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

  • US 7,806,891 B2
  • Filed: 03/15/2006
  • Issued: 10/05/2010
  • Est. Priority Date: 11/20/1998
  • Status: Expired due to Fees
First Claim
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1. A method for repositioning a master control relative to its associated slave in a robotic surgical system during a minimally invasive surgical procedure, comprising:

  • interrupting a control loop between a master control and a slave;

    locking the slave in its position at the time of the interruption;

    locking an orientation of the master control at the time of the interruption while floating its translational movement;

    translationally moving the master control to a desired position; and

    uninterrupting the control loop between the master control and the slave.

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