Autonomous Therapy Control With FEA for Soft Tissue Contact
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Solution Overview
Problem
Current robotic systems are not equipped to handle soft body tissues effectively due to their non-uniform consistency and unique characteristics, which poses challenges in both device manufacturing and medical procedures, as they are not configured to manage the dynamic and automated handling of such tissues.
Innovation Solution
A robotic control system utilizing a fused sensing stream and Finite Element Analysis (FEA) model to predict tissue deformation and adjust robotic end effector movements, ensuring precise alignment, force application, and maintenance of contact with soft tissues, allowing for targeted therapy and treatment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional robotic systems are used for soft tissue manipulation, then device testing and manufacturing can be performed, but the systems cannot effectively handle non-uniform soft body tissues due to their unique characteristics
Solution Approach 1:
The robotic system implements dynamic control that adapts to the non-uniform properties of soft tissues in real-time. The control system continuously adjusts robotic movements based on tissue characteristics, transitioning from static pre-programmed paths to dynamic adaptive trajectories that respond to actual tissue behavior during manipulation.
Solution Approach 2:
The system changes operational parameters such as force magnitude, velocity, and positioning based on real-time tissue feedback. By monitoring tissue response and adjusting control parameters dynamically, the system adapts to variations in tissue properties while maintaining reliable and consistent handling outcomes.
2Measurement precision
If real-time controlled robotics are used for medical procedures, then precise movement can be achieved, but the systems are not configured for automated handling of soft body objects
Solution Approach 1:
The robotic system incorporates self-adjusting capabilities where the control system automatically modifies its own operation based on real-time tissue feedback. The system performs self-correction of positioning and force application without external intervention, enabling automated handling while maintaining precision through closed-loop control that adapts to tissue characteristics.
3Force
If robotic end effector applies force to soft tissue, then tissue manipulation is achieved, but tissue deformation is difficult to predict due to non-uniform tissue properties
Solution Approach 1:
The system implements closed-loop feedback control where tissue deformation is continuously measured and fed back to the control system. This feedback mechanism allows the system to predict and compensate for deformation based on actual tissue response, improving prediction accuracy despite non-uniform properties by constantly updating the control model with real-time measurement data.
Data Source
AI summary
A system, method, and apparatus are provided for a robotic system effecting autonomous therapy or treatment of a body having soft and/or hard tissue. A system, method, and apparatus are provided for a robotic control system having a fused sensing stream for predicting the deformation of a robotic end effector and the tissue that the end effector is in contact with using, e.g., a Finite Element Analysis (FEA) model. The model updates provide adjustment parameters for the control system to compensate for changes in the mechanical nature of the robotic end effector and the characteristics and/or movement of the tissue being treated by the robotic end effector.