Proximity sensing autonomous robot system and device

Abstract

A proximity sensing autonomous robotic system and apparatus is provided. The robot has one or more vision modules for viewing the environment for depth perception, object detection, object avoidance, and temperature detection of objects. A proximity sensing skin is layered over one or more parts of the robot. The proximity sensing skin has multiple proximity and mechanical stress sensors for collision avoidance, speed control, and slowing down of motion near detected objects, as well as recognition of contact. The proximity sensing skin can have conductive pads for contacting various materials in the composite parts to inhibit galvanic corrosion. The robot has an end effector, and various tools can be attached to the end effector to perform various tasks. The end effector has a mounting interface with connections for supplying power and for hydraulic / pneumatic control of the tools. All wiring to the sensors and vision modules is routed inside the robot.

Description

Technical Field

[0001]

[0001] The embodiments disclosed in this specification relate to autonomous robotics, and more particularly, to proximity-sensing autonomous robot systems and devices for performing tasks in variable environments.

Background Art

[0002]

[0002] An autonomous robot is a type of robot that operates and performs tasks with a high degree of autonomy (without external influence). In contrast to an automated robot that performs the same sequence of tasks in a highly controlled environment to complete a final goal, an autonomous robot can complete the final goal by modifying the sequence and details of the tasks to overcome unpredictable change events in a more chaotic environment.

[0003]

[0003] Autonomous robots are usually specialized and trained to perform specific tasks. Therefore, an autonomous robot cannot be easily adapted or modified to perform other tasks without significant modification. Another difficulty in implementing an autonomous robot is that it is not usually manufactured to be used "out of the box". Rather, sensors and cameras for autonomous operation are added to or retrofitted onto the robot. Integrating sensors and cameras can be difficult or infeasible. Additionally, integrating sensors usually involves routing wires or cables along the outer part of the robot, which can limit the installation location and operation of the robot, especially when the robot is operating in extremely close proximity to other robots or objects that it could get caught on.

[0004]

[0004] Modern robots often use composite parts. Although composite parts are lightweight, they can be damaged by electrolytic corrosion caused by different conductive materials with different electrical conductivity in direct contact. This problem is exacerbated in humid and damp environmental conditions. Anti-corrosion sprays or coatings can be applied to composite parts to suppress electrolytic corrosion, but the effectiveness of such coatings decreases over time. Furthermore, it is not always possible to coat the inside of composite parts, which may require disassembling the robot. [Overview of the project] [Problems that the invention aims to solve]

[0005]

[0005] Therefore, there is a need for new autonomous robotic systems and devices that incorporate proximity sensing and corrosion suppression for easy installation and autonomous operation. [Means for solving the problem]

[0006]

[0006] The autonomous robot disclosed in this patent specification represents a platform technology that enables the creation of multiple design embodiments for specific applications, some of which applications are further discussed herein. Multiple design embodiments of the autonomous robot platform itself are also disclosed.

[0007]

[0007] The autonomous robot solutions for each end-use application under consideration consist of two components. The first component is an autonomous robot platform that functions as the robot's brain and body. The second component is an end-effector that functions as the robot's hand. This two-component approach allows the autonomous robot platform to be easily deployed in new applications by training it on a number of procedural tasks and simply changing the end-effector specific to each application. Some end-effectors will be modified to suit specific tasks, while other end-effectors, such as a sufficiently dexterous robot hand, will be more broadly oriented, thereby further expanding the range of environments in which these autonomous robots can operate.

[0008]

[0008] According to one embodiment, there is a proximity sensing skin. The proximity sensing skin comprises a flexible conductive material for lamination onto a surface, and the conductive material has a plurality of sensors configured to be placed thereon. The plurality of sensors include at least one capacitive sensor for sensing the proximity of an object up to ~10 centimeters from the surface, a single-point time of flight sensor for sensing the proximity of an object from ~10 centimeters to up to ~2 meters from the surface, and a copper trace for measuring the mechanical strain / stress on the surface on which the proximity sensing skin is laminated. The flexible conductive material relays signals from the plurality of sensors to a servo control device, which is configured to move the surface in response to signals from the plurality of sensors.

[0009]

[0009] According to another embodiment, there exists an autonomous robotic device. The autonomous robotic device has an articulated robotic arm having a plurality of rim segments connected by hollow joints. The rim segments are rotatable about the joints in order to move the robotic arm in three dimensions.

[0010]

[0010] The robotic device has an end effector that is detachably mounted on a terminal rim segment. The end effector has an installation interface for detachably mounting a tool. The installation interface includes a latch mechanism for locking the tool to the installation interface and a first vision module for measuring the mounting and detachment of the tool at the installation interface.

[0011]

[0011] The robotic device further has a base attached to the robotic arm. The base includes a second vision module for detecting objects approaching the robotic device. The second vision module includes a pair of RGB cameras for stereoscopic depth perception of objects in the environment around the robotic device, a far-infrared thermal camera for measuring the temperature of objects, and a single-point time-of-flight (ToF) depth sensor for measuring the distance to objects. The base further has a three-axis gimbal, which is configured to orient the second vision module to capture a 360-degree view of the environment around the robotic device. The robotic device is configured to autonomously articulate the robotic arm to perform one or more trained tasks using a tool, while avoiding collisions with objects detected by the second vision system.

[0012]

[0012] According to another embodiment, there exists an autonomous robot system that uses an autonomous robotic device for administering an injection solution. The system includes a support structure for mounting the base of the autonomous robotic device.

[0013]

[0013] The support structure comprises a first receptacle for storing a disposable cartridge filled with a fluid to be injected into the patient, at least a second receptacle for storing waste, and a reloading mechanism for loading a disposable cartridge into the tip of a tool attached to the end effector of the robotic device.

[0014]

[0014] The autonomous robotic device is configured to move the tool adjacent to the reloading mechanism when the tip is unloaded, while avoiding collisions with objects detected by the second vision system, and to move the tool above the second receptacle to discard the disposable cartridge after injection.

[0015]

[0015] Other embodiments and features will become apparent to those skilled in the art by reading the following description of some exemplary embodiments.

