Patent ID: 8423186
Filing Date: 2013-04-16
Classification: A61B,B25J,G05B,Y10S

Abstract:
1. A surgical system comprising: a slave surgical instrument having a slave surgical instrument tip wherein said slave surgical instrument tip has an alignment in a common coordinate frame of reference; a master grip, coupled to said slave surgical instrument, having an alignment in said common coordinate frame of reference, a ratcheting system coupled to said master grip to receive said alignment of said master grip and coupled to said slave surgical instrument, wherein the ratcheting system is configured to control motion of said slave surgical instrument tip by continuously reducing the alignment error as said master grip moves, without autonomous motion of said slave surgical instrument tip and without autonomous motion of said master grip, by bleeding off said alignment error, wherein the bleeding off said alignment error uses a new alignment error in said common frame of reference when said motion of said master grip reduces said alignment error in said common frame of reference, wherein the bleeding off said alignment error uses a current alignment error in said common frame of reference when the motion of said master grip does not reduces said alignment error, and wherein the bleeding off said alignment error continuously reduces said alignment error between said alignments in said common frame of reference.