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

Claim 11:
12. A method, comprising:
receiving, at a processor and from a plurality of sensors, sensor data associated with a deformable body in a prone position;
determining, via the processor and based on the sensor data, at least one of a position, an orientation, or a shape of the deformable body in the prone position;
generating, via the processor, 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;
generating, via the processor, an interaction plan based on the body model, the interaction plan comprising a time sequence of interaction goals, wherein planned contact of an end effector of a robotic manipulator 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
causing the robotic manipulator to execute the interaction plan comprising the time sequence of interaction goals, wherein individual interaction goals are sent to a controller operably coupled to the robotic manipulator based at least in part on a time indicated with each interaction goal.