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SMOOTH CONTROL OF AN ARTICULATED INSTRUMENT ACROSS AREAS WITH DIFFERENT WORK SPACE CONDITIONS

  • US 20110040404A1
  • Filed: 08/15/2009
  • Published: 02/17/2011
  • Est. Priority Date: 08/15/2009
  • Status: Active Grant
First Claim
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1. A medical robotic system comprising:

  • an articulated instrument having a plurality of joints;

    an input device; and

    a controller configured to command actuation of the plurality of joints in response to manipulation of the input device subject to a barrier constraint in which commanded movement of each directly actuatable joint of the plurality of joints from a current area having current work space limits to a new area having new work space limits is prevented until deployment of the plurality of joints satisfies the new work space limits.

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