WO2002074177A1 - Procede et systeme de reconstruction a distance d'une surface - Google Patents
Procede et systeme de reconstruction a distance d'une surfaceInfo
- Publication number
- WO2002074177A1 WO2002074177A1 PCT/FR2002/000912 FR0200912W WO02074177A1 WO 2002074177 A1 WO2002074177 A1 WO 2002074177A1 FR 0200912 W FR0200912 W FR 0200912W WO 02074177 A1 WO02074177 A1 WO 02074177A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- remote
- mobile element
- modeling
- local system
- local
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
Definitions
- the present invention relates to the field of remote reconstruction of a surface, in particular of a left surface.
- haptic techniques from the Greek haptos: the hand
- ballistic gestures like moving the hand towards a glass to grasp it
- gestures with feedback against touch like the one that allows after grabbing the glass and closing the thumb clip -fingers, to bring the glass to his mouth.
- the brain is then constantly informed of the force with which the hand encloses the glass, of its weight which depends on the quantity of liquid.
- the brain then reacts by giving the motor command to "pinch" this glass enough so that it does not fall, but not too much, so as not to break it or expend unnecessary energy.
- Ballistic gestures activate the motor arc but they do not activate the sensitive arc in return for touch.
- Feedback can be a visual representation of space, but also a 'gestural map, that is to say a learned or innate mental representation wired in the brain and which automatically generates the sequence of motor orders of the muscles of the shoulder, arm , of the hand to carry out this ballistic gesture according to a certain mental representation of space, in particular of the presumed hand-glass distance.
- Gestures with touch feedback activate the motor arc and the sensitive arc at the same time.
- the brain closes the loop and the complete cycle in humans lasts less than 1 ms.
- the bandwidth of the sensory neurons located in the fingertips that is to say the maximum frequency of the mechanical signal that these neurons are able to detect and transmit to the brain, is greater than 500 Hz. If we want to be able to code in a computer, a fine gesture, the force feedback system used must itself have a high operating frequency, at least equal, according to Shannon's theorem, to twice the bandwidth of the fingers.
- force feedback systems on a local machine operate at a typical frequency of 1 KHz in local closed loop, that is to say that a feedback is calculated and then exerted on their motors then perceived by the hand every 1/1000 of a second. This avoids the so-called "electric toothbrush” effect: the instrument held in the hand should not give the impression of vibrating.
- This frequency of 1 KHz results from the following compromise: it must be neither too low to be able to reproduce the tactile impression finely, nor too high to leave sufficient time for the computer to calculate the force of feedback which will represent, in the mechanical virtual world, the fine simulation of the gesture performed.
- the latency in ISDN technology is 30 ms, in ADSL technology of the order of 200 ms, and on the Internet it can reach 6 s or even cause outright rejection of the message.
- ADSL On ADSL and
- a ballistic gesture can be transmitted with a delay of the order of magnitude of 10 ms. Indeed, sight is a unidirectional sense: the eye is a kind of camera recording a scene and the brain, to within tolerance, can perceive with a slight delay the precise visual film without disturbing the execution of the gesture.
- a fine gesture with feedback requires completing, in less than a millisecond, the round trip decision of the intensity of the force to be exerted: - emission of order to the muscle via the sensitive arc engine,
- the "Wavetransform" method consists in transposing into space forces / speeds the theory of passive quadrupoles with pure delay which is well known for electrical magnitudes tensiori / intensity. This theory makes it possible to calculate the incident and reflected electric waves as a function of the characteristic impedance of the line. The transmission of the electrical signal is optimal when this line is closed at the same characteristic value of the impedance.
- the "Wavetransform" method requires a synchronous network, that is to say a fixed and known delay network, for example ISDN. It is based on the Z representation of the discrete sampled signals with a period equal to this fixed delay known to the network.
- the invention proposes to remotely reconstruct a local surface in order to be able to calculate a setpoint in a short time.
- the invention proposes, in particular, a system for controlling a feedback element located remotely capable of operating with data transmission on synchronous or asynchronous networks, of known or undetermined delay.
