公开(公告)号：EP2355711A4

公开(公告)日：2012-04-25

申请号：EP09822545

申请日：2009-10-20

申请人： UNIV JOHNS HOPKINS

发明人： OKAMURA ALLISON MARIKO ,  YAMAMOTO TOMONORI ,  VAGVOLGYI BALAZS PETER

IPC分类号： A61B17/00 ,  A61B19/00 ,  B25J9/16 ,  B25J13/08 ,  G05B19/42

CPC分类号： A61B90/37 ,  A61B19/5225 ,  A61B34/10 ,  A61B34/30 ,  A61B90/06 ,  A61B90/361 ,  A61B2034/101 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/371 ,  B25J9/1671 ,  G05B19/4207 ,  G05B2219/35506 ,  G05B2219/37065 ,  G05B2219/37357 ,  G05B2219/45117

摘要： A surgical robot including an imaging system comprising at least one camera, a processor in communication with the imaging system, a manipulation system in communication with the processor, and a visual display in communication with the processor. The processor is operable to calculate a stiffness estimate for an area of an environment based on an environment model of tool-environment interaction data, create a composite image comprising a stiffness map of the stiffness estimate overlaid on an environment image from the at least one camera, and output the composite image on the visual display.