Camera control

Abstract

A master-slave system that includes a first manipulator supporting a first end effector; a second manipulator supporting a second end effector; an input device configured to concurrently receive from a hand of an operator a first movement command to effect a desired movement of the first end effector and a second movement command to effect a desired movement of the second end effector; and a processor configured to determine a desired movement of the first and the second end effectors in response to the first and second movement commands received from the input device respectively.

1 . A master-slave system comprising:
 a first manipulator supporting a first end effector;   a second manipulator supporting a second end effector;   an input device configured to concurrently receive from a hand of an operator a first master movement command to effect a desired slave movement of the first end effector and a second master movement command to effect a desired slave movement of the second end effector, wherein the input device comprises a first input for receiving the first master movement command; and   a processor configured to determine a desired slave movement of the first and the second end effectors in response to the first and second master movement commands received from the input device respectively,   
       wherein the input device further comprises one or more of:
 a drive mechanism coupled to the first input, the drive mechanism being configured to apply a force to the first input for providing force feedback to the operator; 
 a force sensor configured to sense a force applied to the first input for determining that a command is being received at the first input from the operator; 
 a capacitive sensor configured to sense when the operator is touching the first input for determining that a command is being received at the first input from the operator; and 
 a position sensor configured to sense the position of the first input relative to the body for determining that a command is being received at the first input from the operator. 
 
     
     
         2 . The system of  claim 1 , wherein the input device comprises a body for being held by the operator, the body being configured to be gripped in normal use by a single hand of the operator. 
     
     
         3 . The system of  claim 1 , wherein the processor is further configured to effect movement of one or more of:
 the first end effector in accordance with the determined desired slave movement of the first end effector; and   the second end effector in accordance with the determined desired slave movement of the second end effector.   
     
     
         4 . The system of  claim 1 , wherein the first end effector comprises an image capture device for capturing an image of a worksite. 
     
     
         5 . The system of  claim 4 , wherein the image capture device is an endoscope. 
     
     
         6 . The system of  claim 5 , further comprising a display for displaying the captured image. 
     
     
         7 . The system of  claim 4 , further comprising a display for displaying the captured image. 
     
     
         8 . The system of  claim 1 , wherein the processor is further configured to determine the desired slave movement of the first end effector according to movement of the first input with respect to an operator selected frame of reference. 
     
     
         9 . The system of  claim 8 , wherein the operator selected frame of reference is fixed to the input device. 
     
     
         10 . The system of  claim 8 , wherein the first end effector comprises an image capture device for capturing an image of a worksite,
 wherein the system further comprises a display for displaying the captured image, and   wherein the operator selected frame of reference is fixed to the display.   
     
     
         11 . The system of  claim 1 , wherein the processor is further configured to continuously update a mapping between an input device frame of reference and a second end effector frame of reference and to continuously update a mapping between a first input frame of reference and a first end effector frame of reference such that movements of the first and second end effectors as displayed on the display correspond to the movements of the first input and the input device respectively.