Method and apparatus for transforming coordinate systems in a te

Details Method and apparatus for transforming coordinate systems in a te Method and apparatus for transforming coordinate systems in a te

1995-04-20

1997-12-09

Boudreau, Leo

Image analysis

Applications

Biomedical applications

382154, 395 86, 395 89, 395127, 901 47, G06K 900

Patent

active

056968370

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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Arthur D. Alexander, III, Proc. of the 1st CISM-ITOMM Symposium, Sep. 5-8, 1973, Springer-Verlag, Wien, NY. Impacts Of Telemation On Modern Society.
NASA Tech Briefs, Apr. 1991, Circle Reader Action No. 480. Anthropomorphic Remote Manipulator.

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