Patent ID: 9295525
Filing Date: 2016-03-29
CPC Classification: A61B

Claim Text:
1. A surgical system comprising: a surgeon's console including an input device for receiving an input from the surgeon; at least one manipulator structure operable to receive a first surgical instrument and a second surgical instrument, the first surgical instrument having a first number of degrees of freedom, the second surgical instrument having a second number of degrees of freedom, and the first number of degrees of freedom being different from the second number of degrees of freedom; and a controller for controlling at least one instrument coupled to the at least one manipulator structure, wherein the controller is operable to control the first surgical instrument and the second surgical instrument by using a first kinematic model of the first instrument and a second kinematic model of the second instrument, at least one of the first kinematic model or the second kinematic model including a phantom degree of freedom that models a range of joint configurations that are not included in the corresponding first instrument or second instrument.