Patent ID: 9526581
Filing Date: 2016-12-27
CPC Classification: A61B,A61M

Claim Text:
1. A system comprising: a procedure tool configured to perform a procedure on a body; one or more mechanisms configured to produce a combination movement of the procedure tool in response to control signals applied to the one or more mechanisms; a force sensor configured to measure a resistance force encountered by the procedure tool moving through a skin into tissue; an interface configured to allow input of a procedure treatment plan; a processor configured to process 1) images of the body surface and 2) the procedure treatment plan; a controller operatively associated with the one or more mechanisms, wherein the combination movement of the procedure tool comprises one or more movement parameters, the system is an automated image-guided system and the controller is configured to control one or more movements of the tool based at least in part on a) images processed by a processor, b) the procedure treatment plan and c) a force curve, the force curve being generated based on information provided by the force sensor as the tool is being moved.