05631973 is referenced by 243 patents and cites 6 patents.

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.

Title
Method for telemanipulation with telepresence
Application Number
8/239086
Publication Number
5631973
Application Date
May 5, 1994
Publication Date
May 20, 1997
Inventor
Philip S Green
Redwood City
CA, US
Agent
Townsend and Townsend and Crew
Assignee
SRI International
CA, US
IPC
A61B 1/00
G06K 9/32
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