Image analysis – Applications – Biomedical applications
Reexamination Certificate
1998-10-15
2001-07-10
Bella, Matthew C. (Department: 2721)
Image analysis
Applications
Biomedical applications
C382S311000, C606S104000, C606S109000, C606S118000
Reexamination Certificate
active
06259806
ABSTRACT:
BACKGROUND OF THE INVENTION
This invention relates to telemanipulation using telepresence, and more particularly to applications of telemanipulation to laparoscopic surgery.
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.
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.
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.
SUMMARY OF THE INVENTION
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.
REFERENCES:
patent: 4853874 (1989-08-01), Iwamoto et al.
patent: 5046022 (1991-09-01), Conway et al.
patent: 5182641 (1993-01-01), Diner et al.
patent: 5305203 (1994-04-01), Raab
patent: 5313306 (1994-05-01), Kuban et al.
patent: 5339799 (1994-08-01), Kami et al.
patent: 5368015 (1994-11-01), Wilk
patent: 5417210 (1995-05-01), Funda
patent: 5597146 (1997-01-01), Putman
patent: 5630431 (1997-05-01), Taylor
patent: 5697939 (1997-12-01), Kubota et al.
patent: 5754741 (1998-05-01), Wang et al.
patent: 5762458 (1998-06-01), Wang et al.
patent: 5808665 (1998-09-01), Green
patent: 5817084 (1998-10-01), Jensen
patent: 5855553 (1999-01-01), Tajima et al.
patent: 5855583 (1999-01-01), Wang et al.
patent: 5876325 (1999-03-01), Mizuno et al.
patent: 5907664 (1999-05-01), Wang et al.
patent: 0 291 965 (1988-11-01), None
patent: 0 323 681 (1989-07-01), None
patent: 0 411 498 (1991-02-01), None
patent: 2 128 842 (1984-05-01), None
patent: WO 93/05479 (1993-03-01), None
patent: WO 95/01757 (1995-01-01), None
Bajura et al., “Merging virtual objects with the real world: Seeing ultrasound imagery within the patient” Computer Graphics (Jul. 1992) 26(2):203-210.
Gayed et al., “An advanced control surgical micromanipulator for surgical applications” Systems Science (1987) 13(1-2):123-134.
Hunter et al., “Ophthalmic microsurgical robot and associated virtual environment” Comput. Biol. Med. (1995) 25(2):173-182.
Hunter et al., “A teleoperated microsurgical robot and associated virtual environment for eye surgery” Presence: Teleoperators and Virtual Environments (1994) 2(4):265-280.
Kim et al., “A helmut mounted display for telerobotics” IEEE (1988) pp. 543-547.
Preising et al., “A literature review: Robots in medicine” IEEE Engineering in Medicine and Biology (1991) pp. 13-22.
Taubes et al., “Surgery in cyberspace” Discover (1994) 85-92.
Tsai et al., “A new technique for fully autonomous and efficient #D robotics hand-eye calibration”.
Askew et al., “Ground Control Tesbed for Space Station Freedom Robot Manipulators,” Proceedings of the Virtual Reality Annual International Symposium, Seattle, USA, Sep. 18-22, 1993 Institute of Electrical And Electronics Engineers, pp. 69-75.
Christensen et al., “Model Based, Sensor Directed Remediation of Underground Storage Tanks,” Proceedings of the International Conference on Robotics and Automat, Sacramento, USA, Apr. 9-11, 1991, vol. 2 Institute of Electrical and Electronics Engineers, pp. 1377-1383.
Das et al., “Kinematic Control and Visual Display of Redundant Teleoperators,” Proceedings of the International Conference on Systems, Man and Cybernetics, Cambridge, MA., USA, Nov. 14-17, 1989, pp. 1072-1077.
Hayati et al. “Remote Surface Inspection System,”Robototics and Autonomous Systems,vol. 11, No. 1, May 1993, Amsterdam, NL, pp. 45-59.
Trivedi Mohan et al., “Developing Telerobotic Systems Using Virtual Reality Concepts,” Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, Jul. 26-30, 1993, pp. 352-359.
Alexander, III, Proc. of the 1stCISM-ITOMM Symposium, Sep. 5-8, 1973, Springer-Verlag. Wien-New York. Impacts of Telemation on Modern Society.
NASA Tech Briefs,Circle Reader Action No. 480.(1991), Anthropomorphic Remote Manipulator.
Bergamasco et al., Advanced Interfaces for Teleoperated Biomedical Robots, Jun. 1989.
Toon,Research Horizons,(1993) pp. 22-23, Virtual Reality for Eye Surgery.
Barrish, Esq. Mark D.
Bella Matthew C.
SRI - International
Towsend & Townsend & Crew LLP
LandOfFree
Method and apparatus for transforming coordinate systems in... does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Method and apparatus for transforming coordinate systems in..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method and apparatus for transforming coordinate systems in... will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2522212