Abstract: Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.

Abstract: Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, independent base by a second robotic linkage. One or more of these robotic assemblies may be moved relative to the other. To coordinate the end effector movements with those of input devices being manipulated by a surgeon relative to a display of a surgical worksite, the processor deriving the commands for movement of the robotic linkages may make use of a signal indicating a relative orientation of the bases of the robotic arm assemblies. Surprisingly, the robotic arm assemblies may not transmit signals to the processor indicating a relative translational position of the bases.

Abstract: 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.

Abstract: 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.

Abstract: An IEEE 488 interface couples a microprocessor to one or more devices that are connected to an IEEE 488 bus. Message transmission speed is improved by overlapping a portion of the T1 bus settling time with the microprocessor's write pulse, when it is known that the data on the microprocessor's bus is valid for a predefined period of time before the write pulse's trailing edge. Improved handshake synchronization is achieved by generating an interrupt signal to notify the microprocessor that the last byte of an incoming message has been received. The terminal count signal generated by the microprocessor's DMA controller is used to detect the end of multiple byte messages sent by the microprocessor. The interface automatically generates an EOI signal on the IEEE 488 bus when the last byte of the message is asserted on the IEEE 488 bus data lines. This greatly simplifies the transmission of multiple byte messages by the microprocessor compared with the protocol used by prior art interfaces.

Abstract: A modified IEEE 488.1 bus interface increases, by as much as a factor of eight, the rate at which inter-instrument data transfers can be performed. The bus interface state machines presented in the ANSI/IEEE Std 488.1-1987 have been modified so that if all the devices involved in a particular data transfer are equipped to handle high speed data transfers, then a modified data transmission methodology is used so as to enable multiline messages to be transmitted at a higher speed than would otherwise be possible. If any of the devices involved in a particular data transfer does not have an interface equipped to handle high speed data transfers, this condition is automatically detected by the interfaces with high speed capability, and then the standard data transmission methodology is used. The high speed data transmission mode is totally transparent to the controller software in that it does not require any changes to the controller software nor to the device drivers and device application programs.

Abstract: An IEEE 488 interface couples a microprocessor to one or more devices that are connected to an IEEE 488 bus. Message transmission speed is improved by overlapping a portion of the T1 bus settling time with the microprocessor's write pulse, when it is known that the data on the microprocessor's bus is valid for a predefined period of time before the write pulse's trailing edge. Improved handshake synchronization is achieved by generating an interrupt signal to notify the microprocessor that the last byte of an incoming message has been received. The terminal count signal generated by the microprocessor's DMA controller is used to detect the end of multiple byte messages sent by the microprocessor. The interface automatically generates an EOI signal on the IEEE 488 bus when the last byte of the message is asserted on the IEEE 488 bus data lines. This greatly simplifies the transmission of multiple byte messages by the microprocessor compared with the protocol used by prior art interfaces.