- the method for remotely reconstructing a surface comprises the following steps: - a local system sends to a remote system position information of a mobile element of said local system, the mobile element of the local system replicating the position of the mobile element of the remote system, the remote system comprising a remote modeling of the surface, - a remote operator moves the mobile element of the remote system, and when the mobile element of the local system enters contact with said surface, said remote modeling is modified for each point of contact between the mobile element of the local system and said surface so that the remote modeling approaches said surface.
- a calibration is thus carried out which allows the remote model to accurately simulate the local surface.
- the remote modeling is initially a planar mesh surface.
- the remote modeling can initially be a plane set of contiguous triangular elements.
- the remote modeling is approached as a whole from said surface in a movement of translation normal to a portion of said surface normal to a portion of remote modeling, up to a first point of contact of the mobile element of the local system with said surface.
- the coordinates of said first contact point can be predetermined along two axes of a three-dimensional coordinate system, only being to determine the coordinate along a third axis of said three-dimensional coordinate system.
- a point of contact is a point in the space common to the mobile element of the local system and to said surface and such that the mobile element of the local system exerts on said surface a predetermined force. Generally, said force will be normal to said surface.
- the remote modeling comprises a plurality of nodes, a node is brought closer to said surface by translation along an axis.
- the translation axis can be parallel to said third axis.
- a node can be brought closer to said surface by rotation around an adjacent node with conservation of the distance between said two nodes.
- the reaction force exerted by said surface on the mobile element of the local system is replicated by the mobile element of the remote system so that the operator perceives said reaction forces and can apprehend said surface.
- the mobile element of the remote system replicates the position of the mobile element of the local system.
- the mobile element of the remote system exerts a braking force when the mobile element of the local system is moved towards said surface in a part of the space between the modeling and said surface. The operator thus perceives said braking force and can understand said modeling.
- the invention also provides a remote reconstruction system for a surface.
- the system comprises a local system provided with a mobile element able to come into contact with the surface to be reconstructed and a remote system provided with a mobile element able to be manipulated by an operator, remote modeling of the surface and d 'means for modifying said remote modeling for each point of contact between the mobile element of the local system and said surface when the mobile element of the local system comes into contact with said surface, so that the remote modeling approaches said surface .
- the local system is provided with means for sending position information of the mobile element of said local system to the remote system, and with means for replicating the position of the mobile element of the remote system.
- the invention also relates to a computer program. comprising program code means for implementing the steps of the method, when said program is running on a computer.
- the invention also relates to a medium capable of being read by a device for reading program code means which are stored therein and which are suitable for implementing the steps of the method, when said program is running on a computer.
- the haptic data flow is used to transmit the maximum amount of data on said remote form.
- the present invention advantageously applies to bidirectional systems, for example robotic tele-echography which can be used in the field of obstetrics and abdominal examinations. You can remote calibrate a 3D virtual mannequin of a person.
- the person's skin is generally coated with a gel for proper transmission of ultrasound.
- the ultrasound probe can be manipulated remotely by an operator. Due to the presence of the gel, the force components exerted by the patient on the probe can be considered normal to the local surface of the skin.
- the probe has 6 degrees of freedom with a force feedback along the three axes of a three-dimensional frame and a torque feedback also along the three axes of a three-dimensional frame.
- the system can also be used by people with impaired vision to understand a shape.
- the system can also be applied to industrial applications of the telemachining type, remote control of robots in an atmosphere " hostile to humans or in low visibility.
- the system is well suited for performing palpations from a distance.
- FIG. 1 is a schematic view of a system according to a mode of carrying out the invention
- Figure 2 is a detailed view of the systems S 1 and S2 of the figure
- Figure 3 is a more detailed view of Figure 2;
- FIG. 4 shows rewired curves;
- Figure 5 is a schematic view of a system according to an embodiment of the invention;
- Figure 6 is a schematic view of the reconstruction at one point; and
- Figure 7 is a flow diagram of the process steps.
- FIG. 1 An embodiment of the invention intended for ultrasound is illustrated in FIG. 1.
- a control system S 1 is provided, installed for example in an establishment not specialized in obstetrics, in an establishment in a small town. , or in a vehicle to serve rural areas.
