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Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument

  • US 9,265,584 B2
  • Filed: 11/06/2014
  • Issued: 02/23/2016
  • Est. Priority Date: 06/30/2009
  • Status: Active Grant
First Claim
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1. A surgical system comprising:

  • a slave surgical instrument having a slave surgical instrument tip;

    a master grip; and

    ratcheting system coupled to the master grip and to the slave surgical instrument,the ratcheting system including information characterizing a first alignment error that is a difference between a first alignment of the master grip and a first alignment of the slave instrument tip,the ratcheting system being configured to determine a new alignment error that is a difference between a second alignment of the master grip and the first alignment of the slave surgical instrument tip, andthe ratcheting system being configured to use the new alignment error to control motion of the surgical instrument tip only if the new alignment error is smaller than the first alignment error.

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