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Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery

  • US 6,459,926 B1
  • Filed: 09/17/1999
  • Issued: 10/01/2002
  • Est. Priority Date: 11/20/1998
  • Status: Expired due to Term
First Claim
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1. A robotic surgical system comprising:

  • a master controller with an input handle movable in a plurality of degrees of freedom;

    a robotic manipulator assembly including a surgical end effector movable in a plurality of degrees of freedom;

    a control system coupling the master controller to the manipulator assembly, the control system having first and second modes, the control system in the first mode configured to effect corresponding movement of the end effector in response to movement of the handle, the control system configured to allow independent repositioning of the handle or the end effector in at least one of the degrees of freedom and to inhibit independent repositioning in at least one of the other degrees of freedom when the control system is in the second mode.

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