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Computer software used in remote controlled surgical equipment namely, surgical, remote controlled manipulation system software distributed on the several computer of the system, namely, computer software that implements set-up and calibration procedures for sensor and manipulator arms, establishes realtime communication links between the computers of the systems, implements human-machine interfaces for the surgeon in a remote location and for the assistant in the operation room, implements manually-assisted procedures for changing instruments, inserting instruments in the patient body, moving by hand manipulator arms, implements procedures for scaling and coordinating the surgeon hand motion and the surgical instrument motion seen on the monitor display, implements procedures for commanding the surgical endoscope motion, measures and filters the position and orientation given by the surgeon on a master haptics device, applies geometrical transforms to this information to obtain motion commends for the slaves manipulator and sends these commands to the slave manipulator, reads, filters and transmit force and torque information from sensors mounted on the slave manipulator to the master haptics device to provide force-feedback, implements safety functions to detect collisions between arm and between the arm and a human operator, to detect faults of components, abnormal conditions, abnormal forces applied on tissues, and abnormal commands from the surgeon interface, other safety functions include dead-man functions using buttons and pedals, implement black-box real-time data recording functions; computerized remotely operated surgical manipulation system comprised of one or several consoles for the surgeon, each one with a master haptics device and a joystick connected to a dedicated computer, an additional computer dedicated to the user interface, and immersive display, a camera, several LCD monitors, and an audio system connected to the user-interface computer, a remote connection system based on an IP network for linking the computers of the console to those of slave manipulator arms, one or several manipulator arms having each one a slidable cart on which the manipulator slave harm is a mounted, a end-effector equipped with a six degrees of freedom force-torque sensor and accelerometer, and actuation mechanism and an adaptor for surgical instruments and laparoscopes, digital detection and identification means for surgical instruments attached to it, a set of sterile adaptors to connect arms to instruments, a laser-scanner to detect collisions with people, a control and power enclosure including namely power supply and conditioning equipment, servo-amplifiers for motors, and a control computer that is remotely connected to the computers of surgeon consoles, a infra-read based three-dimensional measurement system for calibrating the relative position of manipulator arms, and for monitoring surgical targets during the intervention, a computer with a touch screen display for set-up a monitoring functions, computer software namely a surgical remote controlled manipulation system software distributed on the several computers of the system, instruction manuals, light source, power supply, monitor and images processing equipment for the camera located in the endoscope or laparoscope; remote controlled operated surgical equipment namely laparoscopes, endoscopes, trocars, cannulas, cutters, knives, scope pre heaters, light sources, cables and components parts, electrosurgical instruments, electrocautering instruments, ultrasounds instruments, insufflation instruments, lens cleaning, scrub and biopsy brushes, clip appliers and clips, tack appliers and tacks, applicators legature carries holders, applicator legature needle holders, clamps, hemostats, graspers, instrument guides, forceps, dissectors, scissors, suction probes, irrigation probes, sterile drapes, surgical instruments, namely, scalpes, scalpel blades and handles, staples, tackers, clip appliers, electrocautery tool forceps, needle holders, guides and drivers, graspers and kiteners.

Computer software used in teleoperated surgical equipment namely surgical tele-manipulation system software distributed on the several computer of the system, namely computer software that implements set-up and calibration procedures for sensors and manipulator arms, establishes real-time communication links between the computers of the system, implements human-machine interfaces for the surgeon in a remote location and for the assistant in the operation room, implements manually-assisted procedures for changing instruments, inserting instruments in the patient body, moving by hand manipulator arms, implements procedures for scaling and coordinating the surgeon hand motion and the surgical instrument motion seen on the monitor display, implements procedures for commanding the surgical endoscope motion, measures and filters the position and orientation given by the surgeon on a master haptics device, applies geometrical transforms to this information to obtain motion commands for the slave manipulator and sends these commands to the slave manipulator, reads, filters and transmit force and torque information from sensors mounted on the slave manipulator, to the master haptics device to provide force-feedback, implements safety functions to detect collisions between arms and between the arm and a human operator, to detect faults of components, abnormal conditions, abnormal forces applied on tissues, and abnormal commands from the surgeon interface, other safety functions to ensure that the system br always under control of the human operator namely dead-man functions using buttons and pedals and implement black-box real-time data recording functions. Computerized remotely operated surgical manipulation system comprised of one or several consoles for the surgeon, each one with a master haptics device and a joystick connected to a dedicated computer, an additional computer dedicated to the user interface, an immersive display, a camera, several LCD monitors, and an audio system connected to the user-interface computer, a remote connection system based on an IP network for linking the computers of the console to those of slave manipulator arms, one or several manipulator slave arms having each one a slideable cart on which the manipulator slave arm is mounted, a end-effector equipped with a six degrees of freedom force-torque sensor and accelerometer, an actuation mechanism and an adaptor for surgical instruments and laparoscopes, digital detection and identification means for surgical instruments attached to it, a set of sterile adaptors to connect arms to instruments, a laser-scanner to detect collisions with people, a control and power enclosure including namely power supply and conditioning equipment, servo-amplifiers for motors, and a control computer that is remotely connected to the computers of surgeon consoles, a infra-red based three-dimensional measurement system for calibrating the relative position of manipulator arms, and for monitoring surgical targets during the intervention, a computer with a touch-screen display for set-up and monitoring functions, computer software namely a surgical tele-manipulation system software distributed on the several computers of the system, instruction manuals, light source, power supply, monitor and image processing equipment for the camera located in the endoscope or laparoscope; teleoperated surgical equipment namely laparoscopes, endoscopes, trocars, cannulas, cutters, knives, scope preheaters, light sources, cables and component parts, electrosurgical instruments, electrocautery instruments, ultrasound instruments, insufflation instruments, lens cleaning, scrub and biopsy brushes, clip appliers and clips, tack appliers and tacks, applicators, ligature carriers/needle holders, clamps/hemostats/graspers, instrument guides, forceps, dissectors, scissors, suction/irrigation probes, sterile drapes, surgical instruments, namely scalpels, scalpel blades and handles, staplers, tackers, clip appliers, electrocautery tools, forceps, needle holders, guides and drivers, graspers and kiteners.