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.co.uk/patents/US6259806?utm_source=gb-gplus-sharePatent US6259806 - Method and apparatus for transforming coordinate systems in a telemanipulation system
