VISUAL FORCE FEEDBACK IN A MINIMALLY INVASIVE SURGICAL PROCEDURE
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United States of America Patent
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Issued Date -
Feb 27, 2014
app pub date -
Oct 30, 2013
filing date -
Dec 31, 2008
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Abandoned
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Abstract
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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