Patent ID: 8184094

Claim:
A system comprising: a user manipulatable object comprising a laparoscopic tool handle and an elongated member extending from the laparoscopic tool handle; a gimbal mechanism coupled to the user manipulatable object, the gimbal mechanism configured to receive the elongated member of the user manipulatable object and to allow the user manipulatable object to move in at least three rotational degrees of freedom and a translational degree of freedom; a trocar coupled to the gimbal mechanism, the trocar configured to receive the elongated member of the user manipulatable object; a first sensor configured to determine a first movement of the user manipulatable object in a first rotational degree of freedom and to transmit a first sensor signal based on the first movement; a second sensor configured to determine a second movement of the user manipulatable object in a second rotational degree of freedom and to transmit a second sensor signal based on the second movement; a third sensor configured to determine a third movement of the user manipulatable object in a third rotational degree of freedom and to transmit a third sensor signal based on the third movement; a fourth sensor configured to determine a fourth movement of the user manipulatable object in the translational degree of freedom and to transmit a fourth sensor signal based on the fourth movement; and a local processor in communication with the first, second, third, and fourth sensors and configured to: receive the first, second, third, and fourth sensor signals, and transmit a local processing signal to a host processor, the local processing signal based on at least one of the first, second, third, or fourth sensor signals.