abstract |
Robotic surgical systems are provided for control of an end effector in response to actuation of a user interface device based upon different control states. In each control state, selected movement directions of the user interface device are either coupled to or decoupled from corresponding movements directions of the end effector. Decoupled movement directions can be recoupled by positioning the user interface device within a range of where the user interface device and the end effector were decoupled. To assist with such recoupling, a graphical image estimating a position of the end effector that would be achieved, based upon a current position of the user interface device, if the decoupled movement direction was recoupled can be overlaid upon a current position of the end effector. |