- the S2 system is installed in a specialized hospital establishment where highly qualified operators are available to perform ultrasound operations, for example in a regional or university hospital center.
- a patient J3 rests on a bed or table T.
- a SE ultrasound probe is in contact with her abdomen.
- a setting table TR for parameters of the SE probe is installed nearby.
- the SE probe is connected to the SI system and transmits echographic image data to said SI system, and exchanges data relating to the position and effects exerted with the S system 1.
- the support of the SE probe which could be an articulated arm has not been shown here. However, we understand that this is a support allowing movement in space according to several degrees of freedom, in general at least six to be able to take a suitable position in contact with the abdomen of the patient 13. It is provided a microphone MI3 and a speaker HP3 connected to the system S 1 and allowing the patient to converse with the operator located remotely. There is also provision for a camera CA3 oriented towards the patient J3 and a video screen EV3 allowing the patient to see either the operator located at a distance, or echographic images. The camera CA3 and the video screen EV3 are also connected to the system S 1.
- the systems S 1 and S2 in addition to the elements which have been described with reference to FIGS. 1 and 2, include each a multiplexer-demultiplexer DM1 and DM2 to allow the transmission of data on the network 3 which can for example be of ADSL type.
- the operator J4 who could be a doctor specialized in ultrasound manipulates a handle P3 whose position in space will be replicated by the SE probe.
- the handle P3 is connected to an articulated arm B A itself connected to an interface 13 of the type of interfaces II and 12 described above and comprising one or more actuators and one or more position sensors and force sensors.
- the measurement of the effect can be carried out by measuring an energy quantity of the actuators, for example by the current still consumed by means of a strain gauge.
- the interface 13 is connected to the system S2.
- a large EV4 video screen will simultaneously display a plurality of images, for example an ultrasound image, an image of the face of the patient J3 and an image showing the positioning of the SE probe on the abdomen of the patient.
- an ultrasound assembly comprises an element SE1 of shape close to an ultrasound probe for the user Ul and an ultrasound probe SE2 for a patient not shown.
- Each element SE1, SE2 is connected to an interface II, 12 comprising a means for exerting a force on the element
- the interface II, 12 will also include an acquisition card connected by means of the exercise of a force and by the measurement means and capable of exchanging digital data with another digital system such as a computer.
- Each interface II, 12 is connected to a control system S 1, S2.
- S 1, S2 a control system
- SI and S2 are identical. Only the SI system will be described. However, one can consider modes of embodiment in which one of the two systems is of simplified structure compared to the other.
- system S 1 can be in the form of a computer, of the personal computer type generally provided with at least one microprocessor, non-volatile and non-retentive memories, a communication bus, ports input and output and one or more software stored in memory and able to be executed by the microprocessor.
- the system SI is connected on the one hand to the interface II for example by a bus of RS 232 type and to the system S2 by a communication network referenced 3 as a whole and which may be of synchronous type for example ISDN or asynchronous, ATM, UMTS or Internet (TCPtTP) type.
- the SI system is located near the user Ul, for example in the same room.
- the S2 system is located at a distance from the SI system, a distance which can range from a few meters to a few thousand kilometers.
- the system SI, the interface II, the element SE1 and the user Ul are arranged locally while the system S2, the interface 12, the element SE2 and the patient are arranged distal to the previous ones.
- the system S 1 comprises a local model ML1 capable of sending a setpoint to the interface II and of receiving from said interface II a variable measured by the interface II, for example the position X of the element SE1.
- the setpoint can be a force or torque variable and is noted F e .
- the system S 1 comprises a remote model MD2 provided for estimating a state of the local model ML2 of the system S2.
- the distant model is provided for estimating a state of the local model ML2 of the system S2.
- the MD2 of the system SI is able to receive data from the system S2, to receive data from the local model ML1 and to transmit data to the local model ML1.
- the system SI " comprises an extrapolator EXT2 receiving data coming from the system S2 via the communication network 3 to process a registration message coming from the system S2 and transmit update data to the remote model MD2 based on the last received recalibration message.
- the system SI comprises a screen El connected to the local model ML1 for displaying data from the local model ML1, for example a curve retracing the evolution of the forces exerted and the positions of the elements SEl and SE2.
