Surgical system

Details Surgical system Surgical system

2005-02-01

2005-02-01

Paladini, Albert W. (Department: 2125)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S264000, C606S001000, C600S109000, C600S118000

Reexamination Certificate

active

06850817

ABSTRACT:
A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and72L) for control of right and left manipulators (24R and24L) through use of a servomechanism that includes computer (42). Cameras (46R and46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and76L) the operator is provided with a sense that end effectors (40R and40L) carried by manipulator arms (34R and34L) and control arms (76R and76L) are substantially integral. This sense of connection between the control arms (76R and76L) and end effectors (40R and40L) provide the operator with the sensation of directly controlling the end effectors by hand. By locating visual display (246) adjacent control arms (244R and244L) image (240I) of the workspace is directly viewable by the operator. (FIGS. 12 and 13.) Use of the teleoperator system for surgical procedures also is disclosed. (FIGS. 7-9 and FIG. 13.)

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