[0016]

[0016] The drawings included herein are for illustrating various embodiments of the articles, methods, and apparatus described herein. [Brief explanation of the drawing]

[0017] [Figure 1A]

[0017] This is a perspective view of an autonomous robot device according to one embodiment. [Figure 1B] This is a perspective view of an autonomous robot device according to one embodiment. [Figure 2A]

[0018] Figures 1A and 1B are side views of the base. [Figure 2B] Figures 1A and 1B show perspective views of the base. [Figure 2C]

[0019] Figures 2A and 2B are exploded top views of the base. [Figure 2D] Figures 2A and 2B show exploded views of the base. [Figure 2E]

[0020] Figures 1A and 1B show the bottom view of the base. [Figure 3A]

[0021] It is a front perspective view of an end effector according to an embodiment. [Figure 3B] It is a side perspective view of an end effector according to an embodiment. [Figure 4A]

[0022] It is a perspective view of a proximity sensing skin according to an embodiment. [Figure 4B]

[0023] It is a perspective view of the proximity sensing skin of FIG. 4A attached to the surface of a robot according to an embodiment. [Figure 4C]

[0024] It is a perspective view of the proximity sensing skin of FIG. 4A attached to the surface of a robot according to another embodiment. [Figure 5A]

[0025] It is a top perspective view of a proximity sensing skin according to an embodiment shown in relation to the surface of a robot. [Figure 5B] It is a bottom perspective view of a proximity sensing skin according to an embodiment shown in relation to the surface of a robot. [Figure 6A]

[0026] It is an exploded view of an anti-corrosion proximity sensing skin attached to a robotic composite part according to an embodiment. [Figure 6B] It is a perspective view of an anti-corrosion proximity sensing skin attached to a robotic composite part according to an embodiment. [Figure 6C]

[0027] It is a bottom view of the anti-corrosion proximity sensing skin shown in FIGS. 6A - 6B. [Figure 7]

[0028] It is a perspective view of an autonomous robot system according to an embodiment. [Figure 8A]

[0029] It is a top perspective view of a tool for needleless injection according to an embodiment. [Figure 8B] It is a bottom perspective view of a tool for needleless injection according to an embodiment.

Best Mode for Carrying Out the Invention

[0018]

[0030] Various apparatuses or methods are described below to provide an example of each claimed embodiment. The embodiments described below are not limiting to any of the claimed embodiments, and any claimed embodiment may encompass a process or apparatus different from the process or apparatus described below. The claimed embodiments are not limited to an apparatus or process having all the features of any one apparatus or process described below, nor are they limited to features common to any one or all of the apparatuses described below.

[0019]

[0031] One or more systems described herein may be implemented as computer programs running on a programmable computer, each comprising at least one processor, a data storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. For example, but not limited to, a programmable computer may be a programmable logic unit, a mainframe computer, a server, a personal computer, a cloud-based program or system, a laptop, a personal digital assistant, a mobile phone, a smartphone, or a tablet device.

[0020]

[0032] Each program is preferably implemented in high-level procedural programming or object-oriented programming, and / or in a scripting language, for communication with a computer system. However, the program may be implemented in assembly or machine code, if desired. In either case, the language may be a compiled language or an interpreted language. Each such computer program is preferably stored in a storage medium or device, such storage medium or device being readable by a general-purpose or dedicated programmable computer for configuring and operating a computer when the storage medium or device is read by the computer to carry out the techniques described herein.

[0021]

[0033] The description of one embodiment having multiple components that communicate with each other does not implicitly mean that all of these components are necessary. On the contrary, a variety of optional components are described to illustrate the wide variety of possible embodiments of the present invention.

[0022]

[0034] Furthermore, process steps, method steps, or algorithms may be described sequentially (as described in this disclosure and / or claims), and such processes, methods, and algorithms may be configured to function in an alternating order. In other words, any sequence or order of steps that may be described does not necessarily imply a requirement that the steps be performed in that order. The steps of the processes described herein may be performed in any practical order. Furthermore, some steps may be performed simultaneously.

[0023]

[0035] Where a single device or article is described herein, it will be readily apparent that two or more devices / articles (whether they work together or not) may be used in place of the single device / article. Similarly, where two or more devices or articles are described herein (whether they work together or not), it will be readily apparent that a single device / article may be used in place of the two or more devices or articles.

[0024]

[0036] The robotic systems and devices described herein have multiple fixed or mobile sensors for evaluating the local environment in order to perform autonomous activities. The sensors are integrated as a whole into the robotic systems and devices, and as a result, the sensors are intended to be used as a combined built-in unit with dedicated artificial intelligence (AI) and software without additional configuration. Additional sensors may be incorporated for application-specific requirements. The AI ​​and software are fully integrated into the robotic systems and devices for plug-and-play implementation, without requiring configuration beyond the initial setup when the robotic device is first installed, forming a larger system.

[0025]

[0037] Where the waveform symbol (~) is used herein, it signifies a range of ±10% of the indicated value. For example, ~1.0 means from 0.9 to 1.1.

[0026]

[0038] Referring to Figures 1A and 1B, perspective views of an autonomous robot device 100 according to one embodiment are shown. The robot 100 has an articulated arm 102. The arm 102 has rim segments 104a, 104b, 104c, and 104d connected by joints 106a, 106b, and 106c. The rim segments 104b, 104c, and 104d are rotatable about the joints 106a, 106b, and 106c. Rim segment 104a is rotatable about the base 120. The connectivity of the rim segments 104a, 104b, 104c, and 104d via the joints 106a, 106b, and 106c enables the robot 100 to articulate the arm 102 in three dimensions.

[0027]

[0039] Each rim segment 104a, 104b, 104c, and 104d is preferably fabricated using a carbon fiber composite material to be relatively lightweight and elastic. According to other embodiments, the rim segments 104a, 104b, 104c, and 104d may be constructed from other composite materials such as fiberglass.

[0028]

[0040] Each rim segment 104a, 104b, 104c, and 104d houses one or more servo motors for operating the rim segment. The servo motors are configured to implement a current feedback mechanism for sensing the mechanical resistance the servo experiences when moving the rim segment or joint. The mechanical resistance can be measured by measuring the force / torque applied to each joint / servo by the current feedback mechanism.

[0029]

[0041] All wiring to the servo motors passes through the inside of rim segments 104a, 104b, 104c, and 104d and through hollow joints 106a, 106b, and 106c, and there is no wiring or cable on the outside of the robot 100. If there is wiring or cable on the outside of the robot 100, it may restrict the installation and movement of the robot 100 during operation.

[0030]

[0042] The robot 100 has an end effector 108 for detachably attaching a tool (not shown) to the installation interface 110. The end effector 108 will be described in more detail with reference to Figure 3.

[0031]

[0043] The robot 100 has a base 120. The base 120 is fixed to a support structure (not shown) for supporting the arm 102. Generally, the base 120 has components for controlling the robot 100. The base 120 will be described in more detail with reference to Figures 2A to 2E.

[0032]

[0044] Robot 100 has computing power and sensors for autonomous applications. The sensors include external sensors with vision systems, such as LiDAR, time-of-flight (TOF), and depth sensors. Some of these sensors are stationary at the base 120 of robot 100 to sense the environment in which robot 100 operates and generate information about this environment. According to one embodiment, the base 120 has a rotating LiDAR system or multiple stationary depth sensors positioned at specific discrete angles. Other sensors for operation-specific tasks are installed on the arms 102 and end effectors 108 of robot 100. These sensors include proximity-sensing skin and vision / depth sensors, as described below.

