Environment property estimaton and graphical display
AssigneeThe Johns Hopkins University
InventorsAllison Mariko Okamura, Tomonori Yamamoto, Peter Balazs Vagvolgyi
Life of this patent
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Abstract
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.
Claims28
A surgical robot, comprising:
- an imaging system comprising at least one camera;
- a processor in communication with said imaging system;
- a manipulation system in communication with said processor;
- and
- a visual display in communication with said processor,
- wherein said processor is operable to:
- calculate a mechanical property estimate for an area of an environment based on an environment model of tool-environment interaction data;
- create a composite image comprising a mechanical property map of the mechanical property estimate overlaid on an environment image from said at least one camera;
- and
- output the composite image on said visual display.
A data processing unit for use with a surgical robot, comprising:
- at least one input port adapted to receive an environment image from the surgical robot and to receive tool-environment interaction data from the surgical robot;
- an overlay component in communication with said at least one input port;
- and
- an output port in communication with said overlay component,
- wherein said overlay component is adapted to calculate a mechanical property estimate for an area of an environment based on an environment model of tool-environment interaction data, create a composite image comprising a mechanical property map of the mechanical property estimate overlaid on the environment image, and output the composite image to said output port.
A tangible machine readable storage medium that provides instructions, which when executed by a computing platform, cause said computing platform to perform operations comprising a method comprising:
- determining tool-environment interaction data from a palpation of an area of an environment;
- calculating a mechanical property estimate of the area of the environment based on the tool-environment interaction data;
- receiving an environment image;
- generating a composite image comprising a mechanical property map of the mechanical property estimate overlaid on the environment;
- and
- outputting the composite image on a visual display.
Dependencies are inferred from the claim text.