Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2006-12-26
2006-12-26
Picard, Leo (Department: 2125)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S259000, C382S128000
Reexamination Certificate
active
07155315
ABSTRACT:
Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.
REFERENCES:
patent: 3923166 (1975-12-01), Fletcher et al.
patent: 4150326 (1979-04-01), Engelberger et al.
patent: 4349837 (1982-09-01), Hinds
patent: 4722056 (1988-01-01), Roberts et al.
patent: 4762456 (1988-08-01), Coughtan et al.
patent: 4833383 (1989-05-01), Skarr et al.
patent: 4837734 (1989-06-01), Ichikawa et al.
patent: 4853874 (1989-08-01), Iwamoto et al.
patent: 4860215 (1989-08-01), Seraji
patent: 4863133 (1989-09-01), Bonnell
patent: 4942539 (1990-07-01), Yuan et al.
patent: 4979949 (1990-12-01), Matsen, III et al.
patent: 4989253 (1991-01-01), Liang et al.
patent: 5046022 (1991-09-01), Conway et al.
patent: 5053976 (1991-10-01), Nose et al.
patent: 5182641 (1993-01-01), Diner et al.
patent: 5184601 (1993-02-01), Putman
patent: 5187796 (1993-02-01), Wang et al.
patent: 5217003 (1993-06-01), Wilk
patent: 5279309 (1994-01-01), Taylor et al.
patent: 5299288 (1994-03-01), Glassman et al.
patent: 5313306 (1994-05-01), Kuban et al.
patent: 5321353 (1994-06-01), Furness
patent: 5341950 (1994-08-01), Sinz
patent: 5343385 (1994-08-01), Joskowicz et al.
patent: 5368015 (1994-11-01), Wilk
patent: 5382885 (1995-01-01), Salcudean et al.
patent: 5397323 (1995-03-01), Taylor et al.
patent: 5402801 (1995-04-01), Taylor
patent: 5417210 (1995-05-01), Funda et al.
patent: 5430643 (1995-07-01), Seraji
patent: 5503320 (1996-04-01), Webster et al.
patent: 5515478 (1996-05-01), Wang
patent: 5524180 (1996-06-01), Wang et al.
patent: 5553198 (1996-09-01), Wang et al.
patent: 5624398 (1997-04-01), Smith et al.
patent: 5631973 (1997-05-01), Green
patent: 5657429 (1997-08-01), Wang
patent: 5754741 (1998-05-01), Wang et al.
patent: 5762458 (1998-06-01), Wang et al.
patent: 5784542 (1998-07-01), Ohm et al.
patent: 5791231 (1998-08-01), Cohn et al.
patent: 5797900 (1998-08-01), Madhani et al.
patent: 5808665 (1998-09-01), Green
patent: 5810880 (1998-09-01), Jensen et al.
patent: 5814038 (1998-09-01), Jensen et al.
patent: 5815640 (1998-09-01), Wang et al.
patent: 5820545 (1998-10-01), Arbter et al.
patent: 5855553 (1999-01-01), Tajima et al.
patent: 5855583 (1999-01-01), Wang et al.
patent: 5859934 (1999-01-01), Green
patent: 5876325 (1999-03-01), Mizuno et al.
patent: 5878193 (1999-03-01), Wang et al.
patent: 5907664 (1999-05-01), Wang et al.
patent: 5911036 (1999-06-01), Wright et al.
patent: 5931832 (1999-08-01), Jensen
patent: 5971976 (1999-10-01), Wang et al.
patent: 6424885 (2002-07-01), Niemeyer et al.
patent: 6574355 (2003-06-01), Green
patent: 6671581 (2003-12-01), Niemeyer et al.
patent: WO 97/29690 (1997-08-01), None
patent: WO 97/43942 (1997-11-01), None
patent: WO 97/43943 (1997-11-01), None
Adams et al., “Computer-assisted surgery.” IEEE Computer Graphics & Applications, (May 1990) pp. 43-51.
Alexander, III Impacts of telemation on modem society, Intl. Centre for Mechanical Sciences, 1st CISM-IFT oMM Symposium, on Theory and Practice of Robots and Manipulators, (Sep. 5-8, 1973), vol. 11, pp. 122-138.
Arai et al. “Bilateral control for manipulators with different configurations”. IECON Int'l conference on Industrial Electronics, Control and Instrumentation, (Oct. 22-26, 1984), vol. 1, pp. 40-45.
Bejczy et al., “Controlling remote manipulations through kinesthetic coupling” Computers in Mechanical Engineering (Jul. 1983) pp. 48-60.
