| Method and apparatus for transforming coordinate systems in a telemanipulation system -> Monitor Keywords |
|
|
  Method and apparatus for transforming coordinate systems in a telemanipulation systemUSPTO Application #: 20070196004Title: Method and apparatus for transforming coordinate systems in a telemanipulation system 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. (end of abstract) Agent: Patent Dept Intuitive Surgical, Inc - Sunnyvale, CA, US Inventor: Philip S. Green USPTO Applicaton #: 20070196004 - Class: 382128000 (USPTO) Related Patent Categories: Image Analysis, Applications, Biomedical Applications The Patent Description & Claims data below is from USPTO Patent Application 20070196004. Brief Patent Description - Full Patent Description - Patent Application Claims
CROSS-REFERENCES TO RELATED APPLICATIONS [0001] This application is a continuation of, and claims the benefit of priority from, U.S. patent application Ser. No. 09/813,506 filed Mar. 21, 2001; which is a continuation of U.S. patent application Ser. No. 09/174,051 filed Oct. 15, 1998; which is a continuation application of U.S. patent application Ser. No. 08/783,644, filed Jan. 14, 1997, now U.S. Pat. No 5,859,934 issued on Jan. 12, 1999, which is a continuation application of U.S. patent application Ser. No. 08/239,086 filed May 5, 1994, now U.S. Pat. No. 5,631,973 issued on May 20, 1997, the full disclosures of which are incorporated herein by reference. This application is also a continuation-in-part application of U.S. patent application Ser. No. 08/708,930 filed Sep. 9, 1996; which is a continuation application of U.S. patent application Ser. No. 08/517,053 filed Aug. 21, 1995; which is a continuation of U.S. patent application Ser. No. 07/823,932 filed Jan. 21, 1992, the full disclosures of which are incorporated herein by reference. BACKGROUND OF THE INVENTION [0003] This invention relates to telemanipulation using telepresence, and more particularly to applications of telemanipulation to laparoscopic surgery. [0004] A telemanipulation system allows an operator to manipulate objects located in a workspace from a remote control operator's station. For example, in a laparoscopic abdominal surgery procedure, the patient's abdomen is insufflated with gas, and cannulas are passed through small incisions to provide entry ports for laparoscopic surgical instruments. Laparoscopic surgical instruments include an image capture means for viewing the surgical field and working tools, such as forceps or scissors. The working tools are similar to those used in open surgery, except that the working end of each tool is separated from its handle by an extension tube. The surgeon performs surgery by sliding the instruments through the cannulas and manipulating them inside the abdomen while referencing a displayed image of the interior of the abdomen. Surgery by telepresence, that is, from a remote location by means of remote control of the surgical instruments, is a next step. A surgeon is ideally able to perform surgery through telepresence, which, unlike other techniques of remote manipulation, gives the surgeon the feeling that he is in direct control of the instruments, even though he only has remote control of the instruments and view via the displayed image. [0005] The effectiveness of telepresence derives in great measure from the illusion that the remote manipulators are perceived by the operator of the system to be emerging from the hand control devices located at the remote operator's station. If the image capture means, such as a camera or laparoscope, are placed in a position with respect to the manipulators that differs significantly from the anthropomorphic relationship of the eyes and hands, the manipulators will appear to be located away from the operator's hand controls. This will cause the manipulators to move in an awkward manner relative to the viewing position, inhibiting the operator's ability to control them with dexterity and rapidity. However, it is often unavoidable in applications such as laparoscopic surgery to move the laparoscope in order to obtain the best possible image of the abdominal cavity. [0006] Thus, a technique is needed for providing to the operator the sense of direct hand control of the remote manipulator, even in the presence of a substantially displaced imaging device, such that the operator feels as if he is viewing the workspace in true presence. BRIEF SUMMARY OF THE INVENTION [0007] According to the invention, in a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator at an operator's station, such as in a remote surgical system, the remote worksite having a manipulator or pair of manipulators each 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 manipulators, an image capture means, such as a camera, for capturing in real-time an image of the workspace, and image producing means for reproducing a viewable image with sufficient feedback to give the appearance to the control operator of real-time control over the object at the workspace, the improvement wherein means are provided for sensing position of the image capture means relative to the end effector and means are provided for transforming the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand control means such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in substantially true presence. By true presence, it is meant that the presentation of an image is a true perspective image simulating the viewpoint of an operator. Image transformation according to the invention includes rotation, translation and perspective correction. [0008] The invention will be better understood by reference to the following detailed description in connection with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS [0009] FIG. 1A is a side view of a remote operator station and of a worksite station in a telemanipulation system according to the present invention. [0010] FIG. 1B is a perspective view of a remote operator station and a worksite station adapted for stereoscopic viewing in a telemanipulation system according to the present invention. [0011] FIG. 2 is a diagrammatic perspective view of a specific embodiment of the invention wherein the image capture means is centered and normalized relative to the viewpoint of an operator using the manipulators. [0012] FIG. 3 is a diagrammatic perspective view of a specific embodiment of the invention wherein the image capture means is laterally displaced relative to the viewpoint of an operator using the manipulators. [0013] FIG. 4 is a diagrammatic perspective view of a specific embodiment of the invention wherein the image capture means is at a lower position relative to the viewpoint of an operator using the manipulators. [0014] FIG. 5A is a front elevational view of the lenses of a stereoscopic image capture means where the lenses are in a normalized position relative to the viewpoint of an operator using the manipulators. [0015] FIG. 5B is a front elevational view of the lenses of a stereoscopic image capture means where the lenses are rotated relative to the viewpoint of an operator using the manipulators. [0016] FIG. 6A is a top plan view of an image of a remote manipulator in a telemanipulation system that shows a superimposed stereographic four-point coordinate element prior to calibration. [0017] FIG. 6B is a top plan view of an image of a remote manipulator in a telemanipulation system that shows a superimposed stereographic four-point coordinate element after calibration. [0018] FIG. 7A is a top plan view of an image of a remote manipulator in a telemanipulation system that shows the angle of displacement in the horizontal of the image capture means relative to the manipulators. [0019] FIG. 7B is an enlarged view of a portion of FIG. 4A that shows the combined effect on the position of the end effector of a manipulator after a lateral shift. [0020] FIG. 8 is a geometric depiction of the image of a manipulator as a projection of a hand control. [0021] FIG. 9 is a geometric depiction of the actual manipulator whose image is depicted in FIG. 8. Continue reading... Full patent description for Method and apparatus for transforming coordinate systems in a telemanipulation system Brief Patent Description - Full Patent Description - Patent Application Claims Click on the above for other options relating to this Method and apparatus for transforming coordinate systems in a telemanipulation system patent application. ###  How KEYWORD MONITOR works... a FREE service from FreshPatents1. Sign up (takes 30 seconds). 2. Fill in the keywords to be monitored. 3. Each week you receive an email with patent applications related to your keywords. Start now! - Receive info on patent apps like Method and apparatus for transforming coordinate systems in a telemanipulation system or other areas of interest. ### Previous Patent Application: Feature tracing process for m-mode images Next Patent Application: Device systems and methods for imaging Industry Class: Image analysis ### FreshPatents.com Support Thank you for viewing the Method and apparatus for transforming coordinate systems in a telemanipulation system patent info. IP-related news and info Results in 5.55259 seconds Other interesting Feshpatents.com categories: Electronics: Semiconductor , Audio , Illumination , Connectors , Crypto , |
||
