Pressure sores prevention robotic system

Abstract

The present disclosure provides a robotic system for pressure sore prevention comprising a force resistance sensor (FRS) array configured to measure force applied thereon by a body part of a patient positioned thereon; an array of at least two Soft Robot assemblies connected to the FRS array, each of the at least two Soft Robot assemblies configured to accept fluid into it, to change its degree of inflation independently of other Soft Robot assemblies; and a control unit configured to periodically receive force measurements from the FRS array to instruct the array of at least two Soft Robot assemblies to change its degree of inflation once a predefined threshold is reached, to change a 3D configuration of the robotic system and thus, change position and / or orientation of the body part, and interrupt the pressure applied by the body part onto the surface of the FRS array, for pressure sores prevention.

Description

[0001] PRESSURE SORES PREVENTION ROBOTIC SYSTEM

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a robotic system comprising an array of Soft Robots configured to change their degree of inflation, based on measured force applied by a patient onto a Force Sensor array as a part of a robotic device, and an incorporated LiDAR device to recognize foreign objects and position of the body onto the array of Soft Robots and a Force Resistance Sensor array, to prevent pressure sores.

[0004] BACKGROUND OF THE DISCLOSURE

[0005] Pressure sores are ulcers that occur on the soft live tissue when the tissue stays underpressure for a prolonged time applied at the same location of the tissue. The pressure applied on the tissue reduces or cuts off blood flow to the patient's soft tissues. Lack of blood flow causes sores to develop, which leads to skin cells in the patient's soft tissues to undergo necrosis process, and as the dead tissues become damaged, pressure sores are formed.

[0006] In order to prevent pressure sores, it is required to relieve the pressure and friction that may lead to such sores. Accordingly, changing the position of the patient, e.g., a patient that is kept in the same position, should be done periodically.

[0007] Some, if not most of the patients who suffer from pressure sores, are not independent or lack the ability to feel pain, and thus cannot change their position on their own, and in many cases, the medical staff is typically unavailable to perform periodic position changes. Therefore, there is a need for an automatic system that can change position of the patient when required to prevent the formation of pressure sores, or which provides a closed feedback loop for pressure relief.

[0008] SUMMARY OF THE DISCLOSURE

[0009] An aspect of an embodiment of the disclosure, relates to a robotic system for prevention of pressure sores. The robotic system may comprise a robotic device, which may be a surface onto which the patient’s entire body, or a section of the patient’s body may be rested upon, e.g., a mattress. The robotic device comprises an electronic system that is configured to detect a place along the robotic device that has been under pressure for a long time. An action, such as a position or orientation change, for example, lifting a limb, e.g., a foot, may cease pressure on the soft body tissue surrounding the area being under prolonged pressure, thereby preventing formation of pressure sores. The robotic system may comprise the following components: an array of Soft Robot assemblies that may inflate and deflate and thus enable change in 3D configuration, e.g., change in position and orientation of the body or body part under pressure; and an array of Force Resistance Sensors (FRS) connected to the Soft Robots array, whereby measurements of force applied onto the array of force sensors by at least a body part resting on the FRS array, and possibly via measurements by pressure sensors positioned inside the robotic device, determine the degree of inflation or deflation of the Soft Robots.

[0010] The robotic system may further comprise: a microcontroller-based Control unit (MCU), which executes an algorithm, which based on measurements from the force sensor array controls the Soft Robots per their degree of inflation (or deflation), monitors system parameters, collects statistics, reports system status, e.g., by displaying it onto a display system or by transmitting it to an external computerized device, and manages all types of electromechanical actuators implemented in the robotic device, and

[0011] A LiDAR-based scanning system for patient surface modeling, comprising: a three-dimensional Light Detection and Ranging (3D LiDAR) sensor configured to scan a work area surface of the robotic system.

[0012] In some embodiments, the 3D LiDAR sensor may be communicatively coupled to the microcontroller unit (MCU).

[0013] According to some embodiments, the 3D LiDAR sensor may generate position and shape data of objects within the work area.

[0014] In some embodiments, the 3D LiDAR sensor may be configured to: detect non-patient objects within the work area; track positional changes of a patient relative to a soft robotic array and a forceresistance sensor array; generate a patient surface model including boundary envelope parameters; and transmit control data to the MCU enabling algorithmic control of the soft robotic array to maintain elevation of a patient's foot while ignoring data related to detected nonpatient objects. The inflated soft robot assemblies create a rigid surface that itself increases a risk of pressure sores formation. To address this, the body part, e.g., a leg, can either rest on a soft robot unit (e.g., pillow) in its active state, i.e., its inflated state, for stable positioning or the leg may be positioned between two active Soft Robot units above a passive Soft Robot unit, i.e., at a deflated state. In both cases, different distributed forces are applied, each one in a different scheme, and by intelligently adjusting the force patterns, pressure on specific areas of the body can be reduced per both duration and intensity. Configurations with multiple rows of soft robot units further enhance pressure redistribution, improving patient comfort and safety.

[0015] In some embodiments, the robotic system may further comprise a hot air duct, configured to enable the exit of heated air through perforations along the air duct. The addition of hot air to the robotic device may assist with faster therapeutic effect, since heat applied on the tissue may increase blood circulation, which would also lead to better patient comfort. Furthermore, adding heated air may enable the robotic system to save battery consumption by the Soft Robots, since the time period for active state of the Soft Robots may be shortened, while accelerating tissue recovery via the applied heat.

[0016] All the components are electrically connected to the Control unit (MCU) . The Force sensor array is a source of data for the MCU to measure the forces applied onto the tissue. The Soft Robot Array physically moves the patient's body parts, onto which pressure is applied. The LiDAR may determine the position of certain body parts as well as of foreign objects that are not part of the patient's body, e.g., a bag placed onto the robotic device, and which applied pressure onto the Force sensor array, however, should not be taken into consideration as a soft tissue being under pressure and thus there is no need to change the position of the foreign object over time. The heated air may facilitate better blood circulation, as an addition to the activity of the Soft Robots.

[0017] Optionally, the robotic device may further comprise one or more of the following additional components: a cover onto the upper surface of the Soft Robots Array, to prevent dirt from entering the spaces in between the Soft Robots array. The cover is configured to create the upper surface of the robotic system, the upper surface being in contact with the human body, e.g., to create a surface of a mattress; and belts or pads configured to connect one Soft Robot to a neighbor Soft Robot. When one Soft Robot assembly changes its degree of inflation, e.g., when one Soft Robot assembly is inflated to its maximum, the neighboring soft belt assemblies may be somewhat raised along with the rising of the actual soft root assembly being inflated, thereby helping to create a slope (i.e., Dynamic Ergonomic Structure) along the surface of the robotic device, which may be some sort of a mattress. The belts may assist in creating slopes all along the Soft Robot array, thereby causing change in position of the body part resting onto the robotic device.

[0018] An aspect of an embodiment of the disclosure relates to a single Soft Robot assembly, which may be connected to all of its nearest Soft Robot assemblies from all of its sides, by belts, to thereby create the entire robotic device by connecting one Soft Robot assembly to all its neighboring Soft Robot assemblies.

[0019] In some embodiments, a fluid may be used to inflate each of the Soft Robots, for example, air or other fluids, such as water, oil, some type of gas, excluding dangerous or flammable gases like oxygen, chlorine, etc.

[0020] Some robotic devices may comprise an array of a few Soft Robot assemblies connected to one another, e.g., to create a Dynamic Ergonomic Structure comprising the specified shape of Soft Robot assemblies. In other embodiments, other numbers of Soft Robot assemblies may be implemented, in an array of substantially any shape.

[0021] According to embodiments of the present disclosure, a robotic system for pressure sore prevention is provided. The robotic system may comprise: a force resistance sensor array configured to measure force applied thereon by at least a body part of a patient that is positioned on top of the force resistance sensor array; an array of at least two Soft Robot assemblies connected to the force resistance sensor array, each of the at least two Soft Robot assemblies is configured to accept fluid into it or release fluid out of it, such to change its degree of inflation independently of the other Soft Robot assembly of the array of at least two Soft Robot assemblies; and a control unit configured to periodically receive force measurements from the force resistance sensor array and to instruct the array of at least two Soft Robot assemblies to change its degree of inflation once a predefined threshold is reached, to thereby change a 3D configuration of the robotic system and, thus, change the position and / or orientation of the at least body part, and interrupt the pressure applied by the at least body part onto the surface on which this part of the body is located, for pressure sores prevention.

[0022] 1. Optionally, the control unit may be configured to execute an algorithm that accumulates the received force measurements over time, compares the accumulated received force measurements to a predefined threshold, and once the accumulated received force measurements are equal or above the predefined threshold, activates the array of at least two Soft Robot assemblies to eliminate or reduce the force applied by the at least body part on the surface of the force resistance sensor array on which the at least body part is located, for pressure sores prevention.

[0023] Optionally, the fluid within the soft robot assemblies may be gas or liquid other compatible substance.

[0024] Optionally, the gas may be air, and the liquid may oil or water.

[0025] Optionally, each of the at least two Soft Robot assemblies comprises between two to four soft robot pillows fluidically connected to one another, and stacked one on top of the other.

[0026] Optionally, the robotic system, further comprising permanent magnets or electromagnets positioned adjacent the array of at least two Soft Robot assemblies, wherein said magnets or electromagnets are attracted to pre-installed metal components or other permanent magnets or other electromagnets that are connected to the array of at least two Soft Robot assemblies, wherein said attraction compresses the pillows of the Soft Robot assemblies, thereby displacing gas or liquid from the pillows of the soft robot assemblies thereby avoiding the use of vacuum to perform such displacement.

[0027] Optionally, the array of at least two Soft Robot assemblies may be made of a soft, biocompatible and safe material.

[0028] Optionally, the size of the force resistance sensor array may be determined based on the size of the at least body part configured to be placed on top of the force resistance sensor array.

[0029] Optionally, when one of the at least two Soft Robot assemblies is not in active state, i.e., inflated state, that Soft Robot assembly maintains the same surface layout as the rest of the array of array of at least two Soft Robot assemblies in its deflated state.

[0030] Optionally, the robotic system further comprises a LiDAR (Light Detection and Ranging) sensor, the LiDAR sensor configured to provide the Control Unit with information regarding objects identification and determination of the presence of objects that require actual change of position and orientation for pressure sores prevention, while ignoring atypical or unexpected or outranged objects, and exclude the atypical or unexpected or outranged objects from processing, such that these objected have no impact on operation of the robotic system or that presence of these objects causes issuance of an alarm by the robotic system.

[0031] Optionally, the robotic system further comprises an external air heater configured to heat air to a therapeutically effective temperature significantly below a patient's pain threshold. In some embodiments, the external air heater may be further configured to distribute the heated air through air outlets across the force resistance sensor array to achieve better blood circulation compared to blood circulation in the absence of the heated air.

[0032] Optionally, the air outlets may be integrated into a welded polymer film structure, thermally isolated from the force resistance sensor array, and may be positioned to prevent direct skin contact with the heated air.

[0033] Optionally, the air outlets are algorithmically controlled by the control unit, to release of enable heated air to exit through the air outlets, providing a therapeutic effect that enables reduction in period during which the position and / or orientation of the at least body part are changed, thereby conserving energy to keep soft robot in its active inflated state, while enhancing therapeutic efficacy and patient comfort.

[0034] Optionally, the robotic system is configured to be used for immobilized human and some animal patients.

[0035] BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present disclosure will be understood and better appreciated from the following detailed description taken in conjunction with the drawings. Identical structures, elements or parts, which appear in more than one figure, are generally labeled with the same or similar number in all the figures in which they appear, wherein:

[0037] Fig. 1A is a schematic illustration of the robotic system for prevention of pressure sores, according to embodiments of the disclosure;

[0038] Fig. IB is a schematic diagram of the robotic system for prevention of pressure sores, according to embodiments of the disclosure;

[0039] Fig. 2 is a schematic illustration of a top view of a Soft Robot assembly, in unfolded configuration, comprising a plurality of Soft Robot pillows connected in line to one another, and further connected to an array of Force Resistance Sensors (FRS), according to embodiments of the disclosure;

[0040] Figs. 3A-3B are schematic illustrations of a side view and a front view, respectively, of the Soft Robot assembly, according to embodiments of the disclosure;

[0041] Fig. 3C is a schematic illustration of an air pneumatic diagram of the robotic system for prevention of pressure sores, according to embodiments of the disclosure;

[0042] Figs. 4A-4B are schematic illustrations of a body part, e.g., a foot, as it is positioned on and is in contact with force sensor array, and as it is lifted above the force sensor array, respectively, in accordance with embodiments of the present disclosure;

[0043] Fig. 5 A is a three-dimensional schematic illustration of a front view of a single Soft Robot assembly, in folded configuration, according to embodiments of the disclosure;

[0044] Fig. 5B is a three-dimensional schematic illustration of a rear view of a single Soft Robot assembly, in folded configuration, according to embodiments of the disclosure;

[0045] Fig. 5C is a three-dimensional schematic illustration of a front perspective view of a single Soft Robot assembly, in folded configuration, according to embodiments of the disclosure;

[0046] Fig 6A is an image of a top view of a single Soft Robot assembly, in folded configuration, according to embodiments of the disclosure;

[0047] Fig. 6B is an image of a side view of a single Soft Robot assembly, in folded configuration, according to embodiments of the disclosure;

[0048] Fig. 7A is a schematic illustration of a robotic device comprising an array of Soft Robot assemblies, according to embodiments of the disclosure;

[0049] Fig. 7B is a three-dimensional schematic illustration of a front view of a robotic device comprising an array of Soft Robot assemblies, in folded configuration, according to embodiments of the disclosure;

[0050] Fig. 7C is a three-dimensional schematic illustration of a front-side view of a robotic device comprising an array of Soft Robot assemblies, in folded configuration, while some of the Soft Robots and inflated and some are deflated, according to embodiments of the disclosure;

[0051] Fig. 8 is a schematic illustration of the connection means between adjacent Soft Robot assemblies, according to embodiments of the present disclosure; and

[0052] Fig. 9 is a schematic illustration of pulsed laser beams emerging from a LiDAR device, according to embodiments of the present disclosure. DETAILED DESCRIPTION

[0053] The present disclosure provides a robotic system, which comprises a robotic device that is configured to be placed under the entire patient’ s body or under certain body parts of the patient, typically beneath the patient’s soft tissue, next to bony areas, the latter being more inclined to develop pressure sores due to their immobility, e.g., following anesthesia, or any other medical condition.

