximal end, and a manipulating instrument and detectors at a distal end, said manipulating instrument being configured for manipulation at a manipulation site, and said detectors being separated by a predetermined distance to capture stereoscopic images of said manipulation site; a controller connectable to said interface, said controller being configured to control movement of at least one of said manipulating instrument and said detectors; a display device, wherein said controller is further configured to process said stereoscopic images for display on said display device; and a force detector for detecting a force at said distal end; wherein said detectors are extendable beyond a housing of said manipulator; wherein at least one of said detectors is included on at least one guide having a flexible state and a rigid state; and wherein said interface is configured to change flexibility of the at least one guide in response to said force. - View Dependent Claims (31, 32, 33, 34, 38, 39)
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35. A method of remotely manipulating a manipulation site comprising the acts of:
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providing a manipulating instrument at said manipulation site; attaching detectors to at least one guide having a flexible state and a rigid state; controlling said detectors to move and capture stereoscopic images of said manipulation site; detecting a force with a force detector at a distal end of said manipulating instrument; and increasing flexibility of the at least one guide in response to said force. - View Dependent Claims (36, 37)
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Specification