Patent ID: 8939891
Filing Date: 2015-01-27
Classification: A61B,G05G

Abstract:
1. A method implemented in a controller for controlling movement of a medical device in a medical robotic system, comprising: receiving an indication that a user has selected motion scaling from among a plurality of user selectable functions; changing a motion scale factor to a next motion scale factor in a set of motion scale factors in response to each actuation of a user operated switch mechanism after the user has selected motion scaling, wherein the set of motion scale factors includes a plurality of motion scale factors of different non-zero magnitudes; receiving information of user movement of a control input device, wherein the control input device is gripped by a hand of the user and the switch mechanism is positioned relative to the control input device so as to be switchable by a digit of the hand without the hand releasing a grip of the control input device; and causing the medical device to be moved in response to the user movement of the control input device by applying the motion scale factor to the commanded movement.