[0054] In some embodiments, the robotic device comprises an array of a plurality of Soft Robot assemblies connected to an array of Force Resistance Sensors (FRS). Each of the Soft Robot assemblies is configured to change the amount of gas or fluid inside them, e.g., configured to change their degree of inflation, based on measured force applied by the patient or the patient’s body part, onto the FRS array, to prevent bedsores. That is, measuring force applied by the patient’s entire body or by a certain body part, onto the robotic device, specifically onto the FRS array, is done by measuring a change in resistance in the FRS array. Then, based on a predefined algorithm, the resistance or forces are translated into an electrical signal relating to the patient's (body part) position, which is transferred to a Control unit. In response, the controller commands the Soft Robots, e.g., via valves and air pipes, the amount of liquid or gas, e.g., air that is to be inserted into or removed from each of the plurality of Soft Robots comprising the Soft Robots' array. The change in the amount of gas or liquid at one or more of the Soft Robots, leads to lifting- up (or lowering) a part of the body in proximity to the Soft Robots, by the Soft Robots. This change in inflation (or deflation) degree changes the force applied by the patient’s body part at an area, which is sensitive to pressure sores, thereby relieving the pressure off that body part and preventing the formation of pressure sores at that area. A continuous change of the degree of inflation (or deflation) of the Soft Robots, which is performed according to an algorithm, per continuous measuring by an array of Force Resistance Sensors to which the Soft Robots are connected, is beneficial and advantageous, as it does not require the constant involvement and manual monitoring by medical personnel.

[0055] Fig. 1A is a schematic illustration of the robotic system for prevention of pressure sores, according to embodiments of the disclosure. In some embodiments, robotic system 1000 may be positioned on a surface that the patient is lying on, e.g., patient bed 1002. Robotic system 1000 may be positioned beneath the patient's body or body part 1004. Robotic system 1000 may comprise an FRS array 1020, which is configured to measure the force applied by the body part that is placed on top of the FRS array 1020. In the example illustrated in Fig. 1A, the body part that is positioned on top of FRS array 1020 is a patient's foot, or ankle. However, it should be clear that additional or other body parts may be positioned on top of FRS array 1020.

[0056] FRS array 1020 is different from pressure sensors. Pressure sensors are configured to measure weight per a certain area, whereas the Force Resistance sensors are configured to measure force by converting it to resistance change at a certain point, regardless of the size of the area onto which the force is applied. Thus, FRS array 1020 are more accurate in determining the actual force applied by the patient's body or body part. According to some embodiments, as soon as force is applied onto FRS array 1020, the metal powder within FRS array 1020 is moved, the metal particles come closer to one another, which raises the measured resistance, which is translated into an electrical signal by a controller 1030, to which FRS array 1020 is electrically connected to.

[0057] In some embodiments, the size of the FRS array 1020 may be designed to fit the size of the body part it is required to monitor, per the force it applies onto the FRS array 1020. For example, for an FRS array prototype the pitch rate is 45mm, including a matrix of 16 rows and 8 columns of force resistance sensors. For other body parts, different sized FRS arrays may be designed. In some embodiments, the size of the FRS array 1020 may be larger than the body part it is required to monitor, such to enable the monitored body part to change position and orientation (via change in degree of inflation of the Soft Robots assemblies 1010, as explained hereinbelow) while still resting on top of the FRS array 1020 to enable it to still be monitored by the FRS array 1020.

[0058] According to some embodiments, connected to FRS array 1020 are Soft Robot assemblies 1010 and 1010'. In the example illustrated in Fig. 1A, soft robot assemblies 1010 are in inflated, while soft robot assemblies 1010' are deflated or uninflated. Soft robot assemblies 1010 (and 1010') are functional robotic mechanisms that are made of soft materials, such as a plastic material, other polymeric material, rubber or any other soft material that is biocompatible, safe, and comfortable.

[0059] In some embodiments, robotic system 1000 may further comprise a control unit 1030, e.g., an MCU-based Control Unit configured to control operation of the electromechanical elements of robotic system 1000. The force or resistance measured by FRS array 1020 is received by control unit 1030, and control unit 1030 provides instructions to soft robot assemblies 1010 and 1010, specifically to valves connected to soft robot assemblies 1010 and 1010', to open or close. Once the valves are instructed to open or close, the proper amount of fluid, e.g., air, may be supplied into or out of soft robot assemblies 1010 and 1010', to inflate (entry valves are open, exit valves are closed), cease inflation (entry and exit valves are closed) or deflate (exit valves are open, entry valves are closed). The continuous force-resistance measurements by FRS array 1020, enables a reoccurring change in the degree of inflation of soft robot assemblies 1010 and 1010', which leads to a continuous change in position of the patient's body part that is resting on FRS array 1020, thereby preventing pressure sores.

[0060] In some embodiments, the air or fluid may flow into soft robot assemblies 1010 and 1010' through air / fluid supply or exhaust ducts 1080, via corresponding valves (not shown).

[0061] In some embodiments, robotic system 1000 may further comprise a LiDAR sensor 1040. The LiDAR sensor 1040 may be configured to scan the surface of the area of interest of robotic system 1000, to assist control unit 1030 to determine position and shape of objects in the area of interest. The LiDAR 1040 may be configured to detect "foreign objects", i.e., objects that are not part of the patient's body 1004, which should not be taken into consideration with respect to monitoring the force applied by them onto robotic system 1000, and thus should not lead to unnecessary position changes by the Soft Robot assemblies 1010 and 1010'.

[0062] In some embodiments, robotic system 1000 may further comprise perforated air duct 1090 configured to provide heated air supply. The air outlets of perforated air duct 1090 may be used to warm the body part it is located beneath, or in proximity to. Air Heated to a therapeutically effective temperature significantly below a patient's pain threshold, may lead to better blood flow, as it may cause the blood vessels to expand. Thus, the combination of the changing degree of inflation of soft robots which cause a reoccurring change in position and / or orientation of the patient's body part that is positioned on top of FRS array 1020, with heated air that causes expansion of blood vessels and thus improves blood circulation, are beneficial in providing a combined solution for preventing pressure sores.

[0063] In some embodiments, the air outlets of perforated air duct 1090 may be integrated into a welded polymer film structure, thermally isolated from the FRS array 1020, e.g., by bedding layers, and may be positioned to prevent direct skin contact with the heated air.

[0064] In some embodiments, the air outlets of perforated air duct 1090 are algorithmically controlled by the control unit 1030, to enable heated air to exit through the air outlets to provide therapeutic efficacy of better blood circulation and patient comfort.

[0065] Fig. IB is a schematic diagram of the robotic system 1000 for the prevention of pressure sores, according to embodiments of the disclosure. Fig. IB provides a schematic diagram of the robotic system 1000 in Fig. 1A. In some embodiments, robotic system 1000 may comprise an array of Soft Robot assemblies 1010. Each of the Soft Robot assemblies may comprise at least one inflatable chamber or cushion or pillow, stacked one on top of the other.