[0033]

[0045] The sensors are integrated into the robot 100 as a whole and are intended to be used as a combined unit with dedicated software without additional configuration. Additional sensors for application-specific requirements may be incorporated into tool 112. The robot 100 also comes with fully integrated and ready-to-use AI and autonomous software. The overall software workflow is described in detail below.

[0034]

[0046] Referring to Figures 2A to 2D, various diagrams of the base 120 shown in Figures 1A and 1B are provided. The base 120 has a bottom 122 for fixing the base 120 to a support structure. The bottom 122 has an opening 124 through which a fastener passes to fix the base 120 to the support structure. The bottom 122 has a number of vents 132 to allow air to circulate through the bottom 122 to cool the power supply unit.

[0035]

[0047] The base 120 has a top 126. The top 126 houses a disk-shaped printed circuit board (PCB) having electrical components for controlling the robot and for processing signals received from proximity sensors on the robot. The PCB has at least one processor and memory for storing processor-executable instructions, including software and AI algorithms / models. When executed by the processor, the instructions configure the robot to autonomously perform multiple trained tasks or movements, and / or process signals from sensors to autonomously control the robot while performing trained tasks in a variable environment.

[0036]

[0048] In collaborative or autonomous robotics, especially when dealing with real-world settings, managing randomness and chaos is crucial. This randomness is mitigated by incorporating a sim-to-real simulation feedback loop workflow into the robot's motion commands. In this workflow, the simulation predicts all changes and randomness in the real world through a process of domain randomization. The simulation can be task-specific or domain-specific. The synthetic data generated by the simulation is then used to train a set of artificial intelligence models to enable prediction and inference in real-world settings. In addition, the AI ​​models can be continuously improved while being used in the real world using methods such as transfer learning.

[0037]

[0049] The robot is an IoT device that runs AI on the Edge. The robot's software can be updated wirelessly via Wi-Fi or 5G network without any interruption while in use in the field. The top 126 houses wireless communication components for connecting to the Wi-Fi or 5G network.

[0038]

[0050] The top section 126 further houses a speaker and indicator LEDs for informing the user of the robot's operating status. For example, a green LED indicates that the robot is operating normally, while a red LED or an audible alarm indicates an error.

[0039]

[0051] The top section 126 further houses a microphone for receiving commands from the user to control the robot's movements. One of the main aspects of this embodiment of the robot is the use of a Vocal Programming Language (VPL). The intention of this programming language is to use automatic speech recognition (ASR) and natural language processing (NLP) techniques to define AI-powered procedural tasks for the robot without requiring any manual programming. This will greatly improve the robot's usefulness for any customer using it and lead to a much wider adoption of robots in daily life.

[0040]

[0052] The top section 126 has a plurality of vents 128 to allow air to circulate through the top section 126 to cool the components inside. The vents 128 further allow sound from the speaker and sound to pass through to the microfins. Light from the indicator LED is also visible through the vents 128.

[0041]

[0053] The base 120 has an intermediate section 130 that is recessed relative to the top 126 and bottom 122. The intermediate section 130 houses the vision module 140 (the vision module 140 is omitted in Figures 2C and 2D for ease of explanation).

[0042]

[0054] Referring to Figures 2A and 2B, the vision module 140 is a critical part of the autonomous robot. The vision module 140 consists of multiple camera sensors 141a, 141b, 142, and 143 to accomplish a variety of tasks, including depth perception, object detection, object avoidance, and object temperature detection. The vision module 140 has two RGB cameras 141a and 141b that utilize ambient lighting, a ToF (Time of Flight) depth sensor 142, and an FIR (Far-Infrared) thermal camera 143. All signals from the vision module 140 are transmitted via a single USB cable, with the aim of transmitting signals to the base of the robot through a hollow shaft in the joint. Signals from the camera sensors 141a, 141b, 142, and 143 are first converted from MIPI or I2C interface to USB using a dedicated integrated circuit. The converted signals are then coupled to a single USB cable by a USB hub type integrated circuit.

[0043]

[0055] The purpose of having two RGB cameras 141a and 141b is to enable stereoscopic depth perception for VR / AR applications and for the calibration of the thermal camera 143. The emissivity calibration of the thermal camera 143 can be calculated and adjusted in real time based on AI-based object detection via the ToF sensor 142 and the RGB cameras 141a and 141b. By utilizing the corresponding emissivity of the detected objects, their temperature can be estimated with greater accuracy.

[0044]

[0056] According to various embodiments, the vision module 140 may be used in both the end effector (i.e., the end effector 108 in Figures 1A-1B) and / or the robot base 120. In the shown embodiment, the vision module 140 is mounted on a 3-axis gimbal 150 on the robot base 120, thereby providing a 360-degree view of the environment around the robot.

[0045]

[0057] The orientation of the gimbal 150 is controlled by three servo motors 152, 154, and 156 to orient the vision module 140 in the appropriate direction. The servo motors 152, 154, and 156 may be linear actuators or rotary actuators. The first servo 152 controls the 360-degree translocation of the gimbal 150 around the circumference of the intermediate section 130 of the base 122 to orient the vision module 140 in a rough direction. The first servo 152 moves the gimbal 150 along a track 158 that extends around the circumference of the intermediate section 130 adjacent to the base 122. The second servo 154 is used for fine control of the vertical tilt of the gimbal 150. The third servo 154 is used for fine control of the horizontal tilt of the gimbal 150.

[0046]

[0058] In addition, the gimbal 150 can be used for real-time orientation for VR / AR applications in telerobotics. For example, a robot operator may connect to the robot wired or wirelessly using a VR / AR headset, and the 3D orientation of the headset is transmitted to the gimbal 150 to orient the vision module 140 in real time. The VR / AR headset can then display the view or measurements of the camera sensors 141a, 141b, 142, and 143 to the user in real time.

[0047]

[0059] In other embodiments, multiple vision modules 140 are statically positioned and oriented on a base 120. This 360-degree environmental perception is constructed by using software to stitch together images from different vision modules 140.

[0048]

[0060] Referring here to Figures 2C to 2D, the base 120 has a central hollow section 134 that passes through the top 126, middle section 130, and bottom 122 of the base 120. Advantageously, the central hollow section 134 allows the electrical wiring of the components of the base 120 and the hydraulic / pneumatic lines to the end effectors to pass through the central hollow section 134, rather than through the outer parts of the robot that could restrict the robot's installation and movement during operation. This enables a relatively easy plug-and-play installation of the robot because all the cabling required for power supply to the robot, hydraulic / pneumatic fluid supply to the end effectors, etc., passes through the central hollow section 134.

[0049]

[0061] Referring to Figure 2E, a bottom view of the base 120 is shown. The bottom 122 of the base 120 houses a power supply unit 160 for connection to a power source to provide power to the robot. The bottom 122 further houses a fan 162 for circulating air through the bottom 122 of the base 120 to cool its components. The bottom 112 further has I / O connectors 164 for connecting devices for configuring and setting up the robot for operation. For example, a VR / AR head-mounted display may be connected to the robot via the I / O connectors 164 so that a user can observe the view captured by the vision module 140 and calibrate the field of view and visibility of the sensors. The I / O connectors 164 are also used to connect the robot to peripherals such as displays, external sensors, or other devices for integration with the robot. The I / O connectors 164 include at least a USB port.

[0050]

[0062] The bottom 112 of the base 120 further houses the valve array 170. For ease of explanation, the valve array 170 is shown partially removed from the bottom 122. The valve array 170 includes several fluid-connected solenoid valves 172, 174, 176, and 178 for regulating the fluid supply to two lines leading to the robot's end effector. The valve array 170 is configured to fluid-connect five or six input fluids (either liquid or gas) to the two output lines leading to the end effector. The input fluids include hydraulic / pneumatic fluids for hydraulic / pneumatic control of the tool attached to the end effector. The input fluids include fluids used by the tool to perform various tasks, such as disinfectants such as distilled / deionized water, IPA, soap, or other chemicals, filtered clean air, compressed air, and pure compressed gases (nitrogen, oxygen, argon, etc.).

[0051]

[0063] The two output lines leading to the end effector 108 can be switched at any time via the valve array 170. This allows one of the lines to be cleaned with IPA or soap, then rinsed with water, and then dried with air, while the other line supplies the working fluid to the end effector 108.

[0052]

[0064] Referring to Figures 3A and 3B, an end effector 300 according to one embodiment is shown. The end effector 300 may be the end effector 108 in Figures 1A and 1B. The end effector 300 may be specifically adapted to mount a particular tool to a robot. The end effector 300 is detachable from the robot to accommodate a variety of tools for a variety of tasks. The end effector 300 has an mounting interface 302 for mounting tools. The mounting interface 302 includes a mechanical latch-based or magnetic mounting mechanism. The latch-based mechanism includes a rotary mechanism or a translational mechanism as described below.

[0053]

[0065] In the illustrated embodiment, the mounting interface 302 includes a rotating mechanical latch base mechanism similar to that of a detachable lens on a DSLR camera. The mounting interface 302 has a helical collar 304 for engaging with a helical groove on the tool. The end effector 300 rotatably faces the tool, so that the rotation of the end effector 300 relative to the stationary tool causes the helical collar 304 to screw into and engage with the helical groove in the tool. Unlike DSLR cameras where rotational motion is achieved by a human user, in this embodiment, rotational motion is achieved by a last degree of freedom (DOF) servo located within the end effector 300. This significantly reduces complexity and the need for additional actuation and motion units to mount the tool.

[0054]

[0066] The robotic arm (i.e., robotic arm 102 in Figures 1A-1B) positions the end effector 300 adjacent to the tool, which is being held stationary, and initiates a rotational motion at the mounting interface 302 to screw the tool onto the end effector 304. This motion ends when the rotation reaches the end of the helical collar 304 and the tool hits the rigid stop 306 of the end effector 300. At this point, the rotational torque of the last DOF servo inside the end effector 300 increases significantly, causing the robot to recognize that the tool is fully mounted to the end effector 300 and that the latch has been engaged by mechanical or electrical means to lock the tool in place.

[0055]

[0067] According to another embodiment, the installation interface 302 includes a translational mechanical latch base installation mechanism. The translational mechanical latch base mechanism operates by moving the end effector 300 by a robot arm in linear motion over a tool that is held stationary until it reaches a rigid stop, thereby activating the latch in the process of locking the tool to the end effector 300 at the installation interface 302. The linear motion ends with an increase in mechanical resistance to all DOF servos of the robot.

[0056]

[0068] In addition, in either of the mounting mechanisms (rotary or translational) mentioned above, the sensor can be used to detect both the presence of a tool on the end effector 300 and / or the completion of the attachment / detachment process. The end effector 300 has a vision module 308. The vision module 308 is substantially similar to the vision module 104 described above and has a camera and proximity sensor for detecting the tool and the attachment / detachment of the tool to / from the end effector 300.

[0057]

[0069] Regardless of the mounting mechanism (rotary or translational), the tool can be passive or active. Active tools are controlled and powered directly and automatically by the robot. The mounting interface 304 has pneumatic / hydraulic connectors 310, 312 and, if necessary, an automatic release valve connected to two fluid supply lines for hydraulic / pneumatic control of the tool. The pneumatic / hydraulic connectors 301, 312 on the mounting interface 304 are aligned and connected to corresponding connectors on the tool when the tool is mounted to the end effector 300. The pneumatic / hydraulic connectors 310, 312 and the valve are connected to hydraulic / pneumatic fluid supply lines that pass through the interior via an opening 316 in the end effector 300.

[0058]

[0070] The robot controls the tool via an electrical connection 314. The electrical connection is formed by a spring-loaded pogo pin and a trace 314 located on the mounting interface 302, with the trace 314 contacting a complementary pogo pin and trace located on the tool when the tool is mounted on the end effector 300. The electrical connection 314 includes power lines, digital I / O and communication lines (such as I2C, SPI, CAN, and USB), as well as high-precision analog signal lines. The tool is hot-swappable, thereby providing the ability to change tools while the robot (and / or tool) is powered and functioning. The pogo pin 314 may be located on the front of the mounting interface 302 (as shown) or on the side of the mounting interface 302. According to embodiments where the electrical connection 314 is located on the side of the mounting interface 302, there are leads extending from the tool to reach the electrical connection 314.

[0059]

[0071] Referring to Figure 4A, a proximity-sensing skin 200 according to one embodiment is shown. The proximity-sensing skin 200 typically has at least one capacitive sensor and one ToF sensor. According to various embodiments, the proximity-sensing skin 200 can have multiple types of sensors, including capacitive pressure sensors and resistive pressure sensors, optical-based sensors such as infrared ToF and laser-based proximity sensors, and stress sensors such as strain gauges or tension gauges. The proximity-sensing skin 200 is fabricated from a flexible PCB or a flexible and stretchable conductive material / fabric. Multiple types of sensors may be incorporated into the proximity-sensing skin 200 as mentioned above, and then data obtained from other sensors is used by utilizing sensor fusion data processing techniques.

[0060]

[0072] In the shown embodiment, the proximity-sensing skin 200 comprises a plurality of copper capacitive sensors 202 and ToF (time-of-flight) sensors 204 arranged on a flexible PCB 206. The PCB 206 may be constructed from a capacitive film. The capacitive sensors 202 are arranged as a set of four capacitive sensors 202 having a 2x2 grid, with the ToF sensors 204 at the center of each 2x2 grid. As shown, the proximity-sensing skin 200 has four 2x2 grids and comprises a total of 16 capacitive sensors 202 and four time-of-flight sensors 204. According to other embodiments, the arrangement configuration of the capacitive sensors 202 and ToF sensors 206 on the PCB 206 may vary depending on the specific application.

[0061]

[0073] The capacitive sensor 202 is configured to detect the proximity of relatively close objects, up to approximately 10 centimeters from the sensor 202. The ToF sensor 204 is a single-point time-of-flight sensor equipped with a phototransistor and an IR LED. The ToF sensor 204 is configured to detect the proximity of objects at longer distances, up to approximately 1 meter from the sensor 204, but cannot detect objects at relatively short distances. By using the capacitive sensor 202 in combination with the ToF sensor 204, a wider combined sensing range can be provided for objects at very close proximity (within a 10 cm range) and objects at longer distances of up to 1 meter.

[0062]

[0074] The proximity sensing skin 200 has copper traces 208 for measuring the mechanical strain on the proximity sensing skin 200 and / or the strain on the robot surface to which the proximity sensing skin 200 is attached. Although the copper traces 208 shown in Figure 4A appear linear, they are actually zigzag across the middle of the PCB 206 in a substantially linear path between sensors 202 and 204. When the sensing skin 200 or the robot component to which the sensing skin 200 is attached is subjected to stress, the copper traces 208 stretch, changing the resistance within the copper traces 208. The change in the resistance of the copper traces 208 can be measured as an indicator of the stress on the robot component to which the sensing skin 200 is attached.

[0063]

[0075] The proximity sensing skin 200 includes a circuit for supplying power to sensors 202, 204, and 208, and a circuit for relaying signals from sensors 202, 204, and 208 to a control device on the robot via a connector 210.

[0064]

[0076] Referring to Figure 4B, a proximity-sensing skin 200 attached to a robot surface 212 according to one embodiment is shown. The proximity-sensing skin 200 is attached to the robot surface 212 to facilitate safe operation and to facilitate cooperation between the robot and other nearby robots, humans, or objects. The robot surface 212 may be located anywhere on the robot, including the base or robot arm, and the proximity-sensing skin 200 may also be attached to removable tools. In the embodiment shown, the robot surface 212 is on the outer part of the robot. According to another embodiment, the robot surface 212 to which the proximity-sensing skin 200 is attached is an inner surface of the robot.

[0065]

[0077] Referring to Figure 4C, a proximity-sensing skin 200 attached to a robot surface 216 is shown according to another embodiment. In this embodiment, the robot surface 216 to which the proximity-sensing skin 200 is attached is located inside the robot. The robot component 218, which includes the robot surface 216, should be thin enough to allow the copper capacitance sensor 202 to sense the proximity of an object through the component 218, and should be nonmetallic.

[0066]

[0078] This component 218 has an aperture 214 between surface 212 and surface 216. When the proximity-sensing skin 200 is attached to surface 216, the ToF sensor 204 is aligned with the aperture 214. IR light emitted by the ToF sensor 204 and reflected IR light from the object pass through the aperture 214 and are recorded by the ToF sensor 204.

[0067]

[0079] Referring to Figures 4B and 4C, the proximity sensing skin 200 can be incorporated into the monolithic component 218 of the robot's body itself. The proximity sensing skin 200 can be laminated onto the external surface (Figure 4B) or internal surface (Figure 4C) of the monolithic component 218 using epoxy resin to form the component 218. The PCB 206 can take any shape and can conform to the curvature / contour of the carbon fiber composite component 218. The PCB 206 has a perforated geometry to facilitate the flow of the epoxy resin. To prevent blockage of the ToF sensor 204, a suitable epoxy resin that is transparent to IR light is used. For aesthetic reasons, the component 218 can be painted / spray coated / polished to conceal the presence of any sensors 202, 204, 208 incorporated inside. To prevent blockage of the ToF sensor 204, a suitable paint or coating that is transparent to IR light is used.

[0068]

[0080] Connector 210 relays signals from sensors 202, 204, and 208 to the servo driver / controller PCB. Typically, connector 210 is mounted on the driver / controller PCB of an adjacent or nearest servo actuator on top of the robot, and the robot is configured to move over a component or surface on which the proximity-sensing skin 200 is laminated. Connector 210 reaches the servo controller PCB via the inside of the robot.

[0069]

[0081] Measurements from sensors 202, 204, and 208 are used to switch between various modes of robot operation or to provide input to feedback control algorithms to adjust the robot's movements. These measurements are used for collision avoidance, speed control, deceleration of motion near detected objects, or contact recognition. For collision avoidance, proximity sensors 202 and 204 are used to maintain a minimum threshold distance between the component 218 to which the proximity-sensing skin 200 is attached and surrounding objects. When proximity sensors 202 and 204 detect an object (i.e., a human, another robot, or another object) that is within the minimum threshold distance range of the surface, the robot will switch to a force / torque compensation mode to prevent a collision with that object.

[0070]

[0082] The proximity sensors 202 and 204 either avoid or ignore the self-sensing of the robot on which they are located. Depending on the position of the robot arm and the arrangement of various proximity-sensing skins 200 on various parts of the robot, the capacitive sensors 202 and ToF sensors 204 on specific proximity-sensing skins 200 are automatically activated or deactivated, or their sensing results are ignored to prevent self-sensing.

[0071]

[0083] Referring to Figures 5A and 5B, a proximity sensing skin 220 according to one embodiment is shown, which is shown in relation to the robot surface 230. The proximity sensing skin 220 is substantially the same as the proximity sensing skin 200 in Figure 4A. The proximity sensing skin 220 has copper traces 208 and a plurality of capacitive sensors 202 arranged in a 2x2 grid on a flexible PCB 222, each equipped with a ToF sensor 204 in the center of each 2x2 grid. The PCB 222 has cutout tabs 224 in the center of each 2x2 grid, and the ToF sensors 204 are positioned on the cutout tabs 224. The cutout tabs 224 are set back from the top surface 226 of the PCB 222, so that the tops of the ToF sensors 204 are substantially flush with the top surface 226 of the PCB 222.

[0072]

[0084] The proximity-sensing skin 220 is attached to the robot surface 230 having an aperture 232. When the proximity-sensing skin 220 is attached to the robot surface 230, the tab 224 and the ToF sensor 204 positioned on the tab 224 are housed within the aperture 232. This arrangement allows the robot surface 230 to have a smooth finish and further protects the ToF sensor 204 from damage if the robot surface 230 comes into contact with another object within the area of ​​the ToF sensor 204. The proximity-sensing skin 220 can be laminated onto the robot surface 230 using epoxy resin to form a monolithic component as described above.

