SYSTEM AND METHOD FOR DEMONSTRATING PLANNED AUTONOMOUS MANIPULATION OF AN ANATOMY
First Claim
1. A robotic surgical system for manipulating an anatomy and demonstrating planned autonomous manipulation of the anatomy, said system comprising:
- an end effector being configured to manipulate the anatomy;
a demonstrative tool being configured to interact with the anatomy;
a controller configured to generate manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by said end effector in a first mode and generate demonstrative parameters relating to said manipulation parameters and defined in relation to a surface of the anatomy such that said demonstrative parameters are less invasive to the anatomy than said manipulation parameters and wherein said controller is configured to instruct movement of said demonstrative tool in accordance with said demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.
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Abstract
Surgical systems and methods of demonstrating planned autonomous manipulation of an anatomy by a tool of a robotic surgical system include generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the tool in a first mode and generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy. The demonstrative parameters are less invasive to the anatomy than the manipulation parameters. The tool is moved in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy.
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Citations
32 Claims
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1. A robotic surgical system for manipulating an anatomy and demonstrating planned autonomous manipulation of the anatomy, said system comprising:
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an end effector being configured to manipulate the anatomy; a demonstrative tool being configured to interact with the anatomy; a controller configured to generate manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by said end effector in a first mode and generate demonstrative parameters relating to said manipulation parameters and defined in relation to a surface of the anatomy such that said demonstrative parameters are less invasive to the anatomy than said manipulation parameters and wherein said controller is configured to instruct movement of said demonstrative tool in accordance with said demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of demonstrating planned autonomous manipulation of an anatomy by an end effector of a robotic surgical system, said method comprising:
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generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the end effector in a first mode; generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy such that the demonstrative parameters are less invasive to the anatomy than the manipulation parameters; and moving a demonstrative tool in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A robotic surgical system for manipulating an anatomy and demonstrating planned autonomous manipulation of the anatomy, said system comprising:
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a tool being configured to manipulate the anatomy; a controller configured to generate manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by said tool in a first mode and generate demonstrative parameters relating to said manipulation parameters and defined in relation to a surface of the anatomy such that said demonstrative parameters are less invasive to the anatomy than said manipulation parameters and wherein said controller is configured to instruct movement of said tool in accordance with said demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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24. A method of demonstrating planned autonomous manipulation of an anatomy by a tool of a robotic surgical system, said method comprising:
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generating manipulation parameters representing planned constraints on autonomous manipulation of a volume of the anatomy by the tool in a first mode; generating demonstrative parameters relating to the manipulation parameters and defined in relation to a surface of the anatomy such that the demonstrative parameters are less invasive to the anatomy than the manipulation parameters; and moving the tool in accordance with the demonstrative parameters in a second mode thereby demonstrating planned constraints on autonomous manipulation of the anatomy in relation to the surface of the anatomy. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32)
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Specification