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.
Claims23
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A system, comprising:
- a robotic manipulator;
- and
- a processor-implemented controller operably coupled to the robotic manipulator and configured to:
- receive sensor data;
- predict, based on the sensor data, a deformation of at least one of the robotic manipulator or a deformable body to be contacted by the robotic manipulator;
- identify at least one adjustment parameter based on the predicted deformation;
- and
- cause the robotic manipulator to execute a movement relative to the deformable body, based on the at least one adjustment parameter.
A method, comprising:
- receiving, using a processor-implemented controller, sensor data, wherein the processor-implemented controller is operably coupled to a robotic manipulator;
- predicting, using the processor-implemented controller, a deformation of at least one of the robotic manipulator or a deformable body to be contacted by the robotic manipulator, based on the sensor data;
- identifying, using the processor-implemented controller, at least one adjustment parameter based on the predicted deformation;
- and
- causing, using the processor-implemented controller, the robotic manipulator to execute a movement relative to the deformable body, based on the at least one adjustment parameter.
Dependencies are inferred from the claim text.