Patent ID: 11857379
Assignee: KONINKLIJKE PHILIPS N.V.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 7:
8. A controller for force sensed surface scanning, the controller comprising:
a memory that stores instructions; and
a processor structurally configured to execute the instructions and, when executed by the processor, the instructions cause the processor to:
control a surface scanning of an anatomical organ by a surface scanning end-effector of a scanning robot, the surface scanning including generation, by the surface scanning end-effector, of force sensing data informative of a contact force applied by the surface scanning end-effector to the anatomical organ, and
construct an intraoperative volume model based on the force sensing data indicating a surface deformation offset of the anatomical organ, wherein the processor is further structurally configured to define the surface deformation offset based on the force sensing data.