[0066] In some embodiments, the robotic system 1000 comprises a Control unit 1030, e.g., a microcontroller-based Control Unit (mCU) configured to control operation of the electromechanical elements of the robotic system 1000. In some embodiments, the robotic system 1000 further comprises an array of Force Resistance Sensors 1020, which may be configured to measure force applied onto them by a body part. The measured force may be received by the control unit 1030 and translated by a predefined algorithm to a degree of inflation at a specific location along the robotic system 1000, i.e., at one or more Soft Robot assemblies 1010, to thereby change position and / or orientation of the body part resting on FRS array 1020, and thus prevent formation of pressure sores in that body part. The Force resistance sensors 1020 may continuously measure force applied onto them by measuring changes in resistance occurring within FRS array 1020, such to enable a quick response by the control unit 1030. Control unit 1030 is configured to control fluid / air pressure within the Soft Robot assemblies 1010, which affects the changes in position and orientation of the body part, to thereby prevent pressure sores from forming in that body part.

[0067] In some embodiments, the algorithm is configured to determine the duration of force exerted, and the range of force exerted onto the Soft Robot assemblies 1010. Thereafter, the Soft Robot assemblies 1010 are controlled, per degree of inflation (and deflation), to change position of the Soft Robot assemblies 1010 and to remeasure force exerted by the body part onto the FRS array 1020. Then again, the algorithm is executed to determine force range and duration, to further control change in position of the Soft Robot assemblies 1010, when either the duration or the range of force exerted onto the force sensor array 1020 exceed a corresponding predetermined threshold.

[0068] In some embodiments, the robotic system 1000 may further comprise a LiDAR sensor 1040, which may be a 3D LiDAR sensor. The LiDAR sensor 1040 may be configured to scan the surface of the robotic device's area of interest, to assist the control unit 1030 to determine position and shape of objects in the area of interest. The LiDAR 1040 may be configured to detect "foreign objects", i.e., objects that are not part of the patient's body, which should not be taken into consideration with respect to monitoring the force applied by them onto the robotic system 1000, and thus should not lead to unnecessary position change by the Soft Robot assembly 1010. LiDAR 1040 can, in addition to the FRS array 1020, track a change in the position of a patient or a part of the patient's body resting on the robotic system 1000 and the FRS array 1020, for example, resting on the soft robot assembly 1010, by measuring the contour of the surface of the part of the patient's body along the upper surface of the robotic system 1000 and the FRS array 1020, wherein the slope is created each time at a different place in order to thereby ensure a change in the position of the patient or part of the patient's body, which helps to reduce the pressure on the same part of the patient and, thus, helps to avoid the formation of bedsores. LiDAR 1040 is an additional means to the FRS array 1020 for determining between parts of the human body and foreign objects.

[0069] In some embodiments, the robotic system 1000 may comprise gas or other liquid valves or solenoid drivers 1050, which may control the entrance of fluid, e.g., gas or other liquid into the Soft Robot Array assemblies 1010 to inflate the Soft Robot assemblies 1010 via fluid ducts 1080 (Fig. 1A). and to further control the exit of fluid out of the Soft Robot Array assemblies 1010, to thereby causing deflation of the Soft Robot Array assemblies 1010. The fluid valves of solenoid drivers 1050 may be connected to a fluid pump of solenoids' power supply 1060. The fluid pump may enable the actual fluid to be pushed into the Soft Robot Array assemblies 1010, through the fluid valves of solenoid drivers 1050. In some embodiments, the fluid valve or solenoid drivers 1050 may be connected to a vacuum or sucking-out pump, which may be configured to suck fluid out of the Soft Robot Array assemblies 1010 and out of their corresponding fluid ducts 1080 (Fig. 1A), when deflation of the Soft Robot Array assemblies 1010 is required.

[0070] The robotic system 1000 may comprise use of magnets and possibly electromagnets, coils or solenoids, which may be used via changing between attraction and repulsion. For example, when the magnets or a magnet with an electromagnet are attracted, the Soft Robot assembly 1010 may extract gas or liquid out of them through the ducts 1070, whereas when the magnets are repelled, there is room for gas or liquid to enter into at least one Soft Robot of the soft robot assembly 1010, to thereby inflate one or more Soft Robot(s). Magnets, electromagnets, coils and solenoids may be used to enable precise control over the mechanical force exerted on the Soft Robot assembly 1010.

[0071] In some embodiments, instead of using gas or liquid to inflate the Soft Robot pillows of soft robot assembly 1010, electromagnetic coils and solenoids or permanent magnets, or any combination thereof, may be used to raise or lower the Soft Robot assembly 1010 only by electromagnetic force.

[0072] In some embodiments, the robotic system 1000 may further comprise a power source 1070, configured to supply power to all the electronic components of robotic system 1000.

[0073] It should be noted that the Soft Robot assembly 1010, comprises a plurality of Soft Robots that are located adjacent to one another along the X and Y axes. Furthermore, each Soft Robot assembly 1010 may comprise a stack of at least one Soft Robot inflatable pillow, the stack being along the Z axis.

[0074] Fig. 2 is a schematic illustration of a top view of a Soft Robot assembly 100, in an unfolded configuration, comprising a plurality of Soft Robot pillows connected in line to one another, and further connected to an array of Force Sensors, according to embodiments of the disclosure. According to some embodiments, the robotic system 1000 of the present disclosure is comprised of one or more single Soft Robot assemblies 100. Each single Soft Robot assembly 100 may comprise at least one Soft Robot pillows or cushions 102, thus enables fluid, e.g., gas or liquid, to enter into it and further enable gas or other liquid to be exhausted from it, per need, thereby causing a change in position and / or orientation of the body part resting onto the Soft Robot assembly 100. In the example illustrated in Fig. 2, the Soft Robot assembly 100 may comprise four Soft Robot pillows 102, i.e., Soft Robot pillows 102a, 102b, 102c and 102d. However, any different number of soft robot pillows may be implemented.

[0075] In some embodiments, at least one Soft Robot pillow 102 may be deflated or inflated interchangeably in order to change the contact areas between the surface of the robotic system 1000 and the patient's body part 1004, thereby preventing pressure sores from developing. The Soft Robot pillows 102 may receive gas or other liquid and may allow gas or other liquid to be extracted from them through a gas or liquid pipe / duct 106 (e.g., ducts 1080, Fig. 1A). Gas or liquid pipe 106 may comprise an external tube area 116, which may be connected to a gas or liquid pump, as well as a vacuum pump. In some embodiments, gas or liquid pipe 106 may pass adjacent to Force resistance Sensors 104, to which the Soft Robot pillows 102 are connected, until gas or liquid pipe 106 reaches the at least one Soft Robot pillows 102. The Soft Robot pillows 102 may be connected in line to one another through gas or liquid pipe 106, such that gas or liquid may flow into each and every one of the at least one Soft Robot pillows 102, one after the other. Soft Robot pillows 102 may be fluidically connected to each other through gas or liquid pipelines 108 that are located between two adjacent Soft Robot pillows 102. Accordingly, gas or liquid may flow through external tube area 116 into gas or liquid pipe 106, enter the first Soft Robot 102a, and then through gas or liquid pipeline 108, the gas may keep on flowing through first Soft Robot 102a to a second Soft Robot 102b. Gas or liquid may continue flowing into any additional Soft Robot pillows 102 that may be part of the single robot assembly 100, via additional gas or liquid pipelines 108, which may be present between each two adjacent Soft Robot pillows 102.

[0076] In some embodiments, a different fluid may be used instead of gas or liquid, e.g., oil.

