A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

Method and apparatus for performing minimally invasive cardiac procedures

A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the foot pedal.

Automated endoscope system for optimal positioning

This invention is a surgical system (10) that may include a remotely controlled surgical instrument. The surgical instrument may be coupled to a tool driver (1602) that can spin, and actuate the instrument. The instrument may include an actuator rod that is coupled to an end effector (1710), and detachably connected to a push rod (1654). The push rod (1836) can move relative to the handle to actuate the end effector. The end effector may include a fixture that conforms to the shape of a needle (1712). The handle (1812) can be secured to the tool driver by inserting pins into corresponding slots that are located on both the instrument and the tool driver. The instrument can be controlled by an operator through a pair of handles (1806). Each handle may be mechanically balanced by a counterweight. The surgical system may also include a touch pad (1808) that allows the operator to enter parameters of the system.

Method and apparatus for performing minimally invasive surgical procedures

An imaging system for a vehicle includes an imaging device having a field of view exteriorly and forward of the vehicle in its direction of travel, and an image processor operable to process the captured images in accordance with an algorithm. The algorithm comprises a sign recognition routine and a character recognition routine. The image processor processes the image data captured by the imaging device to detect signs in the field of view of the imaging device and applies the sign recognition routine to determine a sign type of the detected sign. The image processor is operable to apply the character recognition routine to the image data to determine information on the detected sign. The image processor applies the character recognition routine to the captured images in response to an output of the sign recognition routine being indicative of the detected sign being a sign type of interest.

Imaging system for vehicle

A surgical manipulator system comprising an operation device, a slave manipulator, a medical device, and a controller. The operation device is located in a region to be operated by a surgeon. The slave manipulator can have access into a surgery region. The medical device is held by the slave manipulator and can be moved a body cavity. The controller can operate in a first mode to move the slave manipulator or the medical device, or both, such that the axis of the medical device passes a fulcrum fixed in a space even before the medical device is inserted into the body cavity.

Surgical manipulator system

A picture processing apparatus for use in recognizing an ambient environment as a picture in accordance with the invention, includes a picture input for receiving a distorted picture of a wide angle of view, a picture processing unit which corrects the distorted picture of the wide angle of view from the picture input into an undistorted picture of the wide angle of view, and a display for displaying the undistorted picture of the wide angle of view produced by the picture processing unit.

Picture processing apparatus

A vehicle has a pair of endless tracks each extending around a series of wheels arranged in a plane adjacent to one side of the vehicle body. One of the series of wheels on each side of the vehicle body is movable relative to the vehicle body to a selected position to vary the configuration of the endless track in side view so that the vehicle is given a superior running performance and is freely movable along paths having various obstacles.

Variable configuration track laying vehicle

A master slave manipulator system includes a master arm having six or more axes of motion and an articulated slave arm having six or more axes of motion and being shaped in sharp contrast with the master arm. The master arm has an arm body with three axes perpendicular to each other and a wrist assembly connected to the arm body. The wrist assembly has a gripper disposed in a space of a size large enough for an operator to operate the gripper with his clutched hand in X, Y and Z directions and also has a pitch-axis, a yaw-axis and a roll-axis all disposed outside of the space. The pitch-axis, yaw-axis and roll-axis have output axes directed toward the gripper. The slave arm has an arm body with axes longitudinally stretchable or foldable into parallel positions, and a wrist assembly having three axes disposed in a space of predetermined dimensions in X, Y and Z directions. The output axes of the three axes of the slave arm wrist assembly are directed away from the mounting portions of these axes. The slave arm is so controlled as to follow movements of the master arm.

Master slave manipulator system

A card like semiconductor device comprising a circuit board made of plastic resin and a semiconductor pellet (1) mounted to the circuit board (2), wherein a metal layer (8) is formed on one surface of the semiconductor pellet on which semiconductor circuit is not formed. The semiconductor pellet is secured to the circuit board by bonding the metal layer to the circuit board and being sealed with high polymer material (5) on the circuit board.

Hiroshi Yamamoto

Papers

Picture processing apparatus

Variable configuration track laying vehicle

Master slave manipulator system

An arrangement of a semiconductor device for use in a card

Mechanical Design of Variable Configuration Tracked Vehicle