Appeal No. 2004-0278 Page 6
Application No. 09/626,362
As shown in Figure 12, the sensor 52 further comprises a relative position
detecting circuit 58 for detecting the position and orientation of the sense coil 54, both
relative to the source coil 53. Provided outside the sensor 52 is a manipulator
controller 59. The controller 59 is designed to remote-control the surgical manipulator
51 in accordance with the relative 3D position detected by the coils 53 and 54 of the 3D
position sensor 52. The 3D position sensor 52 and the manipulator controller 59
constitute a remote-control system for controlling the manipulator 51. The 3D position
sensor 52 and the manipulator controller 59 constitute a remote-control system 55.
Mizuno teaches (column 14, line 35, to column 15, line 18) that:
The remote-control system 55 can be applied to the first embodiment, i.e.,
the surgical manipulator system shown in FIG. 1--as illustrated in FIG. 14. As
shown in FIG. 14, two slave manipulators 3 and 4 are secured at their bases 7
and 8 to the right and left sides of an operating table 1, respectively. Two source
coils 53, each functioning as a transmitting section, are secured to the right side
of the operating table 1. Two sense coils 54, each functioning as a receiving
section, are held in the hands of a surgeon or attached to the head band the
surgeon wears. The first source coil 53 and the first sense coil 54 constitute a
first 3D position sensor 52a. The second source coil 53 and the second sense
coil 54 constitute a second 3D position sensor 52b.
The first slave manipulator 3 is operated in accordance with the relative
3D positions of the coils 53 and 54 of the first position detector 52a. A task
coordinate system 62 is set, in addition to the base coordinate system 61 of the
first 3D position sensor 52a. The slave manipulator 3 is operated such that the
vector P representing the position which the sensor coordinate system 63 set for
the sense coil 54 and assumes in the task coordinate system 62 coincides with
the vector p representing the position which the TCP of the first slave
manipulator 3 takes in the base coordinate system 13 set for the first slave
manipulator 3. The task coordinate system 62 can be freely altered, by using the
Page: Previous 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Next
Last modified: November 3, 2007