- the system S 1 comprises a readjuster RI receiving data from the local model ML1 and able to send output data to the system S2, in particular to the extrapolator EXT1 of the system S2.
- the recalibrator RI is able to carry out a preparation of data to send them in the form of a registration message which may include a date, the position X of the element SEl, the force F exerted on the element SEl on said date as well as the force exerted on the SEl element at an earlier date.
- the SI system further comprises a phantom model MF1 which also receives the registration messages from the RI recalibrator of the SI system and which performs an estimation of the state variables of the interface II according to the registration messages sent. by the recalibrator RI and received by the system S2.
- the phantom model MF1 performs an estimation based on the same data as that received by the remote model MD 1 of the system S 2.
- the phantom model MF 1 makes it possible to model the variables of the interface II as they are modeled by the S2 system.
- the output of the phantom model MF1 is connected to the register RI which compares the estimation of the state variables coming from the phantom model MF1 and the state variables coming from the local model ML1. In the event of a difference greater than a predetermined threshold, the registration device RI transmits a registration message intended for the phantom model MF1 and the extrapolator EXT1 of the system S2.
- the volume of data exchanged between the systems S 1 and S2 is relatively reduced insofar as a registration message is sent only if one of the two systems SI, S2 considers that the other system S2, SI n is more able to properly estimate these state variables.
- the operation of the system will be better understood with reference to FIG. 3.
- the state vector X is broken down into three parts: X e variable located at the interface with the element SE1, X 111 internal variable to the mechanical model of the user Ul and X 1 interaction variable located at the interface with the other player.
- the associated variable of force or torque F breaks up into: F e force exerted by the user Ul on the element SEl, F m force 'exerted by gravity, the other objects, other possible players, and the force F 1 exerted by the user Ul on the patient.
- the patient's state vector Y decomposes into Y ' e , Y' m and Y ' 1 and the associated torque force vector G decomposes into G' e , G ' m , and G 1 .
- the interface II captures the position X e n and transmits it to the local model MLl.
- the interface II receives the setpoint force F e n from the local model MLl and controls its actuator (s) with the feedback force - F e n .
- the interface 12 picks up position Y ' e n and transmits it to the local model ML2 and receives the force G' e n from the local model ML2 controls its actuator (s) with the feedback force - G ' e n .
- the local model MLl receives the position
- the local model MLl calculates the force exerted by the player Jl on the patient
- the local model ML1 sends X n + ⁇ and F n + ⁇ to the readjuster RI, the setpoint - F e n + to the interface II and the position variable X ⁇ - i -i to the remote model MD2.
- F n + l F n + K l , K x being provided by the system S2
- the position estimate X n + 1 - (I + A) X n + BF n + l that is to say the mechanical state of the user Ul as it can be predicted by the system S2.
- the identity matrix is the identity matrix.
- the registration device RI sends the registration message M n to the phantom model MF1 so that it is readjusted immediately and to the remote model MD1 by means of the extrapolator EXT1 of the system S2 so that it readjusts itself as soon as possible.
- the extrapolator EXT2 transmits to the remote model MD2 the result of the registration: Y n + 1 , G perennial +1 and K2.
- the remote model MD2 of the SI system is reset on reception of a message from the extrapolator EXT2 taking the values provided by said extrapolator EXT2:
- the remote model MD2 Without receiving such a message, and at each time step, the remote model MD2 receives the position variable X 1 n + ⁇ from the local model MLl and performs a predictive calculation:
- G'n + l E>" '-1 ⁇ r ⁇ + l - ⁇ 'n ⁇ CYn - DG ° ' n - D" * ' G " ' n + l ⁇
- the remote model MD2 transmits to the local model ML1 the prediction of position variable relative to the patient: G n + l
- the extrapolator EXT2 performs a bevel registration which smooths the evolutions, see Figure 3.
- y L n + ⁇ • ⁇ l ⁇ + l
- ⁇ j + 1 ⁇ Y J + l + (Kl) ⁇ l ) lk
- the phantom model MF1 receives the same data as the remote model MD1 of the other system and makes it possible to perform the same simulation as said other system.
- the readjuster operates blind with respect to the other system and makes it possible to continue simulating in the absence of relevant data transmitted by a readjustment message coming from the other system.
- the EXT2 extrapolator in particular in the case of bevel registration, allows the movement as measured by the other system to be taken into account during the transmission delay due to the communication network.
- the local models represent the mechanical models of the two users.
- the remote models represent a remote replication of the local mechanical models which is necessarily approximated because of the transmission delays via the communication network of the states of the local models.
- the ghost models represent an approximate local copy of the remote models.
- the remote models and the ghost models all operate in predictor-corrector mode.
- the extrapolators perform an extrapolation of the messages received with a certain delay to readjust the remote models to the value of the clock of the other system.
- the recalibers assess the need to launch a registration message on the communication network as soon as a too large gap appears between the local models and the local predictive witness ghost models of the remote predictive models.
- the readjusters make it possible to limit the number of messages sent through the communication network to avoid cluttering it.
- FIG. 5 another embodiment is shown which is particularly suitable for ultrasound. Near the patient P is arranged the ultrasound probe SE2 supported by the arm BA connected to the interface 12, itself connected to the system These elements are supported by a support 5. In a room located at a distance, the system SI, the interface 11 and a mobile element SE1 of the same external shape, are arranged. same mass and same inertia as the SE2 probe.
- the distant modeling Mo has been shown in thin line in its final state, that is to say extremely close to the shape of the patient P.
- the mobile element SEl is here placed in a state of rest, in a relative position to the remote modeling Mo identical to the position of the probe SE2 relative to the patient P and removed from this one.
- the mobile element SEl will be grasped by a practitioner as would have been a real ultrasound probe and will be gradually lowered.
- the ultrasound probe SE2 follows the same movement as the mobile element SE 1. The practitioner comes first, by moving the mobile element SE 1, place the ultrasound probe SE2 on the uppermost surface of the patient, generally the top of his abdomen.
- the feedback force exerted by the abdomen of patient P on the probe SE2 is remotely copied so that the practitioner handling the movable element SE1 perceives the same effect, in other words the same counter force reaction, only if he wielded an actual ultrasound probe against a patient's abdomen.
- the mobile element SE1 by manipulating the mobile element SE1, will cause the abdomen of patient P to be described by the probe SE2 which replicates the movement thereof.
- the force exerted by the patient's abdomen on the SE2 probe is replicated by the mobile element SE1.
- the positions of the mobile element SE1 and of the probe SE2 being substantially identical, the mobile element SEl is positioned in a manner substantially identical to the position that an actual probe would have traversing the abdomen of the same patient.
- the system S 1 records the different positions of the movable element SEl, which makes it possible, from a sufficient number of measurement points, to carry out a three-dimensional reconstruction of the outer surface of the patient's abdomen, and therefore to obtain the remote modeling Mo.
- FIG. 6 is a diagram illustrating the stages of generation of the remote modeling.
- the remote modeling is in the form of an initial modeling M ⁇ jnter , which is a planar mesh surface, seen here in section.
- the practitioner by manipulating the mobile element SEl positions the ultrasound probe SE2 on the top of the abdomen of patient P.
- the initial modeling o mjt then becomes an intermediate modeling M ⁇ jnter , always in the form of a flat surface , but tangent to the top of the patient's abdomen.
- the vertical coordinates of the points of the modeling have been reduced by the distance separating the initial modeling Mo ⁇ j . from the top of the patient's abdomen, the initial models M ⁇ nt and intermediate Mo ⁇ nter being horizontal planes.
- the practitioner can make curved movements so that the SE2 probe follows the upper surface of patient P's abdomen, both for comfort. the patient and the speed of the process.
- a slight feedback force is exerted by the mobile element SEl on the practitioner's hands so that said crossing be perceptible to him.
- Said force will be controlled by the SI system and applied by the interface II, and may be adjustable while remaining below the lower limit of said range.
- Said force may comprise a constant part analogous to dry friction and a part variable proportional to the speed of movement of the movable element SEl.
- the various stages of the process are illustrated schematically.
- the probe SE2 and the mobile element SE1 are placed in a waiting or rest position, allowing the patient P to settle on an examination table or to leave such a table.
