发明名称 |
Visual force feedback in a minimally invasive surgical procedure |
摘要 |
Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.
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申请公布号 |
US8594841(B2) |
申请公布日期 |
2013.11.26 |
申请号 |
US20090428142 |
申请日期 |
2009.04.22 |
申请人 |
ZHAO WENYI;ZHAO TAO;LARKIN DAVID Q.;INTUITIVE SURGICAL OPERATIONS, INC. |
发明人 |
ZHAO WENYI;ZHAO TAO;LARKIN DAVID Q. |
分类号 |
G06F19/00 |
主分类号 |
G06F19/00 |
代理机构 |
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代理人 |
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地址 |
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