[0073]

[0085] In some embodiments, infrared (IR) LEDs are incorporated into a flexible PCB 222 so as to be tracked by a VR / AR device. The LED pattern on the PCB 222 is unique to each PCB 222 to determine the position of the PCB 222 relative to a robot part 234 to which the proximity sensor skin 222 is attached, such as a base or end effector. A user wearing a VR / AR headset equipped with an IR camera can see the IR LED light to determine the robot's position relative to the VR / AR headset. This may be done so as to allow the user to decide where on the robot to attach the proximity skin, and also to determine the direction in which the robot can sense the proximity of an object.

[0074]

[0086] The IR LED is mounted on a tab 224 of the PCB 222 so as to avoid any protrusions and textures on the surface 230 of the component 234. If any paint application / spray coating / polishing finish is applied to the component 234 after the proximity sensor skin 222 has been attached, the finish is transparent to IR light so that the light emitted by the IR LED can pass through. In another embodiment, the IR LED is included in the previously described single-point ToF sensor 204. The brightness of the IR LED for AR / VR positioning purposes and object proximity detection can be adjusted using pulse width modulation in the LED duty cycle.

[0075]

[0087] Referring to Figure 6A, an exploded view of a corrosion-resistant proximity-sensing skin 250 attached to robot composite parts 260a and 260b according to one embodiment is shown. The composite parts 260a and 260b have a carbon fiber part 260a and a metal bracket 260b bonded together to form the composite part 260 shown in Figure 6B. One problem with composite parts is electrolytic corrosion. Electrolytic corrosion usually occurs when parts 260a and 260b, constructed from different electrically conductive materials, come into direct contact, thereby causing preferential corrosion in one of the parts 260a and 260b depending on their electrical conductivity.

[0076]

[0088] Electrolytic corrosion of parts 260a and 260b can be mitigated by integrating a corrosion-resistant proximity sensing skin 250 with the composite part 260. The corrosion-resistant proximity sensing skin 250 is substantially similar to the proximity sensing skin 220 in Figures 5A and 5B and has multiple proximity sensors 256. The corrosion-resistant proximity sensing skin 250 has a flexible PCB 252 with a folding segment 254 between the sensors 256 and electrical contacts 258. The proximity sensing skin 250 is attached to the composite part 260a and 260b during bonding of parts 260a and 260b, so that the folding region 254 is inserted between parts 260a and 206b of the bonded composite part 260, as shown in Figure 6B.

[0077]

[0089] Referring to Figure 6C, a bottom view of the corrosion-preventive proximity-sensing skin 250 is shown. The folding segment 254 has a pair of conductive pads 255, 257 that contact both the metal bracket 260b and the carbon fiber component 260a. The first conductive pad 255 contacts the carbon fiber component 260a, and the second conductive pad 257 contacts the metal bracket 260b. A small current supplied via electrical contacts 258 flows between pads 255 and 257, thereby achieving cathode protection to prevent electrolytic corrosion of components 260a, 260b.

[0078]

[0090] Referring to Figure 7, an autonomous robotic system 400 according to one embodiment is shown. The robotic system 400 is trained to perform autonomous medical procedures and injections. These include, but are not limited to, subcutaneous injections, intramuscular injections, intra-articular injections, epidural injections, intradural injections, biopsy sampling, fluid aspiration, intravenous access (central line, peripheral line, and / or central line for peripheral insertion), intra-arterial access (arterial line), endothelial catheterization, epithelial catheterization, and Kirschner wire (K-wire) insertion. In one or more of these applications, a needle-based or needleless-based mechanism may be used to complete the required task, such as drug administration.

[0079]

[0091] The autonomous system 400 has an autonomous robotic device 100, shown in Figures 1A and 1B, which includes a tool 402 mounted on an end effector 108. As described above, the end effector 108 forms electrical and hydraulic / pneumatic connections to the tool 402 for powering the tool 402 and for controlling the tool 402 when mounted. The tool 402 has a replaceable tip 406 configured for needle-based blood sampling and injection or needleless injection. The tip 406 may have a syringe for blood sampling or a vial or cartridge filled with an injectable fluid. The tool 402 further has sensors to assist with injection and blood sampling, as described below.

[0080]

[0092] Tool 402 may further have a deformable stretching mechanism (not shown) having a rigid or flexible link mechanism that expands radially when the vertical height is reduced. The stretching mechanism is deployed outward during the injection process to stretch the patient's skin to an optimal state for injection. This may be appropriate if the patient has less-than-ideal skin conditions such as wrinkles or lesions. The stretching mechanism gradually stretches the skin as the end effector 108 of the robot 100 pushes toward the patient's arm (or other body part). By integrating load cells / strain gauges into the mechanism, radial and axial loads on the stretching mechanism can be measured. It is important to note that the loads / forces acting on the stretching mechanism are not the same as the loads / forces acting on the tip 406 (injection mechanism).

[0081]

[0093] Because the extension mechanism comes into contact with the patient's body, the cover / tip is replaceable for hygienic reasons. In another embodiment, the extension mechanism may be both disposable and non-disposable. Non-disposable designs may be made from more permanent materials such as metal (aluminum, stainless steel) or plastic with higher durability. In this embodiment, the extension mechanism needs to be disinfected between uses.

[0082]

[0094] The stretching mechanism can be fabricated from soft plastics and / or rigid plastics, fabrics, and smart materials (i.e., electroactive polymers, shape memory alloys, or polymers). The stretching mechanism can be integrated with a disposable vial to form a single component.

[0083]

[0095] The base 120 of the robot 100 is attached to a support structure 404. The support structure 404 has a touchscreen display 408 for presenting commands to the user 500 and for receiving input from the user 500 to assist the robot 100's interaction with the user 500. For example, the display 408 can present instructions to the user 500 to stand close to the robot 100 with their arm facing the robot 100, based on sensor measurements from a vision module that detects the user's proximity to the robot 100, the end effector 108, or the tool 402. The display 404 may be connected to the robot 100 via an I / O connector located in the base 120, thereby allowing the robot 100 to output images to present on the display 408.

[0084]

[0096] The support structure 404 has a plurality of receptacles (or trays) 410, 412. The first receptacle 410 is used to store empty syringes or cartridges containing injectable fluids. At least the second receptacle 412 is used to store waste, such as used cartridges and needles. The receptacles 410, 412 are removable from the support structure 404 to empty or refill their contents. According to other embodiments, the support structure 404 can store vial spools or packages instead of receptacles 410.

