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Obtaining force information in a minimally invasive surgical procedure

  • US 8,374,723 B2
  • Filed: 04/22/2009
  • Issued: 02/12/2013
  • 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, the first kinematic position information being based on joint states of a linkage used to support the end effector, the first position selected by either a user of the robotic surgical system or based upon an event;

    storing second kinematic position information and second actual position information for a second position, the second kinematic position information being based on joint states of a linkage used to support the end effector; 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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