RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT
First Claim
1. A minimally-invasive surgical system comprising:
- a slave surgical instrument having a slave surgical instrument tip wherein said slave surgical instrument tip has an alignment in a common coordinate frame of reference;
a master grip, coupled to said slave surgical instrument, having an alignment in said common coordinate frame of reference,wherein an alignment error in said common frame of reference is a difference in alignment in said common frame of reference between said alignment of said slave surgical instrument tip and said alignment of said master grip; and
a ratcheting system, (i) coupled to said master grip to receive said alignment of said master grip and (ii) coupled to said slave surgical instrument, to control motion of said slave by continuously reducing the alignment error, as said master grip moves, without autonomous motion of said slave surgical instrument tip and without autonomous motion of said master grip.
2 Assignments
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Accused Products
Abstract
A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
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Citations
20 Claims
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1. A minimally-invasive surgical system comprising:
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a slave surgical instrument having a slave surgical instrument tip wherein said slave surgical instrument tip has an alignment in a common coordinate frame of reference; a master grip, coupled to said slave surgical instrument, having an alignment in said common coordinate frame of reference, wherein an alignment error in said common frame of reference is a difference in alignment in said common frame of reference between said alignment of said slave surgical instrument tip and said alignment of said master grip; and a ratcheting system, (i) coupled to said master grip to receive said alignment of said master grip and (ii) coupled to said slave surgical instrument, to control motion of said slave by continuously reducing the alignment error, as said master grip moves, without autonomous motion of said slave surgical instrument tip and without autonomous motion of said master grip. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for controlling alignment of a slave surgical instrument tip in a minimally-invasive surgical system with alignment of a master grip in said minimally-invasive surgical system comprising:
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receiving, by a ratcheting system in said minimally-invasive surgical system, an alignment of said slave surgical instrument tip in a common frame of reference and an alignment of said master grip in said common frame of reference; and ratcheting, by said ratcheting system, said alignment of said slave surgical instrument tip to said alignment of said master grip by continuously reducing an alignment error in said common frame of reference between said alignments, as said master grip moves, without autonomous motion of said slave surgical instrument tip and without autonomous motion of said master grip. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification