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公开(公告)号:US20110201885A1
公开(公告)日:2011-08-18
申请号:US13124350
申请日:2009-10-20
IPC分类号: A61B1/04
CPC分类号: A61B90/37 , 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.
摘要翻译: 一种外科手术机器人,其包括成像系统,所述成像系统包括至少一个相机,与所述成像系统通信的处理器,与所述处理器通信的操纵系统,以及与所述处理器通信的视觉显示器。 所述处理器可操作以基于工具 - 环境交互数据的环境模型来计算环境区域的刚度估计值,创建合成图像,所述合成图像包括覆盖在来自所述至少一个照相机的环境图像上的刚度估计的刚度图 ,并在视觉显示上输出合成图像。
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公开(公告)号:US08700123B2
公开(公告)日:2014-04-15
申请号:US13124350
申请日:2009-10-20
IPC分类号: A61B5/00
CPC分类号: A61B90/37 , 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.
摘要翻译: 一种外科手术机器人,其包括成像系统,所述成像系统包括至少一个相机,与所述成像系统通信的处理器,与所述处理器通信的操纵系统,以及与所述处理器通信的视觉显示器。 所述处理器可操作以基于工具 - 环境交互数据的环境模型来计算环境区域的刚度估计值,创建合成图像,所述合成图像包括覆盖在来自所述至少一个照相机的环境图像上的刚度估计的刚度图 ,并在视觉显示上输出合成图像。
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