Patent ID: 11925429
Assignee: COVIDIEN LP
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 7:
8. A robotic surgical system comprising:
a first linkage moveably supporting a surgical tool relative to a base and an input handle moveable in a plurality of directions;
a second linkage moveably supporting an imaging device relative to the base, the imaging device being configured to capture the surgical tool; and
a processing unit in communication with the input handle operatively associated with the first linkage to move the surgical tool based on a scaled movement of the input handle, and, with the imaging device operatively associated with the second linkage, to move the imaging device,
wherein the processing unit is configured to:
determine a location of the imaging device relative to a workspace, which relative location defines a field of view, wherein the field of view represents a movement range of the surgical tool;
vary a scaling factor for the movement range of the surgical tool within the field of view based on the location of the imaging device, wherein the scaling factor is one of linearly varied or exponentially varied based on the location and a limit of movement of the input handle; and
scale a movement of the input handle based on the scaling factor.