Visual force feedback in a minimally invasive surgical procedure
US8594841B2 · kind B2 · utility
335Cited by
28References
23Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Apr 22, 2009 |
| Grant date | Nov 26, 2013 |
| Priority date | — |
| Expiry date | Jan 26, 2031 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/47
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.