[0077] According to some embodiments, gas or liquid pipe 106, as well as gas or liquid pipelines 108 may be configured to equalize pressure within the Soft Robot assembly, e.g., between all of the at least one Soft Robot pillows 102, and enhance the mechanical stability of the Soft Robot assembly 100.

[0078] In some embodiments, the at least one Soft Robot pillow 102 may be closed along its circumference, such to avoid gas or liquid from exiting the Soft Robot assembly 100 from no other area besides the gas or liquid pipe 106 and its external tube area 116. According to some embodiments, the Soft Robot pillows 102, may be made of a plastic material or other polymeric material that is biocompatible, soft, safe, and comfortable. The design of the surface of Soft Robot pillows 102 and of the entire robotic system (e.g., robotic device 7000, in Figs. 7A-7C, as detailed hereinbelow) may provide adequate protection against dust and liquids from entering the working environment, specifically into the space present between adjacent Soft Robot assemblies.

[0079] Soft robot pillows 102 may be welded along their circumference to create welded edges 112, to thus ensure there is no gas or liquid leakage from the Soft Robot pillows 102. Accordingly, gas or liquids may only enter into and exit from Soft Robot assembly 100 through gas or liquid pipe 106, via external tube area 116.

[0080] In some embodiments, the microcontroller Control Unit 1030 is configured to manipulate the status of the gas or liquid valves, e.g., whether the valves are open or closed, and which pump they are connected to at a certain time, based on a software algorithm and sensor data collected from the sensors of the robotic system 1000, e.g., measurements made by FRS array 104. The control unit 1030 may change the gas or liquid pressure supplied to an individual Soft Robot assembly 100 accordingly. Each inflatable pillow 102 of the Soft Robot assembly 100 is connected to the other inflatable pillows 102 through the network of gas or liquid pipes 116, 106 and 108. For example, external gas or liquid may inflate the first pillow 102a, and then the gas or liquid pressure is sequentially transferred to the second pillow 102b, and so on, until the last pillow in the series is inflated. Due to the interconnected nature of the Soft Robot pillows 102, the same pressure is observed in each pillow 102 of the Soft Robot assembly 100, after the pressure is stabilized between all of the Soft Robot pillows 102. The height of a lifted object (e.g., body part) using Soft Robot assembly 100 is a function of the gas or liquid pressure within the at least one Soft Robot pillow 102 and the weight of the lifted object.

[0081] For example, the force required to lift to a height of 9- 10cm or up to 10cm the foot of an average sized person, is approximately 5.5Kg. The soft robot is able to lift both feet if one is placed over the other and is commonly designed for largest feet. Thus, the weight that the Soft Robot assemblies 100 are required to lift to change position and orientation may define the size of the Soft Robot assemblies 100 (or 1010), as well as the pressure applied within Soft Robot assemblies 100. Typically, low pressure is desirable to prevent the seam along the periphery of the Soft Robot pillows 102 from ripping. A possible requirement may be that each Soft Robot assembly 100 (or 1010) would be able to lift a 20 Kg body part, with a total pressure of less than 1 atmosphere per Soft Robot pillow. For example, a Soft Robot prototype assembly sized 70 over 100 cm2would be adequate. In some embodiments, each Soft Robot assembly 100 may comprise 4 pillows 102 stacked one on top of the other, such that assuming each pillow 102 provides a lift of around 2-2.5cm, the total of 4 pillows would enable lifting a patient's body part by approximately 8-10 cm, once all pillows 102 are filled and stabilized with the same fluid pressure. In some embodiments, the robotic system 1000 may comprise valves 1050 that are configured to open to allow gas or liquid flow therethrough and are further configured to close such to prevent gas or liquid flow therethrough. In some embodiments, the valves 1050, which may be connected to control unit 1030 may have two states; in its first state the valve is connected to a vacuum pump, which extracts gas or liquids from the inflatable at least one Soft Robot pillow 102, while in its second state the valve is connected to an gas or liquid pump, to allow gas or liquid to enter gas or liquid pipe 106, pass through the valves 150 and gas or liquid pipe 106 to enter Soft Robot’s pillows 102.

[0082] The valves of robotic system 1000 may enable the change of pressure of gas (or any other liquid or fluid) in each Soft Robot assembly 100 independently, without being dependent on the pressure within a different Soft Robot assembly. The valves, controlled by control unit 1030, may enable a change in gas pressure per need, i.e., for changing the body part's position and / or orientation, to prevent pressure sores formation, in any of the Soft Robot assemblies 100 separately, regardless of the state of other Soft Robot assemblies. The state per each Soft Robot assembly 100 would be determined by the control unit 1030, per the measurements made by FRS array 104.

[0083] The robotic system of the present disclosure requires energy supply only during transition between states of inflating and deflating of the Soft Robot assemblies 100. That is, robotic system 1000 requires power from power supply 1070 for the operation of the valves 1050 and the pumps 1060, only when there is a need to change the state of the Soft Robot assemblies, from inflated to deflated. However, contemporary systems require constant energy supply, i.e., operation of pressure and vacuum pumps is continuous and constant, not only during transition between rest (deflated) and inflated states but rather during the entire operation of the system.

[0084] In some embodiments, when warm air supply is incorporated in robotic system 1000, the energy consumption of the system may even be lower. This is since the warm air may assist with expanding blood vessels and thus with enhancing a more efficient blood flow, such that the operation of the Soft Robot assemblies 100 may be less frequent.

[0085] The control unit 1030 may control the operation of the different Soft Robot pillows 102, based on measurements of FRS array 104, to enable changes in body part orientation and location, and thus to prevent creation of pressure sores. Accordingly, the pressure applied onto the patient's body part by the robotic device, periodically or continuously changes the location at which it is applied, and pressure is thus always relieved at different areas of the body part. Once the measured force applied by the patient's body part onto the robotic systems’ sensors, reaches a predetermined threshold, whether per range or duration, the control unit 1030 with force sensors 104 controls the Soft Robot pillows 102, at that measured location, such to become deflated, while Soft Robot pillows 102 at a different location along the patient's body part, may be inflated. That way, pressure is relieved from a certain area of the body at which the pressure reached its predefined permitted limit during the predefined permitted time. The control unit 1030, via force sensors 104, continuously measures force applied onto them, and thereby onto Soft Robot pillows 102, to monitor changes in force or pressure applied by the patient's body along the robotic device, and continuously controls Soft Robot pillows 102 to change their inflating pressure value, as required for pressure relief by the surface of Soft Robots assemblies 100.

[0086] According to some embodiments, the size of the force sensor area may cover the entire area where the feet or other parts of the body, which need monitoring for pressure sore prevention, may be located.

[0087] The at least one Soft Robot pillow 102 should be positioned under the soft tissue’s areas of the body that are adjacent the body part to be monitored, while the FRS array 104 should be positioned underneath the feet, e.g., ankle, or other part of the body most susceptible to pressure sores, which should thus be monitored. Accordingly, the FRS array 104 measures the force applied by the body part area that is most susceptible to pressure sores. The control unit 1030 may execute the control algorithm based on the measured force and its duration, to determine whether to inflate or deflate the Soft Robot pillows 102, to lift or lower, and / or to rotate the body part (by interchangeably lowering and raising different neighboring Soft Robot pillows 102), such to reduce the pressure applied by the body part most susceptible to pressure sores.

