Brandon D. Itkowitz,Simon P. DiMaio,William C. Nowlin,Gunter D. Niemeyer,David S. Mintz
申请号：
US14996073
公开号：
US20160157949A1
申请日:
2016.01.14
申请国别(地区):
US
年份:
2016
代理人:
摘要：
A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
