Patent ID: 8918207
Filing Date: 2014-12-23
Classification: A61B,B25J,G05B,Y10T

Abstract:
1. A robotic surgical system comprising: a master controller with an input handle, the input handle translatable in a first plurality of degrees of freedom to provide an input handle position signal and rotatable in a second plurality of degrees of freedom to provide an input handle orientation signal, the input handle including one or more active joints that can establish the orientation of the input handle; a first robotic manipulator including a surgical end effector movable in a third plurality of degrees of freedom; a second robotic manipulator including an endoscopic camera movable in a fourth plurality of degrees of freedom; a control system coupling the master controller to the first and second robotic manipulators and to the one or more active joints of the input handle, the control system providing signals to the first robotic manipulator to position the surgical end effector in response to the input handle position signal and the input handle orientation signal, and providing signals to the input handle active joints to continuously orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the surgical end effector, or the endoscopic camera.