[0088] For example, in case the robotic device is to prevent bedsores in a patient's ankle, the FRS array 104 may be positioned under the ankle itself, i.e., the bony section, while the Soft Robots may be positioned under the shin, which is the soft tissue section close to the ankle. In some embodiments, the Control Unit 1030, according to signals received from FRS array 104, may control Soft Robots 102 to change the amount of gas or liquid within each of the Soft Robot pillows 102, e.g., such to raise or lower the ankle by lifting or lowering the shin, raising or lowering and rotating the ankle / shin or simply rotating the ankle / shin, without any lifting. Similar body part movement changes as indicated with respect to a patient's ankle, and additional movements may occur due to the change in amount of gas or liquid within Soft Robot pillows 102, per any body part that rests onto the robotic device of the present disclosure. The location of the FRS array 104 and the location of the Soft Robot pillows 102 may change per body part that is to be monitored and per which pressure sores should be prevented.

[0089] In some embodiments, the number of Soft Robot cushions / pillows may vary due to the maximum height of the inflated Soft Robot assembly, which depends on multiple factors. These factors may include, but are not limited to, the material that each Soft Robot pillow is made of. The material's composition of the Soft Robot pillows may impact properties such as flexibility, durability, and air permeability, which can influence the maximum achievable height of each Soft Robot pillow, when inflated. Furthermore, the form factor or geometric configuration of the Soft Robot cushions 102a, 102b, 102c and 102d, including dimensions such as length, width, and cross-sectional shape, can affect the stacking behavior and overall height attainable by the inflated Soft Robot pillows assembly. By selectively varying the number of Soft Robot pillows based on the details hereinabove, the maximum height of the inflated Soft Robot pillow and entire assembly can be optimized.

[0090] Reference is now made to Figs. 3A-3B, which are schematic illustrations of a side view and a front view, respectively, of the Soft Robot assembly 100, according to embodiments of the disclosure. In some embodiments, the at least one Soft Robot’s pillows 102 may be connected to one another via gas or liquid pipelines 106. During operation, the robotic device may comprise one or more single Soft Robot assemblies, similar to single assembly 100. In Fig. 2, the single Soft Robot assembly 100 is illustrated in its unfolded configuration, whereas during operation, the single Soft Robot assembly 100 is in its folded-stacked configuration, as illustrated in Figs. 3A-3B.

[0091] According to some embodiments, gas or liquid pipelines 106 may be long enough to enable the Soft Robot pillows 102 to fold such to form a stack of Soft Robot pillows positioned one on top of the other. In the example illustrated in Figs. 3A-3B, the Soft Robot pillows are folded one on top of the other such that the lowest Soft Robot pillow is Soft Robot pillow 102a, as it is the first Soft Robot pillow that is directly connected to force sensors 104. On top of the first Soft Robot’s pillow 102a is the second Soft Robot’s pillow 102b. On top of Soft Robot pillow 102b is Soft Robot’s pillow 102c and on top of that is Soft Robot’s pillow 102d. Gas or liquid pipeline 106 may be as long as required to enable one Soft Robot’s pillow to be positioned on top of a previous Soft Robot’s pillow, that is connected to it via gas or liquid pipelines 106.

[0092] Reference is now made to Fig. 3C, which is a schematic illustration of an air pneumatic diagram of the robotic system for prevention of pressure sores, according to embodiments of the disclosure. It should be noted that air is an example for other possible fluids. In some embodiments, each Soft Robot assembly 1010 may comprise two valves, an entry valve for fluid flow entry, and a vacuum valve for exit of fluid flow from the Soft Robot assembly 1010. The control unit 1030 may instruct the entry valve or vacuum valve to open or close. If the fluid pressure at entry of the Soft Robot assembly 1010 is high, the entry valve may be instructed to open, vacuum valve may be instructed to keep closed, and Soft Robot assembly 1010 would start to inflate. The vacuum valve may be instructed to open, while entry valve is instructed to close, thus removing fluid from Soft Robot assembly 1010, when Soft Robot assembly 1010 should deflate, for example, when a change in position is required. Then, the vacuum valve would open and pressure within Soft Robot assembly 1010 would decrease, due to pressure gradient.

[0093] According to some embodiments, the air pneumatic system 1300 of the robotic system may comprise an air inlet or air input 1302, which is fluidically connected to an air pressure control system 1304, configured to maintain a maximum air pressure at entry of the robotic system 1000. The air pneumatic system 1300 may further comprise an air distributor 1306, which is configured to distribute air (or another fluid) between the ingoing air valves and outgoing air valves of each Soft Robot assembly 1010. The air pneumatic system 1300 may further comprise drivers and throttles 1308, fluidically connected to pneumatic multiplexers 1310, which are fluidically connected to outputs 1312 configured to provide fluid flow into and our of Soft Robot assemblies 1010.

[0094] According to some embodiments, control unit 1030 performs measurements by FRS array 1020 per a predefined period. The measurements are stored by control unit 1030, and accumulated until a threshold is reached by a certain force resistance sensor of the FRS array 1020. When the threshold is reached, control unit 1030 instructs the valves of a corresponding Soft Robot assembly 1010 to either provide entry of fluid into or exit of fluid from the Soft Robot assembly 1010, to either cause Soft Robot assembly 1010 to inflate or deflate, thereby changing position of the body part being monitored. Following the change in degree of inflation, the FRS array 1020 is instructed to continue on measuring force applied by the monitored body part, until a threshold is reached again, and another change in orientation or position is required in any of the Soft Robot assemblies 1010.

[0095] In some embodiments, a physician may measure the weight of a foot, e.g., 4 Kg, and per patient’ s condition, may define a period of 45 minutes for performing a change in foot position. Accordingly, in some embodiments, the weight of the foot times the defined period, may be determined as the threshold. Once a threshold is reached, by accumulating the results of the measurements by FRS array 1020 per matrix of the FRS array 1020, a change in position would be instructed by control unit 1030. If a threshold hasn’t reached, however, the defined period has passed, that is equal to reaching a threshold, and a position change would also be performed by the robotic system, per instructions by control unit 1030. Figs. 4A-4B schematically illustrate a body part, in this case a foot 140, as it is positioned on and is in contact with FRS array 104, and as it is lifted above the FRS array 104, respectively, in accordance with embodiments of the present disclosure. In rest state or in deflation state, Soft Robot pillows 102, which are located below a body part, may be empty or substantially empty from gas or liquid, as illustrated in Fig. 4A. In such cases, the body part of interest, i.e., the body part that needs monitoring to avoid formation of pressure sores, may be in contact with FRS array 104, and may thus apply force onto FRS array 104. The force applied by the body part, e.g., an ankle of a patient, may be measured by FRS array 104, and transmitted to control unit 1030. In illustration 4A, it is shown that different Force resistance Sensors of the FRS array 104, may have a different color, indicating a different force measured by those Force resistance Sensors. On some Force Sensors of array 104, more force may be applied by the body part, while on other force sensors less force may be applied, and finally on some of the force sensors, no force may be applied whatsoever. In case the measured force applied onto FRS array 104 during time, exceeds a predetermined threshold, Control Unit 1030 may manage the Soft Robot pillows 102 to inflate, via instruction to the Soft Robot assembly 100 valves and solenoid drivers 1050. Soft Robot pillows 102 may inflate and thereby raise the body part, e.g., the ankle, away from FRS array 104, to decrease or completely distant the body part from the FRS array 104, for a predefined time period, as illustrated in Fig. 4B. The predetermined period may be based on clinical trials, which determine the actual period that is required for a position change of a passive body part, to thereby prevent pressure sores formation or may be determined by the patient’s physician. After which, the Soft Robot pillows 102 may be instructed to deflate, to thereby change the position and / or orientation of the body part, again. This position change may be performed repeatedly and continuously, as long as the patient and / or body part are positioned onto the robotic system 1000.

