| 摘要 |
A teleoperator system with telepresence is shown which includes right and left hand controllers ( 72 R and 72 L) for control of right and left manipulators ( 24 R and 24 L) through use of a servomechanism that includes computer ( 42 ). Cameras ( 46 R and 46 L) view workspace ( 30 ) from different angles for production of stereoscopic signal outputs at lines ( 48 R and 48 L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image ( 30 I) is produced which, is reflected by mirror ( 66 ) toward the eyes of operator ( 18 ). A virtual image ( 30 V) is produced adjacent control arms ( 76 R and 76 L) which is viewed by operator ( 18 ) looking in the direction of the control arms. Use of the teleoperator system for surgical procedures also is disclosed.
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