Patent ID: 9566119
Date: 2017-02-14
CPC Classifications: A61B,A61M

Claim:
1. A therapeutic device control system, said system comprising: a servo-driven therapeutic device manipulation system, said manipulation system having at least three degrees of freedom; at least one therapeutic device carried by said manipulation system; a user interface including an input device that permits a user to define a plurality of target points on a tissue surface; a controller for actuating said manipulation system to navigate said at least one therapeutic device to at least one target point of said plurality of target points responsive to the user's definition of the plurality of target points; a memory device for storing a plurality of reference points, wherein said plurality of reference points is generated by periodically measuring a position of the therapeutic device while navigating the at least one therapeutic device to the at least one target point; and a processor for generating a return path from said plurality of reference points, wherein said controller actuates said manipulation system to maneuver the at least one therapeutic device along the return path.