06364888 is referenced by 605 patents and cites 5 patents.

This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.

Title
Alignment of master and slave in a minimally invasive surgical apparatus
Application Number
9/287858
Publication Number
6364888 (B1)
Application Date
April 7, 1999
Publication Date
April 2, 2002
Inventor
Gary S Guthart
Foster City
CA, US
William C Nowlin
Los Altos
CA, US
Gunter D Niemeyer
Mountain View
CA, US
Agent
Townsend Townsend & Crew
US
Agent
Mark D Barrish Esq
US
Assignee
Intuitive Surgical
CA, US
IPC
A61B 19/00
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