A surgical method and a control system is provided. The surgical method and the control system can advantageously be used in a minimally invasive surgical apparatus. The method includes generating a desired surgical instrument movement command signal. It further includes comparing the desired surgical...http://www.google.com/patents/US6493608?utm_source=gb-gplus-sharePatent US6493608 - Aspects of a control system of a minimally invasive surgical apparatus
Aspects of a control system of a minimally invasive surgical apparatus
