Obtaining force information in a minimally invasive surgical procedure
First Claim
1. A robotic system comprising:
- a display;
a robotic arm adapted to manipulate an instrument; and
a processor programmed to cause a computer model of the instrument to be displayed relative to a real-time image of the instrument on the display such that the position of the displayed computer model relative to the position of the real-time image of the instrument on the display indicates a force being applied against a distal end of the instrument.
0 Assignments
0 Petitions
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.
-
Citations
8 Claims
-
1. A robotic system comprising:
-
a display; a robotic arm adapted to manipulate an instrument; and a processor programmed to cause a computer model of the instrument to be displayed relative to a real-time image of the instrument on the display such that the position of the displayed computer model relative to the position of the real-time image of the instrument on the display indicates a force being applied against a distal end of the instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
Specification