Patent ID: 7155315

Claim:
A medical robotic system comprising: a master controller having a display, and an input device movable in a controller workspace; a slave robotic mechanism including a slave arm adapted to movably support a tool, and at least one actuator operatively couplable to an end effector of the tool so as to move the end effector in a surgical workspace in response to slave actuator signals; an imaging system including an image capture device having a field of view in the surgical workspace and a linkage including joints for movably supporting the image capture device, the imaging system generating state variable signals including joint measurements indicating the field of view; and a processor coupling the master controller to the at least one actuator of the slave robotic mechanism, the processor generating the slave actuator signals by mapping the input device in the controller workspace with the end effector in the surgical workspace according to a transformation determined at system startup using the state variable signals of the imaging system so that an image of the end effector in the display of the master controller appears substantially connected to the input device in the controller workspace.