A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The...http://www.google.com.au/patents/US7899578?utm_source=gb-gplus-sharePatent US7899578 - Medical robotic system with sliding mode control
