In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity,...http://www.google.de/patents/US8068649?utm_source=gb-gplus-sharePatent US8068649 - Method and apparatus for transforming coordinate systems in a telemanipulation system
