Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery

This invention describes a way for a surgeon to reposition their control handle relative to the surgical tool inside the patient during robotic surgery. When the surgeon wants to move their hand without moving the tool, the system temporarily freezes the tool's position and orientation. At the same time, it locks the orientation of the surgeon's control handle but allows them to freely move their hand in space, effectively 'resetting' their wrist position without affecting the patient.

Why it matters: Filed when surgical robotics was still nascent, the computational demands for real-time, precise control loops described have become significantly more feasible and robust with two decades of advancements in processing power and control system software. This allows for more sophisticated and reliable implementation of such decoupling methods.

Status: ExpiredProtection ended and was never renewed
How hard to build: SpecializedRobotic manipulators, sensors, complex control software

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