Patent ID: 9566124
Date: 2017-02-14
CPC Classifications: A61B,B25J

Claim:
1. A medical system comprising: a medical device; a slave manipulator adapted to manipulate the medical device; a master input device operatively coupled to the slave manipulator; and a processor programmed to automatically determine whether the slave manipulator is being commanded by the master input device to a commanded state of the slave manipulator that is greater than or equal to a threshold value which is less than a limit of the slave manipulator; and if the slave manipulator is determined by the processor as being commanded to the commanded state that is greater than or equal to the threshold value, then the processor automatically: cause control of the slave manipulator by the master input device to be disengaged, cause the slave manipulator to remain at a current state of the slave manipulator, cause the master input device to remain at a current state of the master input device, alter a parameter that affects a functional relationship between the current state of the master input device and the commanded state of the slave manipulator so that the current state of the master input device commands a different commanded state that is not greater than or equal to the threshold value, and after altering the commanded state to the different commanded state, cause the control of the slave manipulator by the master input device to be re-engaged so that the different commanded state is applied to the slave manipulator.