A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to pair of master handles by...http://www.google.es/patents/US7785320?utm_source=gb-gplus-sharePatente US7785320 - Method for operating a medical robotic system by stopping movement of a surgical instrument about a pivot point or issuing a warning if the pivot point moves beyond a threshold value
Method for operating a medical robotic system by stopping movement of a ...
