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INTER-OPERATIVE SWITCHING OF TOOLS IN A ROBOTIC SURGICAL SYSTEM

  • US 20170035519A1
  • Filed: 10/19/2016
  • Published: 02/09/2017
  • Est. Priority Date: 09/17/1999
  • Status: Active Grant
First Claim
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1. A telesurgical system comprising:

  • a plurality of manipulators; and

    a controller configured to;

    detect mounting of an imaging device to a first manipulator of the plurality of manipulators;

    determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator;

    control a tool relative to the first reference frame;

    detect mounting of the imaging device to a second manipulator of the plurality of manipulators, the second manipulator being different from the first manipulator;

    determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator; and

    control the tool relative to the second reference frame.

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