[0096] Fig. 5A, is a three-dimensional schematic illustration of a front view of a single Soft Robot assembly, in folded configuration, according to embodiments of the disclosure. That is, Fig. 5A is an example for a three-dimensional representation of a single Soft Robot assembly 300, similar to single Soft Robot assembly 100.

[0097] Fig. 5B is a three-dimensional schematic illustration of a rear view of a single Soft Robot assembly, in folded configuration, according to embodiments of the disclosure. According to some embodiments, as can be seen in Fig. 5B, gas or liquid pipelines 108, which connect between one Soft Robot pillow 102 to another adjacent Soft Robot pillow 102, may be as wide as the width of each Soft Robot pillow 102.

[0098] Fig. 5C is a three-dimensional schematic illustration of a front perspective view of a single Soft Robot assembly, in folded configuration, according to embodiments of the disclosure. In some embodiments, as illustrated in Fig. 5C, the three-dimensional single Soft Robot assembly may comprise a cover 322 on each of the two sides of the single Soft Robot assembly 300. Covers 322 may be configured to connect the first Soft Robot pillow 102 with the last Soft Robot pillow 102, to create a closed structure for a single Soft Robot assembly. Covers 322 prevent the entrance of liquids, dust and / or any other type of particles in between adjacent Soft Robot pillows 102. In some embodiments, covers 322 may be manufactured as part of the Soft Robot assembly 300. In other embodiments, covers 322 may be an added element that is attached between the lowest and topmost Soft Robot pillow 102 after the single Soft Robot assembly 300 is folded into its stacked configuration. Covers 322 may be attached to the Soft Robot pillows 102 via any attachment mechanism, e.g., Velcro, adhesive, welding, threaded fasteners, zip ties, magnets, and so on.

[0099] In some embodiments, a cover or envelope may be added on top of the upper surface of the entire array of Soft Robot assemblies 100, to thereby prevent entrance of liquid, dirt or other particles in between adjacent Soft Robot assemblies 100 and create a complete upper surface of the robotic system 1000 that comes in contact with the patient or the patient’s body part. In some embodiments, there may be magnets under or embedded within the full cover of the upper surface of the robotic device. These magnets may provide better blood flow to the patient or the patient’ s body part that is in contact with the robotic device .

[0100] Reference is now made to Figs. 6A-6B, which are images of a top view of a single Soft Robot assembly 400, in folded configuration, and a side view of a single Soft Robot assembly, in folded configuration, respectively, according to embodiments of the disclosure. Soft Robots pillows 402 can be made of gas or liquid permeable material. In some embodiments, single Soft Robot assembly 400 may comprise gas or liquid pipe 406, configured to enable flow of safe gas or liquid into and out of Soft Robot pillows 402. In other embodiments, there may be more than one gas or liquid pipe 406, such that an additional gas pipe 406', may be implemented. Other gas or liquid pipes may be implemented. Implementing more than one gas or liquid pipe may be advantageous for applying a quicker change in the degree of inflation (or deflation) of the Soft Robot pillows 402. That is, if one wishes to make a quicker change in the amount of gas or liquid inside the Soft Robot pillows 402, either by adding gas or liquid into the Soft Robot pillows 402 or by extracting gas or liquid out of the Soft Robot pillows 402, having two gas or liquid pipes through which gas or liquid flow is enabled, makes the entire process twice as fast, assuming the diameter of both gas or liquid pipes 406 and 406’ is the same. It is possible to implement an even larger number of gas or liquid pipes through which gas or liquid flow is allowed in and out of Soft Robot pillows 402.

[0101] Fig. 6B illustrates a cover 422, similar to cover 322 (in Fig. 5C), which is configured to connect between the topmost Soft Robot pillow 402 to the lowest Soft Robot pillow in the stack of Soft Robot pillows, such to create a closed shape, from two sides of the stack of Soft Robot pillows 402.

[0102] Reference is now made to Fig. 7A, which is a schematic illustration of a robotic device comprising an array of Soft Robot assemblies, according to embodiments of the disclosure. Robotic device 7000 may comprise an array of single Soft Robot assemblies 100, arranged in at least one row. In the example illustrated in Fig. 7A, there are five single Soft Robot assemblies 100, however, any other number may be implemented. The robotic device 7000 may comprise an array of single Soft Robot assemblies 100, which may be located adjacent to one another, along a horizontal ‘x’ axis as well as along a longitudinal ‘y’ axis. The number of single Soft Robot assemblies 100 arranged in an array of Soft Robots from which robotic device 7000 is comprised, may depend, e.g., on the body part that the robotic device is to support to prevent formation of pressure sores. For example, a small body part such as an ankle may require a single Soft Robot assembly 100, or perhaps, two over two single Soft Robot assemblies 100, whereas a robotic device that is intended to support the entire patient’s body, should include a significantly larger number of single Soft Robot assemblies, positioned one next to another, on both the horizontal and longitudinal axes, such to create an elongated yet wide surface filled with Soft Robot assemblies, which may be controlled independently from one another.

[0103] The FRS array 104 of each of single Soft Robot assemblies 100 may be configured to be positioned beneath the bony section of the body part which needs monitoring for prevention of pressure sores, while the Soft Robot pillows 102 may be configured to be positioned beneath the soft tissue section of that body part. The control unit 1030 may be configured to control the amount of gas or liquid that is within each of the Soft Robot pillows 102, which are connected to the FRS array, such to enable changing the inflating and deflating of the corresponding Soft Robot pillows 102, when the force applied onto and sensed by FRS array 104 reaches a predetermined threshold.

[0104] In some embodiments, FRS array 104 may also determine whether the patient is still positioned on robotic device 7000. That is, in case FRS array 104 does not sense any force applied onto them, the control unit 1030 (Fig. 1A) of robotic device 7000 may issue an alert, e.g., a notification via admin terminal and possibly a user interface of a computerized device, e.g., amobile phone ortablet. In some embodiments, the notification may be in the form of sound, light, or any other visual or audio alert provided to a care giver, e.g., a nurse or physician. Such an alert may indicate that the patient either fell off the bed, did not return to his room, or requires assistance, or this may indicate that the electronics of the Robotic System are not working properly.

[0105] In some embodiments, the control unit 1030 may control operation of FRS 104 and of Soft Robot pillows 102 via unique algorithms that calculate the maximum duration of force exertion and / or maximum force amount that are allowed onto a certain surface of a FRS array 104.

[0106] Figs. 7B-7C are three-dimensional schematic illustrations of front views of a robotic device comprising an array of Soft Robot assemblies, in deployed and folded configuration, according to embodiments of the disclosure. According to Fig. 7C, some of the Soft Robot pillows may be inflated while some are deflated, such to illustrate that robotic device 7000 may be configured to independently control inflation and deflation of the various Soft Robot pillows 102 of each of the single Soft Robot assemblies 100.