[0085]

[0097] The robot 100 is configured to autonomously perform injections or blood draws and then replenish or replace the tip 406. One replenishment process involves the use of pre-filled single-dose or multi-dose vials. Single-dose and multi-dose vials can be removed from the receptacle 410 by a reloading mechanism 416. The support structure 404 has an opening 414 adjacent to the reloading mechanism 416. To replace the tip 406, the robot 100 articulates its arm 102 to drop the old tip 416 into the waste receptacle 412, and then inserts a tool 402 through the opening 414. The reloading mechanism 416 then engages with the tool 402 and replaces the tip 406 with a new vial. This replenishment method provides a simple and infrequent method of replenishing the robot by adding a new vial to the receptacle 410 after multiple doses.

[0086]

[0098] Another replenishment process involves using a hydraulic pump connected to a larger container (not shown) of vaccine / drug. The fluid for replenishing the tip 406 is transported to the end effector 108 via a valve array located in the base 120 and tubing that passes through the inside of the robot 100. This fluid can be administered directly to the patient / customer using both needleless and needle-assisted methods. In addition, the fluid can be used to fill empty vials, which can be used using both needleless and needle-assisted methods.

[0087]

[0099] To articulate the arm 102 for injection and reloading without contacting nearby objects such as the user 500 or the support structure 404, the robot 100 observes the environment by vision modules located in the base 120 and end effector 108 as described above. The robot 100 implements AI object detection and is trained to identify objects for specific applications, such as vials, syringes, needles, and objects to interact with, such as the user 500 or the reloading mechanism 416 on the support structure 404. The robot 100 may further have at least one proximity-sensing skin layered on parts of the robot 100, such as the arm 102, the end effector 108, or the tool 402.

[0088]

[0100] As mentioned above, most of the information used to determine the injection location is obtained using live vision data (RGB camera, depth vision, IR, ultrasound, LIDAR, etc.) from the vision module located within the base 120. However, due to line-of-sight issues or fast-moving targets, precise positioning may not be accessible from these sensors at the last moment of contact. Therefore, for fine-tuning and rapid correction of the control system, lower-resolution but faster (real-time) sensors may be utilized within the vision module of the end effector 108. Additional sensors in tool 402 or peripheral devices may be connected to the robot 100 to provide additional sensing capabilities required for specific applications. A description of these sensors / peripherals and their use is provided below.

[0089]

[0101] Ultrasound-based or sonar-based sensors / peripherals are an ideal choice for inexpensively detecting internal body features such as muscle, bone, and veins / arteries. Sensing these features is crucial for determining the insertion point, depth, and angle on the patient's body to avoid medical complications and patient injury. 2D and 3D ultrasound data are typically transmitted to a robot and processed by computer vision algorithms. These computer vision algorithms may include ML / AI, such as edge detection and AI-based semantic segmentation.

[0090]

[0102] Infrared vision sensors / peripherals are another option for detecting anatomical features near the skin, which can be useful for intramuscular and intravenous injections as well as blood sampling applications. Similar to sonar and ultrasound data, infrared data is typically processed by computer vision algorithms. These algorithms may include ML / AI, such as edge detection and AI-based semantic segmentation.

[0091]

[0103] Load cells and strain gauge sensors / peripheral devices are used to measure the forces applied by the robot 100 or tool 402 during interaction with an object. Whether using a needle or needleless, a critical measurement when performing injection / blood draw is the measurement of the force / load applied to the patient and tool 402 itself. Improper application of force can lead to operation failure, potential patient injury, pain and discomfort, and / or damage to tool 402.

[0092]

[0104] As mentioned above, some medical procedures rely on more precise localization of preoperative anatomical features. Localization can be achieved using external markers and images obtained by MRI, X-ray, CT scans, or PET scans performed by peripheral devices. External markers can be seen by vision sensors located on the base 120 or end effector 108, such as cameras or depth sensors, and once the external markers are identified, medical image data can be mapped to the actual physical world. In addition, 3D data from depth sensors can be used, either independently or in conjunction with identified markers, to map medical image data as well. Once the medical image data is mapped to the physical world, the position of the robot relative to the patient and the patient's organs is determined.

[0093]

[0105] According to various embodiments, the autonomous robot system 400 can be configured for other applications, interactions, and / or collaboration with humans or other robots or peripheral devices. The robot system 400 can be easily adapted for specific applications by simply replacing tool 402 with another tool or by connecting the robot to peripheral devices, as described below.

[0094]

[0106] According to various embodiments, the autonomous robotic system 400 is implemented for needle-based applications. In one embodiment, the needle-based application is intramuscular (IM) or subcutaneous injection, such as vaccines. Currently, vaccines are administered to patients by healthcare workers, making it a highly labor-intensive process. By using the autonomous robotic system 400, it becomes possible to autonomously administer IM injections, such as vaccines, without direct intervention from healthcare service providers.

[0095]

[0107] A comparative analogy can be made to a self-checkout aisle in a grocery store where a store employee monitors the self-checkout booth area. Similarly, in IM injections, a healthcare provider may monitor the area of ​​an autonomous robot booth where a vaccine (or other IM injection or subcutaneous injection) is administered to a patient. In this embodiment, a healthcare professional would only need to intervene if the patient encounters a workflow problem or if the patient receives a warning from robot 100. This application relies on several of the technologies disclosed herein, including, but not limited to, stereoscopic vision, lidar, ultrasound, and collision avoidance.

[0096]

[0108] In another embodiment, the autonomous robotic system 400 is used as a robotic phlebotomist to perform blood sampling without direct intervention from a medical professional. This embodiment may use additional image guidance, such as infrared, to visualize superficial blood vessels. Ultrasound may also be used to visualize deeper structures such as blood vessels, muscles, bones, and fat. In this particular application, an infrared sensor or an ultrasonic sensor may be integrated into the tool 402 and / or into a vision module located in the end effector 108.

[0097]

[0109] In another embodiment, the autonomous robotic system 400 is used for needle-based biopsies. When performing a tumor biopsy, the robot 100 may register with a preoperative imaging device such as an MRI to locate the site for biopsy according to the MRI image and to obtain a tumor biopsy specimen, without direct intervention from the healthcare provider.

[0098]

[0110] In another embodiment, the autonomous robotic system 400 is used for spinal block or injection, such as epidural or subdural. For example, the robot 100 may administer paralytics to the patient via spinal block as part of the preoperative workflow without direct intervention from an anesthesiologist. In this embodiment, ultrasound is used for image guidance to improve accuracy. Preoperative imaging such as MRI may also be integrated to further improve the visualization of soft tissue structures such as nerve roots.

