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OBTAINING FORCE INFORMATION IN A MINIMALLY INVASIVE SURGICAL PROCEDURE

  • US 20100168918A1
  • Filed: 04/22/2009
  • Published: 07/01/2010
  • Est. Priority Date: 12/31/2008
  • Status: Active Grant
First Claim
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1. A method of providing force information for a robotic surgical system, the method comprising:

  • 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.

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