Patent ID: 7413565

Claim:
A medical robotic system, comprising: a first medical device; a first input device that can be moved a first input distance to move said first medical device; a second input device that can be moved a second input distance to move said first medical device; and, an instrument controller programmed to generate and provide a movement command for the first medical device including a sum of first and second products wherein the first product is of the first input distance and a first factor that is proportional to the number one minus a user settable parameter value and the second product is of the second input distance and a second factor that is proportional to the user settable parameter value; generate and provide a first sensory indication so as to be sensed by a first operator of the first input device wherein the first sensory indication is proportional to a third product of the user settable parameter value and a difference between the first and second input distances; and generate and provide a second sensory indication so as to be sensed by a second operator of the second input device wherein the second sensory indication is proportional to a fourth product of the number one minus the user settable parameter value and the difference between the first and second input distances; wherein the first and second sensory indications are respectively first and second force feedbacks; and wherein said first force feedback is applied to said first input device and said second force feedback is applied to said second input device.