Obtaining force information in a minimally invasive surgical procedure
US8374723B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 22, 2009 |
| Grant date | Feb 12, 2013 |
| Priority date | — |
| Expiry date | Oct 31, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40144
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.