OBTAINING FORCE INFORMATION IN A MINIMALLY INVASIVE SURGICAL PROCEDURE
First Claim
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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Accused Products
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.
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Citations
46 Claims
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1. A method of providing force information for a robotic surgical system, the method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. An assembly for providing force information within a robotic system, the assembly comprising:
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a first input for first kinematic position information from joint states of a linkage while the linkage supports an end effector at a first position; a second input for actual position information; and a module coupled with the first input and the second input, the module providing force information regarding force applied to the end effector at the first position in response to the first kinematic position information and the first visual position information. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46)
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Specification