MUMBAI, India, Aug. 24 -- Intellectual Property India has published a patent application (202641092052 A) filed by Dr. Venkatachalapathi Adinarayana Makam; Dr. Shalu Mishra; Dr. Dilip Hassan Rudregowda; and Dr. Antony Louis Piriyakumar Douglas on July 29, 2026, for Adaptive Cyber-Physical Robotic Scanning Apparatus With Haptic Compliance And Deep Reinforcement Learning Servoing.
Inventors include Dr. Venkatachalapathi Adinarayana Makam; Dr. Shalu Mishra; Dr. Dilip Hassan Rudregowda; and Dr. Antony Louis Piriyakumar Douglas.
The application for the patent was published on August 21, 2026, under issue no. 34/2026.
Abstract: ABSTRACT ADAPTIVE CYBER-PHYSICAL ROBOTIC SCANNING APPARATUS WITH HAPTIC COMPLIANCE AND DEEP REINFORCEMENT LEARNING SERVOING The present invention relates to an independent cyber-physical adaptive robotic ultrasound scanning apparatus. The apparatus includes a base fixation mount [123], a dual-ring tracking gantry framework [103] with guide track grooves [124] and sliding carrier blocks [102]. Supported within the carrier blocks are a multi-axis force-torque sensor module [114], an automated micro-fluidic gel dispensing ring, a reversible magnetic-detent mechanical overload clutch, a coaxial linear Z-axis thrust stepper actuator [113], an ultrasound transducer probe [110], and an integrated on-board edge-computing hardware processing engine [105]. Crossbeam RGB-D depth cameras [106] capture real-time 3D topological point clouds, while the hardware processing engine [105] executes an Unscented Kalman Filter with phase-locked respiratory prediction and a deep reinforcement learning model. This closed-loop adaptive system maintains continuous haptic contact pressure strictly within a physiological operational window of 2 to 9 Newtons with dynamic viscoelastic tissue compensation, overcoming operator variability, motion artifacts, and equipment tracking delays. Fig. 1
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