- the practitioner controls the approach of the SE2 probe towards the top of the abdomen of patient P.
- the contact between the SE2 probe and the top of the abdomen takes place.
- the patient recording by the SI system of the coordinates of the first contact point and the displacement of the remote modeling Mo from the initial remote modeling Mo jnjt to the intermediate remote modeling M ⁇ jnter .
- the practitioner runs the SE2 probe through the upper surface of the patient's abdomen.
- the intermediate remote modeling Mo jnter is deformed mesh by mesh or node by node to match the shape of the upper surface of the abdomen of patient P.
- the remote modeling Mo can comprise a mesh of variable or fixed size. One can possibly implement a resegmentation in order to refine the modeling in certain zones.
- the SI system stores the final remote modeling in a memory, which allows it to react with an extremely short response time, even if the transmission network 3 suffers from high transmission times. Later, when the practitioner moves the movable element SEl through the final remote modeling, the system S 1 will apply a force to the movable element SEl, simulating the force of feedback from the abdomen of patient P on the probe SE2. By possibly adding a friction term in order to avoid too rapid movements of the mobile element SE1 and therefore of the ultrasound probe SE2.
- the invention therefore implements a deformation of a geometric mesh under the gesture of the user practitioner.
- Remote calibration of virtual mannequin or remote modeling is carried out by an intuitive scanning of the user practitioner in order to make the initial mesh or initial remote modeling tend towards the shape of the patient whose body size and in particular the stage of pregnancy are extremely variable d from one person to another. It is thus possible to palpate a person or object located at a distance from a master station, which makes it possible to approach a three-dimensional shape and to grasp the shape of the person or object, the presence of a camera n being not essential.
- the proposed method allows remote reconstruction of the three-dimensional shape without resorting to previous methods such as laser surveys or stereophotography.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002572891A JP2004519340A (ja) | 2001-03-21 | 2002-03-14 | 遠隔地における表面の再構築方法およびシステム |
CA002409369A CA2409369A1 (fr) | 2001-03-21 | 2002-03-14 | Procede et systeme de reconstruction a distance d'une surface |
EP02716893A EP1370188B1 (fr) | 2001-03-21 | 2002-03-14 | Procede et systeme de reconstruction a distance d'une surface |
DE60213769T DE60213769T2 (de) | 2001-03-21 | 2002-03-14 | Verfahren und system zur ferngesteuerten flächenrekonstruktion |
NO20025571A NO20025571L (no) | 2001-03-21 | 2002-11-20 | Fremgangsmåte og system for på avstand å rekonstruere en overflate |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR01/03828 | 2001-03-21 | ||
FR0103828A FR2822573B1 (fr) | 2001-03-21 | 2001-03-21 | Procede et systeme de reconstruction a distance d'une surface |
Publications (1)
Publication Number | Publication Date |
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WO2002074177A1 true WO2002074177A1 (fr) | 2002-09-26 |
Family
ID=8861392
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/FR2002/000912 WO2002074177A1 (fr) | 2001-03-21 | 2002-03-14 | Procede et systeme de reconstruction a distance d'une surface |
Country Status (11)
Country | Link |
---|---|
US (1) | US20030144768A1 (fr) |
EP (1) | EP1370188B1 (fr) |
JP (1) | JP2004519340A (fr) |
CN (1) | CN1228031C (fr) |
AT (1) | ATE335442T1 (fr) |
CA (1) | CA2409369A1 (fr) |
DE (1) | DE60213769T2 (fr) |
ES (1) | ES2271236T3 (fr) |
FR (1) | FR2822573B1 (fr) |
NO (1) | NO20025571L (fr) |
