Robotically controlled surgical instrument, visual force-feedback
First Claim
1. A medical system, comprising:
- a robotic arm;
an end effector coupled to said robotic arm;
a force sensor coupled to said end effector;
a handle coupled to said robotic arm; and
, a visual force indicator coupled to said force sensor.
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Accused Products
Abstract
A robotic medical system that provides a visual indication of the force exerted by an end effector of the system. The end effector is coupled to a robotic arm that is controlled by a handle. The end effector is inserted through an incision of a patient to perform a minimally invasive procedure. The surgeon can view the procedure on a screen that is coupled to an endoscope also inserted into the patient. The visual indicator may be a bar graph displayed on the screen. The bar graph has individual bar segments that are illuminated in accordance with the amplitude of the force exerted by the end effector. The visual force indicator provides a high resolution force feedback system for the instrument end effector.
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Citations
23 Claims
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1. A medical system, comprising:
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a robotic arm;
an end effector coupled to said robotic arm;
a force sensor coupled to said end effector;
a handle coupled to said robotic arm; and
,a visual force indicator coupled to said force sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A medical system, comprising:
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a robotic arm;
an end effector coupled to said robotic arm;
force sensor means for sensing a force applied by said end effector;
a handle coupled to said robotic arm; and
,indicator means for providing an visual indication that correlates to the force sensed by said force sensor means. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for providing a visual indication of a force exerted by an end effector of a medical robotic system, comprising:
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inserting an end effector through an incision in a patient;
actuating the end effector to exert a force on the patient;
sensing the force exerted on the patient; and
,displaying a visual indication of the force. - View Dependent Claims (20, 21, 22, 23)
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Specification