Method and system for autonomous therapy
AssigneeAescape, Inc.
InventorsEric A. Litman, David N. Walsh, Charles Paul Pace, Matthew DiCicco
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Abstract
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.
Claims26
A method, comprising:
- receiving sensor data at a processor-implemented controller of a robotic massage system during movement of a manipulator of the robotic massage system along a surface of a deformable body, the movement of the manipulator being based on a predefined motion plan;
- determining, via the controller, a property of an anatomical layer of the deformable body based on a detected property of the deformable body;
- identifying, via the controller, at least one adjustment parameter based on the property of the anatomical layer of the deformable body;
- modifying, via the controller, the predefined motion plan based on the at least one adjustment parameter, to produce a modified motion plan, and
- determining a deformation of the surface of the deformable body based on a tissue structural model when at least one visual sensor of the robotic massage system is obscured.
A method, comprising:
- receiving sensor data at a processor-implemented controller of a robotic massage system during movement of a manipulator of the robotic massage system along a surface of a deformable body, the movement of the manipulator being based on a predefined motion plan;
- determining, via the controller, a property of an anatomical layer of the deformable body based on a detected property of the deformable body;
- identifying, via the controller, at least one adjustment parameter based on the property of the anatomical layer of the deformable body;
- and
- modifying, via the controller, the predefined motion plan based on the at least one adjustment parameter, to produce a modified motion plan, wherein at least one of the predefined motion plan or the modified motion plan includes a predefined motion relative to a contact patch including extrapolated contact parameters.
A method, comprising:
- receiving sensor data at a processor-implemented controller of a robotic massage system during movement of a manipulator of the robotic massage system along a surface of a deformable body, the movement of the manipulator being based on a predefined motion plan;
- determining, via the controller, a property of an anatomical layer of the deformable body based on a detected property of the deformable body;
- identifying, via the controller, at least one adjustment parameter based on the property of the anatomical layer of the deformable body;
- and
- modifying, via the controller, the predefined motion plan based on the at least one adjustment parameter, to produce a modified motion plan, wherein at least one of the predefined motion plan or the modified motion plan is a plan generated based on a Hertzian elastic contact model.
Dependencies are inferred from the claim text.