Environment Property Estimation and Graphical Display
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.
OKAMURA ALLISON MARIKO [US]; YAMAMOTO TOMONORI [US]; VAGVOLGYI BALAZS PETER [US]
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