(57) ABSTRACT A haptic device having a plurality of operational modes, including a? rst
operational mode and a second operational mode is provided. The? rst operational mode is …

An apparatus for interfacing the movement of a shaft with a computer includes a support, a
gimbal mechanism having two degrees of freedom, and three electromechanical …

(57) ABSTRACT A method and apparatus for interfacing the motion of a user-manipulable
object with an electrical or computer sys tem includes a user object physically contacted by a …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …

Devices, systems, and methods for avoiding collisions between a manipulator arm and an
outer patient surface by moving the manipulator within a null-space. In response to a …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …