Patent ID: 6837883

Claim:
A robotic surgical system comprising: a first linkage assembly having a first base coupled to a first surgical end effector by a first robotic linkage; a second linkage assembly having a second base coupled to a second surgical end effector by a second robotic linkage, the second base being independent of the first base and having an orientation input device generating a relative orientation signal; a master controller having at least one handle manipulatable by a hand of an operator; a processor transmitting movement commands to the first and second linkage assemblies, the processor deriving the movement commands at least in part from manipulation of the handle, and at least in part from the relative orientation signal received by the processor and indicating an orientation of the first base relative to the second base; wherein the first and second bases are disposed on a flat surface, the relative orientation signal indicating a horizontal angle of the second base relative to the first base alone the flat surface.