CPC A61B 34/37 (2016.02) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 90/10 (2016.02); B25J 3/00 (2013.01); B25J 9/1669 (2013.01); B25J 9/1689 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/305 (2016.02); G05B 2219/45117 (2013.01); Y10S 901/27 (2013.01); Y10S 901/41 (2013.01)] | 17 Claims |
1. A teleoperated system comprising:
a master grip; and
a ratcheting system coupled to the master grip, the ratcheting system configured to align the master grip with an instrument commanded by the master grip by:
determining grip rotation values describing an orientation of the master grip;
determining instrument rotation values describing an orientation of the instrument;
determining an orientation error between the orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values; and
reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values, wherein a cutoff frequency for the low pass filtering is determined based on the orientation error.
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