RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT
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United States of America Patent
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Issued Date -
Aug 29, 2024
app pub date -
May 3, 2024
filing date -
Jun 30, 2009
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Abstract
Techniques for ratcheting an alignment between an input means and an instrument include a teleoperated system comprising a robotic means configured to support an instrument, an input means configured to be manipulated by an operator to command motion of the instrument, and a ratcheting means. The ratcheting means is configured to determine first rotation values describing an orientation of the input means; determine second rotation values describing an orientation of the instrument; determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument; generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument; and command the robotic means to move in accordance with the motion command.
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