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US 9,149,339 B2Granted
Methods, systems and devices for three dimensional input and control methods and systems based thereon
AssigneeTitan Medical Inc.
InventorJohn Unsworth
Life of this patent
Estimating the term…
Abstract
A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand's changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.
Claims18
A method of controlling an instrument of a robot, the method comprising the steps of:
- detecting a contour of movement of an object being worked by the instrument by,
- projecting an image pattern on to a surface of the object in a vicinity of the instrument,
- repeatedly detecting the image pattern formed on the surface of the object;
- and
- determining movement of the object based on a transformation of the detected image in time and space, and
- moving the instrument to a normalized position so as to accommodate the contour of movement of the object in the vicinity of the instrument, so that operator intended motions can be carried out from the normalized position.
3 more elements
A system comprising:
- a surgical robot including an instrument controlled by the robot;
- and
- a computer configured to detect a contour of movement of a heart being worked by the instrument by,
- projecting an image pattern on to a surface of the heart in a vicinity of the instrument,
- repeatedly detecting the image pattern formed on the surface of the heart;
- and
- determining movement of the heart based on a transformation of the detected image in time and space, and
- moving the instrument to a normalized position so as to accommodate the contour of movement of the heart in the vicinity of the instrument, so that operator intended motions can be carried out from the normalized position.
5 more elements
Dependencies are inferred from the claim text.