Camera referenced control in a minimally invasive surgical apparatus
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United States of America Patent
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Dec 26, 2006
Issued Date -
N/A
app pub date -
Dec 12, 2005
filing date -
Apr 7, 1999
priority date (Note) -
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status (Latency Note)
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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.
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Cited Art Landscape
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