Patent ID: 7695481

Claim:
A medical robotic system comprising: a robotic arm; a surgical instrument coupled to the robotic arm, wherein the surgical instrument comprises an end effector; an input device; and a controller coupled to the robotic arm and to the input device; wherein the controller, in response to receiving a signal that a surgeon has moved the input device in a first degree of freedom, outputs a command to move the end effector in a first corresponding degree of freedom, the movement of the end effector in the first corresponding degree of freedom being scaled by a first scaling factor to the movement of the input device in the first degree of freedom; wherein the controller, in response to receiving a signal that the surgeon has moved the input device in a second degree of freedom, outputs a command to move the end effector in a second corresponding degree of freedom, the movement of the end effector in the second corresponding degree of freedom being scaled by a second scaling factor to the movement of the input device in the second degree of freedom; and wherein the first and second scaling factors are different non-1 values.