[0099]

[0111] In another embodiment, an autonomous robotic system 400 is used for intra-articular injection. For example, the robot can utilize imaging techniques such as ultrasound or X-ray to visualize the joint cavity (e.g., the buttocks) without direct intervention from a healthcare provider. The robot 100 can then administer an intra-articular injection solution (hyaluronic acid) into the joint cavity to achieve therapeutic relief from osteoarthritis. Other intra-articular injection solutions may include, but are not limited to, platelet-rich plasma and cortisone.

[0100]

[0112] In another embodiment, an autonomous robotic system 400 is used for a hair transplantation procedure. In this embodiment, AI can be used not only on the robotics side but also in procedural planning to help technicians evaluate where to take hair from or where to transplant the hair. The robot can then take and transplant the hair based on this procedural plan without direct intervention from a medical professional.

[0101]

[0113] In another embodiment, an autonomous robotic system 400 is used for swab testing. This includes, but is not limited to, nasopharyngeal swabs, oropharyngeal swabs, cervical swabs, urethral swabs, etc. In the COVID swab embodiment, the robot can administer swabs without direct intervention from healthcare providers, thereby keeping healthcare providers safe from the spread of the virus. This embodiment may use vision technologies such as LiDAR, stereoscopic vision, preoperative MRI, or CT to assist in placing swabs through the robot.

[0102]

[0114] In another embodiment, the autonomous robotic system 400 is used for needleless injection. In needleless injection, a drug / substance is injected without the use of a needle, as indicated by its name. This injection mechanism simply utilizes pneumatic pressure as a means of pushing the drug out so that it is ejected inside the patient's tissue. The pneumatic pressure is generated by a conventional continuously operating compressor or by a localized positive-pressure piston located within the tool 402. The positive-pressure piston creates individual pressures using a spring-loaded latching mechanism.

[0103]

[0115] When a conventional compressor-based pneumatic system is used, pressure is controlled and applied to the tool 402 using an actively controlled pressure regulating valve and flow control valve / solenoid located in a valve array within the base 120 of the robot 100. The target pressure of the pressure regulating valve can be electronically controlled by the main robot control system. Precise control of the technique is crucial because some drugs / vaccines (depending on their molecular structure) are sensitive to this applied pressure, and therefore, if the wrong pressure is applied, the drug / vaccine will be adversely affected.

[0104]

[0116] If a spring-loaded latch mechanism is used, the loading and unloading of the latch can be automated using a shape memory alloy or electromagnetic actuator within the tool 402. Force and proximity sensors located on the end effector 108 can be used to determine the state of the mechanism (i.e., latched, filled, unloaded, etc.) and / or multidirectional forces acting on the mechanism during various stages of the process as described above (i.e., filling, injection, discarding, etc.).

[0105]

[0117] Referring to Figures 8A and 8B, a tool 600 for needleless injection according to one embodiment is shown. Tool 600 may be tool 402 shown in Figure 7.

[0106]

[0118] The tool 600 has a positive-pressure piston syringe 602 that creates individual pressure for injecting the contents of a replaceable vial 604 into the patient. The piston syringe 602 has a first spring-loaded latch 606 for injecting the contents of the vial 604 and a second spring-loaded latch 608 for removing the vial 604 from the tool 600 after use. The piston syringe 602 may be a ready-made component for manual, handheld operation (e.g., a Pharma Jet syringe).

[0107]

[0119] A piston syringe 602 is incorporated into a tool 600 for autonomous injection by a robot. The tool 600 has a housing 610 for holding the piston syringe 602. The housing 610 has two shape memory alloy actuator wires 610, 612 fixed at both ends, which pass over pulleys to engage with spring-loaded latches 606, 608. The first actuator wire 610 engages with the first spring-loaded latch 606 via a first pulley system 614, and the second actuator wire 612 engages with the second spring-loaded latch 608 via a second pulley system 616.

[0108]

[0120] The shape memory alloy wires 610 and 612 shrink and shorten when heated. Tool 600 has a heating element (not shown) for selectively heating the actuator wires 610 and 612, which tightens the wires, thereby pressing down spring-loaded latches 606 and 608 to inject the contents of vial 604 or to remove vial 604 after use.

[0109]

[0121] For the applications of the autonomous robotic system 400 described above, if non-disposable devices and mechanisms are used for any reason, it is crucial that these non-disposable devices and mechanisms are thoroughly disinfected between uses. In another embodiment, the autonomous robotic system 400 is used for self-disinfection and / or disinfection of the surrounding environment. A disinfection tool may be mounted on the end effector 108, or the robot 100 may be disinfected by an adjacent robot having a disinfection tool. The disinfection tool is configured to employ a disinfection method, but is not limited to, IR heating or Joule heating, chemical disinfection using alcohol, soap, cleaner, biocide, or pneumatic / mechanical disinfection using pressurized air, pressurized water, or abrasive fluid.

[0110]

[0122] According to one embodiment, the end effector 108 has a high-intensity UV lamp or LED used by the robot 100 to self-disinfect itself, the surrounding environment, and / or adjacent robots. In addition, the robot 100 itself may be coated with an antimicrobial IR-transmitting paint, thereby improving protection and disinfection in conjunction with the other methods mentioned above.

[0111]

[0123] While the above description provides one or more embodiments of an apparatus, method, or system, it will be recognized, as can be read by those skilled in the art, that other apparatus, methods, or systems may also be within the scope of the claims.

Claims

1. It is a proximity-sensing skin, It is equipped with a flexible conductive material for lamination onto the surface, The aforementioned flexible conductive material, The system has a plurality of sensors arranged on the aforementioned flexible conductive material, The aforementioned multiple sensors At least one capacitive sensor for sensing the proximity of an object at a maximum distance of up to 10 centimeters from the surface, A single-point time-of-flight sensor for sensing the proximity of an object from the aforementioned surface at a distance of approximately 10 centimeters to a maximum of approximately 2 meters, The device comprises a copper trace for measuring mechanical strain / stress on the surface on which the proximity-sensing skin is laminated, The aforementioned time-of-flight sensor, Phototransistors and Equipped with infrared LEDs, A proximity-sensing skin wherein the flexible conductive material relays signals from the plurality of sensors to a servo control device configured to move the surface in response to the signals from the plurality of sensors.

2. The proximity sensing skin according to claim 1, wherein the proximity sensing skin is laminated on the surface using an epoxy resin that forms a monolithic component.

3. The proximity-sensing skin according to claim 1, wherein the surface is on top of a composite component, and the composite component is constructed of metal and carbon fiber or fiberglass.

4. A first conductive pad that contacts the carbon fiber segment of the composite component, A second conductive pad that contacts the metal segment of the composite component, Furthermore, In order to suppress electrolytic corrosion of the composite component, current passes between the first conductive pad and the second conductive pad. The proximity sensing skin according to claim 3.

Images