Image analysis – Image transformation or preprocessing – Changing the image coordinates
Patent
1997-01-14
1999-01-12
Couso, Jose L.
Image analysis
Image transformation or preprocessing
Changing the image coordinates
382128, 600109, 600118, G06K 932, A61B 100
Patent
active
058599347
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.
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
Askew R. S. 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 B. 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 H. 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 S. et al., "Remote Surface Inspection System," Robotics and Autonomous Systems, vol. 11, No. 1, May 1993, Amsterdam, NL, pp. 45-59.
Trivedi Mohan M. 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.
A. D. Alexander, III, Proc. of the 1st CISM-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. 22-24 Virtual Reality for Eye Surgery.
Bella Matthew C.
Couso Jose L.
SRI - International
LandOfFree
Method and apparatus for transforming coordinate systems in a te 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 a te, 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 a te will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-1523334