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Applying Palpation Forces on a Lower Jaw Model Using a Collaborative Robotic Arm
Summary
This study developed a robotic system to replicate physician palpation, measuring applied forces and pain perception. The robot achieved comparable or better accuracy than physicians, paving the way for robotic diagnostics.
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.
