Patent ID: 11858144
Assignee: AESCAPE, INC.
Field: Medical technology (Instruments)
Classification: CPC B  A | IPC A  B

Claim 0:
1. A system, comprising:
a support structure;
a robotic manipulator including an end effector;
a controller operably coupled to the robotic manipulator and configured to control an interaction between the end effector and a deformable body when the deformable body is positioned on the support structure; and
a plurality of sensors positioned to detect, during use, multi-dimensional data associated with the deformable body when the deformable body is positioned on the support structure,
the controller configured to:
determine, based on the multi-dimensional data, at least one of a position, an orientation, or a shape of the deformable body when the deformable body is positioned on the support structure;
generate a body model for the deformable body based on the at least one of the position, the orientation, or the shape of the deformable body;
generate an interaction plan based on the body model, the interaction plan comprising a time sequence of interaction goals, wherein planned contact of the end effector with the deformable body is defined by the time sequence of interaction goals, and wherein the time sequence of interaction goals defines a trajectory associated with at least a portion of a stroke; and
cause the robotic manipulator to execute the interaction plan comprising the time sequence of interaction goals, wherein individual interaction goals are sent to the controller based at least in part on a time indicated with each interaction goal.