Applying Palpation Forces on a Lower Jaw Model Using a Collaborative Robotic Arm.

Area of Science:

• Robotics
• Medical Diagnostics
• Biomechanics

Background:

• Traditional medical diagnostics rely on subjective physician palpation.
• Physician shortages and the need for enhanced training necessitate innovative solutions.
• Integrating robotic systems into diagnostic procedures offers potential benefits.

Purpose of the Study:

• To develop and evaluate a robotic system for emulating palpation techniques.
• To measure and analyze the forces applied by a robotic arm during simulated palpation.
• To incorporate a pain equivalence measurement and a user interface for enhanced diagnostics.

Main Methods:

• Utilized a KUKA iiwa 14 R820 robotic arm to emulate palpation.
• Measured and analyzed applied forces on a test bench.
• Incorporated a hand grip force sensor for pain equivalence and developed a GUI.

Main Results:

• Robotic force application errors were comparable to physician uncertainties at 5 N, 10 N, and 20 N.
• Maximum errors ranged from 1.24 N to 0.565 N, decreasing with higher forces.
• Robotic accuracy was dominated by robot-specific errors but showed promise.

Conclusions:

• Robotic systems can effectively emulate and refine palpation techniques.
• Robotic palpation offers a potential solution to physician shortages and training needs.
• This work provides a foundation for the broader adoption of robotic arms in healthcare diagnostics.