Master Grip Ratcheting for Teleoperated Surgical Alignment

The patent replaces the mechanical powered alignment system with a computational ratcheting algorithm. Instead of using motors and mechanical actuators in the master manipulator to actively maintain alignment, the system uses a control algorithm that processes sensor data about master-slave orientation differences and generates corrective commands. This substitution of mechanical components with computational logic reduces device complexity while maintaining alignment precision.

The ratcheting alignment system is self-correcting and continuously adjusts alignment based on real-time feedback without requiring external powered intervention. The control algorithm automatically detects misalignment through sensors and generates corrective commands, allowing the system to self-regulate alignment without additional mechanical alignment mechanisms or powered master manipulator components.

By replacing expensive mechanical powered alignment mechanisms with a software-based ratcheting control algorithm, the patent significantly reduces system cost. The algorithm runs on existing control system hardware, eliminating the need for additional motors, sensors, and mechanical components that would be required for powered master manipulator alignment.

The patent uses computationally inexpensive algorithms rather than expensive hardware components. The ratcheting control logic can be implemented as software that processes standard sensor data, avoiding the need for costly specialized hardware and reducing overall system manufacturing cost while maintaining alignment precision.

The ratcheting alignment system operates continuously and seamlessly during teleoperation, constantly processing sensor feedback and generating corrective commands without interruption. This continuous computational process eliminates the delays associated with mechanical powered systems that require activation, response time, and mechanical adjustment, enabling real-time alignment maintenance at full operation speed.

By replacing mechanical powered alignment mechanisms with computational processing, the patent eliminates mechanical response delays, inertia, and activation times. The control algorithm processes alignment corrections instantly based on sensor feedback, enabling alignment maintenance to keep pace with the surgeon's manipulations without operational delays.

The ratcheting alignment system uses continuous feedback from sensors that monitor master and slave orientation. The control algorithm processes this feedback and generates corrective commands that maintain alignment without requiring autonomous motion initiation. The system reacts to and corrects misalignment based on feedback rather than autonomously initiating alignment actions, reducing the extent of automation required.

The alignment system serves itself by automatically detecting and correcting misalignment through computational processing of sensor data. This self-correcting mechanism does not require autonomous motion capabilities in the master manipulator, as the alignment maintenance is achieved through control logic that processes feedback and generates appropriate slave manipulator commands.