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Multi-component telepresence system and method

  • US 9,949,802 B2
  • Filed: 09/15/2010
  • Issued: 04/24/2018
  • Est. Priority Date: 12/12/1996
  • Status: Expired due to Fees
First Claim
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1. A robotic surgical system comprising:

  • a manipulator assembly including a manipulator arm having proximal and distal portions;

    a surgical tool releasably coupleable to the distal end portion of the manipulator arm, the surgical tool configured to be driven by the manipulator arm in at least one degree of freedom, the surgical tool comprising a memory for storing a counter signal indicating a number of times the surgical tool is coupled to or decoupled from the manipulator arm, the distal portion of the manipulator arm configured to receive the counter signal from the surgical tool; and

    a controller for controlling the manipulator assembly and the surgical tool, the controller configured to downgrade performance of the surgical system in response to the counter signal reaching a predetermined number;

    the system further comprising a master device for accepting a physical movement input from an operator, the master device configured to provide a variable level of apparent backlash to the operator, the controller configured to downgrade the performance of the surgical system by increasing the apparent backlash.

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