Robotic Arm Interaction with Soft Tissue Using Adaptive Feedback
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Solution Overview
Problem
Existing robotic systems are not configured to handle soft body objects, such as body tissue, due to their nonuniform consistency and varying reactions to pressure, and lack automation in real-time control for medical procedures.
Innovation Solution
A robotic system with a touch point, support structure, and controller that uses computer instructions to interact with soft body tissue, incorporating interaction goals, body modeling, and manipulation feedback mechanisms to adapt to the unique characteristics of the body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional robotic systems are used to interact with soft body tissue, then the system structure is simple and easy to control, but the system cannot adapt to nonuniform tissue characteristics and varying pressure reactions
Solution Approach 1:
The robotic system employs dynamic control strategies that allow real-time adaptation to soft body tissue characteristics. The controller adjusts interaction parameters based on sensed tissue properties, enabling the system to handle nonuniform consistency and varying pressure reactions dynamically rather than statically.
Solution Approach 2:
The system incorporates feedback mechanisms where sensors detect tissue characteristics and pressure reactions, and this information is fed back to the controller to adjust interaction parameters. This closed-loop control enables adaptation to the unique properties of each tissue sample while maintaining manageable system complexity through intelligent control algorithms.
2Extent of automation
If real-time controlled robotic systems are used for medical procedures, then precise control and monitoring are achieved, but automation capability for handling soft body objects is insufficient
Solution Approach 1:
The robotic system performs self-adjustment by automatically sensing tissue characteristics and autonomously modifying interaction parameters without requiring constant manual intervention. This self-service capability enhances automation while maintaining reliability through the system's ability to independently adapt to soft body object properties.
Solution Approach 2:
The system replaces traditional mechanical control approaches with intelligent control algorithms that process sensor data and automatically adjust interaction parameters. This substitution enables higher automation levels while improving reliability through software-based adaptation to soft body tissue characteristics.
3Adaptability or versatility
If available systems are used for device testing or manufacturing, then the system configuration is simple, but the systems cannot handle soft body objects with inherent inconsistencies
Solution Approach 1:
The system changes interaction parameters such as force, velocity, and contact pressure based on sensed tissue characteristics. This parameter adaptation enables the system to handle soft body objects with inherent inconsistencies by adjusting operational settings to match the specific properties of each tissue sample.
Solution Approach 2:
The robotic system is designed with multi-functionality to handle various soft body objects and tissue types through a unified platform. By incorporating adaptable control algorithms and sensors, the system can perform multiple functions including device testing, manufacturing, and medical procedures without requiring separate specialized systems.
Data Source
AI summary
A system, method, and apparatus for autonomous body interaction system is provided. A system and method for a robot interacting with a human or other soft or deformable body is provided for the purpose of active application of pressure to specific points or regions of the body. The system and method conducts at least one of: localizing the position of the body, detecting the configuration of the body, identifying the surface region(s) of the body, predicting the underlying anatomy of the body, assessing the state of the body, preparing a plan for manipulation of the body, and executing a predetermined and/or dynamically updated plan on the body.