CPC A61B 34/20 (2016.02) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/301 (2016.02); A61B 2562/0257 (2013.01)] | 20 Claims |
1. A method of controlling a surgical robotic system based on a user's grip on a user interface device, the method comprising:
determining a grip configuration of a user's hand on a user interface device of a surgical robotic system;
determining, based on the grip configuration, a virtual center of rotation of the user interface device; and
generating, based on the virtual center of rotation of the user interface device, control commands to actuate a component of the surgical robotic system.
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