Patent ID: 9743989
Date: 2017-08-29
CPC Classifications: A61B,B25J,G05B,Y10S

Claim:
1. A method of operating a controller of a surgical system comprising: receiving, by the controller from a hand tracking unit of the surgical system, hand position data of a person using a master tool grip of the surgical system; generating, by the controller, a hand position using the hand position data; determining whether the hand position of a person using a master tool grip of the surgical system is within a threshold distance from a position of the master tool grip of the surgical system, the hand position representing a position of at least part of a human hand, the determining being by the controller of the surgical system, and the determining being based on the hand position and the position of the master tool grip; permitting movement of a slave surgical instrument of the surgical system if the determining determines the hand position is within the threshold distance from the position of the master tool grip, the permitting being by the controller, the movement of the slave surgical instrument being based on movement of the master tool grip; and inhibiting the movement of the slave surgical instrument if the determining determines the hand position is not within the threshold distance from the position of the master tool grip, the inhibiting being by the controller.