| 摘要 |
A method of monitoring contact between a probe (12) and a tissue surface (82) includes placing the probe (12) in proximity to the surface (82), robotically moving the probe (12), measuring a tissue parameter at the distal end of the probe (12), calculating an amount of change in the measured tissue parameter between measurements thereof, and indicating a change in proximity or degree of contact between the probe (12) and the surface (82) based upon the amount of change. The indication of change may be based directly upon the calculated amount of change in the measured parameter or upon a calculated rate of change in the parameter. The rate of change may be relative to the time between measurements or the distance traveled by the probe between measurements, and may be calculated as a first, second, or other derivative of the tissue parameter. |
