| CPC G16H 20/17 (2018.01) | 30 Claims |
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1. A system comprising:
a processor; and
a memory storing instructions thereon that, when executed by the processor, cause the processor to:
control a robotic arm, having an infusion device attached thereto, to move to a target object comprising an anatomical element of a patient and insert the infusion device into the target object;
control the infusion device attached to the robotic arm to infuse a medical substance into the target object according to a first flow rate;
control the robotic arm to withdraw the infusion device from the target object at a withdrawal rate;
calculate a remaining capacity included in a volume of the target object based on the withdrawal rate of the infusion device from the target object, the remaining capacity corresponding to a cavity left behind by the infusion device;
determine a second flow rate for infusing the medical substance into the target object based on the remaining capacity, the second flow rate being different than the first flow rate; and
control the robotic arm to continue withdrawing the infusion device from the target object at the withdrawal rate while controlling the infusion device to infuse, the medical substance into the target object according to the second flow rate.
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