Borovol A.V., “Stability of a manipulator with toroe feedback,” Izv. AN SSSR Makhanika Tverdoga Teal, (1990) vol. 25, No. 1, pp. 37-44.
Burdea et al., “Dextrous telerobotics with force feedback-an overview, Part 2: Control and Implementation,” Robotica (1991) vol. 9, pp. 291-298.
Cohn, Michael C., http://www-bsac.eecs.berkeley.edu/ (Nov. 1, 1996) 14 pages.
Colgata, J. Edward, “Power and impedance scaling in bilateral manipulation,” Proceedings of 1991 IEEE Intl. Conf. on Robotics and Automation, Sacramento, CA, (Apr. 1991) pp. 2292-2297.
Fisher, S.S., “Virtual interface environment,” IEEE/AIAA 7th Digital Avionics Systems Conference, (Oct. 13-16, 1986) Ft Worth, Texas, pp. 346-350.
Fu, et al., “Robotics: control, sensing, vision, and intelligence,” McGraw-Hill Book Company, (1987), Ch. 2&5, pp. 12-265.
Fukuda et al., “A new method of master-slave type of teleoperation for a micro-manipulator system” IEEE Microrobots and Teleoperations Workshop (1987), 5 pages.
Funda, et al., “Constrained cartesian motion control for teleoperated surgical robots,” IEEE Transactions on Robotics and Automation, (Jun. 1998) vol. 12, No. 3, pp. 453-465.
Funda et al., “Master-slave manipulator based on virtual internal model following control concept,” IEEE Intl. Conference on Robotics and Automation, Raleigh, North Carolina, (Mar. 31, Apr. 3, 1987) vol. 1, pp. 567-572.
Green et al., “Mobile telepresence surgery,” 2nd Annual Intl. Symposium on Medical robotics and Computer Assisted Surgery, Baltimore, Maryland. (Nov. 4-7, 1995) pp. 97-103.
Hannaford et al., “Experimental and simulation studies of hard contact in force reflecting teleoperation,” IEEE (1988) pp. 564-589.
Hill et al., “Telepresence surgery demonstration system,” IEEE 1050-4729/94, pp. 2302-2307, 1994.
Hurteau et al., “Laparoscopic surgery assisted by a robotic cameraman: Concept and experimental results,” 1444 Intl. Conf. on Robotics and Automation, (May 8-13, 1994) pp. 2286-2289.
Inoue et al., “Sbc-axis bilateral control of an articulated slave manipulator using a Cartesian master manipulator,” Advanced Robotics, (1990) vol. 4, No. 2, pp. 139-15.
Jones et al., “Next-generation 3D videosystems may improve laprascopic tast performance,” Interactive Technology and ths New Paradigm for Healthcare, (1995) Ch. 25, pp. 152-160.
Kazerooni et al., “The dynamics and control of a haptic interface device.” IEEE Transactions on Robotics and Automation, (Aug. 1994) vol. 10, No. 4, pp. 453-464.
Kazerooni, H. “Human/robot Interaction via the transfer of power and information signals, Part I: Dynamics and control anaylsis,” IEEE, CH2750, (Aug. 1989) pp. 1632-1640.
Kim et al., “Active compliance and damping in telemanipulator control,” Jet Propulsion Laboratory New Technology Report, JPL & NASA Case No. NPO-17969/7466. (Apr. 1991) vol. 15, No. 4, Item 40, pp. 1-14a.
Kwoh, et al., “A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery,” IEEE Transactions on Biomedical Engineering. (Feb. 1998), vol. 35, No. 2, pp. 153-160.
Massie et al., “The phantom haptic interface: a device for probing virtual objects,” Proceedings of the ASME Winter Annual Mtg., Symposium on Haptic Interface for Virtual Environment and Teleoperator Systems, Chicago (Nov. 1994) pp. 1-7.
Mitsuishi et al., “A tele-micro-surgery system with co-located view and operation points and a rolational-force-feedback-free master manipulator,” 2nd Annual Intl. Symposium on Medical robotics and Computer Assited Surgery, Baltimore, Maryland, (Nov. 4-7, 1995) pp. 111-116.
Neisus et al., “Robotic manipulator for endoscopic handling of surgical effectors and cameras,” 1st Intl. Symposium on Medical Robotics and Computer As
Guthart Gary S.
Niemeyer Gunter D.
Nowlin William C.
Swarup Nitish
Toth Gregory K
Garland Steven R.
Intuitive Surgical Inc.
Picard Leo
Townsend and Townsend
LandOfFree
Camera referenced control in a minimally invasive surgical... does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Camera referenced control in a minimally invasive surgical..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Camera referenced control in a minimally invasive surgical... will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-3692849