| 摘要 |
In a telemanipulation system (12) for manipulating objects located in a workspace at a remote worksite by an operator (14), such as in a remote surgical system, the remote worksite having a manipulator with an end effector (39) for manipulating an object at the workspace, a controller including a hand control (22) at the operator's station for remote conrol of the manipulator, an image capture device (19), and image output device (20) for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device (19) senses position relative to the end effector (39) and a processor (23) transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector (39) by the hand controller (22) 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 (25) and perspective correction (29). |