WO (1) | WO2002074177A1 (fr) |
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KR102258800B1 (ko) * | 2014-05-15 | 2021-05-31 | 삼성메디슨 주식회사 | 초음파 진단장치 및 그에 따른 초음파 진단 방법 |
EP3634296A4 (fr) * | 2017-06-06 | 2021-03-03 | Intuitive Surgical Operations, Inc. | Systèmes et méthodes de reconnaissance vocale basée sur l'état dans un système de téléopération |
US10671163B2 (en) | 2018-07-24 | 2020-06-02 | Microsoft Technology Licensing, Llc | Refining virtual mesh models through physical contacts |
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EP0411498A2 (fr) * | 1989-07-31 | 1991-02-06 | Kernforschungszentrum Karlsruhe Gmbh | Système de manipulation dans des lieux de travail non accessibles |
US5800178A (en) * | 1995-03-29 | 1998-09-01 | Gillio; Robert G. | Virtual surgery input device |
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US3527533A (en) * | 1964-08-25 | 1970-09-08 | Trw Inc | Method and apparatus for deriving and processing topographical information |
US3915061A (en) * | 1973-05-07 | 1975-10-28 | John H Stockman | Method for engraving graphical representations upon workable materials |
US5390125A (en) * | 1990-02-05 | 1995-02-14 | Caterpillar Inc. | Vehicle position determination system and method |
SE468198B (sv) * | 1990-12-12 | 1992-11-23 | Nobelpharma Ab | Foerfarande och anordning foer framstaellning av individuellt utformade tredimensionella kroppar anvaendbara som tandersaettningar, proteser, etc |
SE469158B (sv) * | 1991-11-01 | 1993-05-24 | Nobelpharma Ab | Dental avkaenningsanordning avsedd att anvaendas i samband med styrning av en verkstadsutrustning |
US6963792B1 (en) * | 1992-01-21 | 2005-11-08 | Sri International | Surgical method |
US5477459A (en) * | 1992-03-06 | 1995-12-19 | Clegg; Philip M. | Real time three-dimensional machine locating system |
ZA952853B (en) * | 1994-04-18 | 1995-12-21 | Caterpillar Inc | Method and apparatus for real time monitoring and co-ordination of multiple geography altering machines on a work site |
-
2001
- 2001-03-21 FR FR0103828A patent/FR2822573B1/fr not_active Expired - Fee Related
-
2002
- 2002-03-14 EP EP02716893A patent/EP1370188B1/fr not_active Expired - Lifetime
- 2002-03-14 CN CNB028007735A patent/CN1228031C/zh not_active Expired - Fee Related
- 2002-03-14 AT AT02716893T patent/ATE335442T1/de not_active IP Right Cessation
- 2002-03-14 WO PCT/FR2002/000912 patent/WO2002074177A1/fr active IP Right Grant
- 2002-03-14 DE DE60213769T patent/DE60213769T2/de not_active Expired - Lifetime
- 2002-03-14 JP JP2002572891A patent/JP2004519340A/ja active Pending
- 2002-03-14 CA CA002409369A patent/CA2409369A1/fr not_active Abandoned
- 2002-03-14 ES ES02716893T patent/ES2271236T3/es not_active Expired - Lifetime
- 2002-03-14 US US10/296,298 patent/US20030144768A1/en not_active Abandoned
- 2002-11-20 NO NO20025571A patent/NO20025571L/no not_active Application Discontinuation
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0411498A2 (fr) * | 1989-07-31 | 1991-02-06 | Kernforschungszentrum Karlsruhe Gmbh | Système de manipulation dans des lieux de travail non accessibles |
US5800178A (en) * | 1995-03-29 | 1998-09-01 | Gillio; Robert G. | Virtual surgery input device |
Also Published As
Publication number | Publication date |
---|---|
EP1370188A1 (fr) | 2003-12-17 |
FR2822573B1 (fr) | 2003-06-20 |
ES2271236T3 (es) | 2007-04-16 |
JP2004519340A (ja) | 2004-07-02 |
CN1228031C (zh) | 2005-11-23 |
CA2409369A1 (fr) | 2002-09-26 |
DE60213769D1 (de) | 2006-09-21 |
NO20025571D0 (no) | 2002-11-20 |
FR2822573A1 (fr) | 2002-09-27 |
EP1370188B1 (fr) | 2006-08-09 |
NO20025571L (no) | 2003-01-21 |
DE60213769T2 (de) | 2007-08-23 |
ATE335442T1 (de) | 2006-09-15 |
US20030144768A1 (en) | 2003-07-31 |
CN1458837A (zh) | 2003-11-26 |
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