[0107] Refence is now made to Fig. 8, which schematically illustrates the connection means 800 between adjacent Soft Robot assemblies 100, in accordance with embodiments of the present disclosure. As explained hereinabove, the robotic system comprises a matrix of individual Soft Robot assemblies 100 arranged in at least one row. The Soft Robots, i.e., the Soft Robot assemblies 100, may be connected to other adjacent Soft Robot assemblies by a flat strip or belt 802 that may run inside slots 806 formed on the surface of a pad 804 connected to each Soft Robot assembly 100. Each belt 802 forms a continuous Dynamic Ergonomic Structure, with a predefined width selected such to close the gaps or space between any two adjacent Soft Robots.

[0108] Reference is now made to Fig. 9, which schematically illustrates the pulsed laser beams emerging from a LiDAR device 1040. The location of the LiDAR device may be anywhere in the room where a patient is using Robotic System 1000 of the present disclosure. LiDAR device 1040 may determine location of the patient's body part(s), and differentiate between the patient body part(s) and foreign objects which are not the actual body part(s) and may thus be ignored and not affect the operation of Robotic system 1000.

[0109] In some embodiments, robotic device 7000 may comprise a LiDAR (Light Detection and Ranging) device 1040 (Fig. 1A) incorporated to provide feedback and optimize movement of the Soft Robot pillows 102, and further to ignore unexpected or outranged objects, if any, that may be positioned onto the robotic device 7000, and which are not body parts of the patient. For example, when a bag or other object or even another person is positioned onto the robotic device 7000, the force sensed by such object would not affect robotic device 7000 and would not lead to any changes in gas or liquid flow into and / or out of Soft Robot pillows 102, since the force applied by them is considered irrelevant per pressure sore prevention.

[0110] In some embodiments, the integrated LiDAR 1040 may be capable of identifying objects by measuring their height, shapes and footprint, ignore atypical objects, and proceed with-only correct form-factor objects according to technical capabilities of the Soft Robot 102. By locating the contour of objects, control unit 1030 may exclude unexpected objects, which are not body parts, for example, boxes, bags, or any other accessories . If an obj ect is determined to meet the criteria of the form factor of a body part, the force measurements sensed by FRS array 104, are taken into consideration by the control unit 1030 per amount of force applied and / or duration of force applied, to thereby affect the operation of the Soft Robot Array 1010 and change its inflation or deflation state. Whereas, if the object detected by the LiDAR is determined to be a foreign object, i.e., not a body part, then the force measurements sensed by the force sensor array 104 are not taken into consideration and they do not affect operation of the Soft Robot Array 1010.

[0111] The robotic system 1000 of the present disclosure provides a Dynamic Ergonomic Structure with minimal gaps between any adjacent Soft Robot assemblies. A dynamic Ergonomic Structure is configured to support the patient's body part or the patient's entire body, during its rest state (e.g., deflated state), as well as during active, e.g., inflated state. Furthermore, the connections between Soft Robot assemblies ensure that when an adjacent Soft Robot assembly is inflated the neighboring Soft Robot assemblies are partially raised, with possible partial inflation of a working fluid or gas, to support the Dynamic Ergonomic Structure of the robotic system 1000 of the present disclosure.

Claims

CLAIMSWe claim:

1. A robotic system for pressure sore prevention, the robotic system comprising: a force resistance sensor array configured to measure force applied thereon by at least a body part of a patient that is positioned on top of the force resistance sensor array; an array of at least two Soft Robot assemblies connected to the force resistance sensor array, each of the at least two Soft Robot assemblies is configured to accept fluid into it or release fluid out of it, such to change its degree of inflation independently of the other Soft Robot assembly of the array of at least two Soft Robot assemblies; and a control unit configured to periodically receive force measurements from the force resistance sensor array and to instruct the array of at least two Soft Robot assemblies to change its degree of inflation once a predefined threshold is reached, to thereby change a 3D configuration of the robotic system and, thus, change the position and / or orientation of the at least body part, and interrupt the pressure applied by the at least body part onto the surface on which this part of the body is located, for pressure sores prevention.

2. The robotic system of claim 1, wherein the control unit is configured to execute an algorithm that accumulates the received force measurements over time, and compares the accumulated received force measurements to a predefined threshold, and once the accumulated received force measurements are equal or above the predefined threshold, activates the array of at least two Soft Robot assemblies to eliminate or reduce the force applied by the at least body part on the surface of the FRS array on which the at least body part is located, for pressure sores prevention.

3. The robotic system according to any one of the preceding claims, wherein the fluid is gas or liquid or other compatible substance.

4. The robotic system according to claim 3, wherein the gas is air, and the liquid is oil or water.

5. The robotic system according to any one of the preceding claims, wherein each of the at least two Soft Robot assemblies comprise two or more Soft Robot pillows connected to one another, and stacked one on top of the other.

6. The robotic system according to claim 5, wherein each of the at least two Soft Robot assemblies comprise four Soft Robot pillows.

7. A robotic system according to claim 6, further comprising permanent magnets or electromagnets positioned adjacent the array of at least two Soft Robot assemblies, wherein said magnets or electromagnets are attracted to pre-installed metal components or other permanent magnets or other electromagnets that are connected to the array of at least two Soft Robot assemblies, wherein said attraction compresses the pillows of the Soft Robot assemblies, thereby displacing gas or liquid from the pillows of the soft robot assemblies thereby avoiding the use of vacuum to perform such displacement.

8. The robotic system according to any one of the preceding claims, wherein the array of at least two Soft Robot assemblies is made of a soft, biocompatible and safe material.

9. The robotic system according to any one of the preceding claims, wherein the size of the force resistance sensor array is determined based on the size of the at least body part configured to be placed on top of the force resistance sensor array.

10. The robotic system according to any one of the preceding claims, wherein when one of the at least two Soft Robot assemblies is not in active inflated state, that Soft Robot assembly maintains the same surface layout as the rest of the array of array of at least two Soft Robot assemblies in its deflated state.

11. The robotic system according to any one of the preceding claims, said robotic system further comprising a LiDAR (Light Detection and Ranging) sensor, the LiDAR sensor configured to provide the Control Unit with information regarding objects identification and determination of the presence of objects that require actual change of position and orientation for pressure sores prevention, while ignoring atypical or unexpected or outranged objects, and exclude the atypical or unexpected or outranged objects from processing, such that these objected have no impact on operation of the robotic system or that presence of these objects causes issuance of an alarm by the robotic system.

12. The robotic system according to any one of the preceding claims, further comprising an external air heater configured to heat air to a therapeutically effective temperature significantly below a patient's pain threshold, is further configured to distribute the heated air through air outlets across the force resistance sensor array toachieve beter blood circulation compared to blood circulation in the absence of the heated air.

13. The robotic system of claim 12, wherein the air outlets are integrated into a welded polymer fdm structure, thermally isolated from the force resistance sensor array, and positioned to prevent direct skin contact with the heated air.

14. The robotic system according to claim 12 or claim 13, wherein the control unit algorithmically controls the air outlets to release heated air, providing a therapeutic effect that enables reduction in period during which the position and / or orientation of the at least body part are changed, thereby conserving energy to keep soft robot in its active inflated state, while enhancing therapeutic efficacy and patient comfort.

15. The robotic system according to any one of the preceding claims, wherein the robotic system is configured to be used for immobilized human and some animal patients.

Images