Telesurgical system with intrinsic haptic feedback by dynamic characteristic line adaptation for gripping force and end effector coordinates

Abstract

A teleoperation system is provided, having a slave having a drive unit which drives a gripping end effector, wherein a kinematic coordinated end effector and a gripping force f effector can be determined with a camera which is preferably integrated in the slave and which is aligned with the end effector; a master, which is remote from the slave, with at least one operating unit on which a user can exert a gripping head FG, the gripping force being transmitted to the slave, and a visual user interface representing the image of the camera; and where FG is linearly dependent on the kinematic coordinate and the Feffector.

Dependencies are inferred from the claim text.