Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument

A method comprising:

• receiving, by a controller, sensed position and orientation information generated by moving a mechanically ungrounded master tool grip located in a sterile surgical field,
• wherein the sensed position and orientation information is in a body-centric reference frame associated with a person, operating the mechanically ungrounded master tool grip within the sterile surgical field;
• and
• controlling, by the controller, movement of an end effector of a minimally invasive teleoperated slave surgical instrument based on the sensed position and orientation information wherein at least a portion of the surgical instrument is in the sterile surgical field.

In a robotic surgical system including (a) a patient-side surgeon interface further comprising a display device, a mechanically ungrounded master tool grip, and a hand-tracking transmitter, (b) a teleoperated slave surgical instrument, and (c) a control system, a method comprising:

• generating, by the control system, a control command to operate the slave surgical instrument based on movement of the mechanically ungrounded master tool grip;
• wherein the patient-side surgeon interface senses position and orientation of the mechanically ungrounded master tool grip in a body-centric reference frame associated with a person operating the mechanically ungrounded master tool grip when the mechanically ungrounded master tool grip is moved in a field of the hand-tracking transmitter and is moved within a sterile surgical field;
• wherein the control system receives and uses the sensed position and orientation to generate the control command, with respect to a reference frame associated with an image displayed on the display device;
• and
• wherein the control system sends the generated control command to the teleoperated slave surgical instrument.