Patent Application
20230404529
The present invention relates to ultrasound scanning, and particularly to an apparatus for performing an automated ultrasound scan.
Ultrasounds machines are commonly used in a range of medical procedures, such as diagnostic imaging. Typically, ultrasound scans are performed by trained operators using an ultrasound machine. The ultrasound machine has a number of different settings that are controlled by the operator and are configured before and during the course of the scan, with the settings being adjusted based on characteristics of a patient.
During the scan, the operator may press an ultrasound probe on to the skin of a patient. The probe typically has ultrasound gel applied to ensure contact with the skin and eliminate any air gaps between the probe and the skin. Maintaining contact between the probe and the skin of the patient ensures correct operation of the ultrasound system.
During the ultrasound scan the operator moves the ultrasound probe on the skin of the patient to provide a real-time 2D/3D view of the anatomic region of interest of the patient. Ultrasound systems are therefore generally built to process data collected from the scanner in real-time and to display the processed data on a screen to the operator to provide visual feedback. Allowing the operator to view the output of the probe allows the operator to quickly adjust location and settings of the probe, settings such as gain, focus, regions of interest (ROI), etc.
The display is generally rendered in a 2D slice view (B-mode) but shortcomings in interpreting 3D objects for two dimensional imaging have led to the development of 3D probes or 2D probes with attachments to create 3D volumes. However, the 3D probes and 2D probes with attachments require much higher processing power than a 2D probe, which leads to higher costs, poor fidelity in some cases, and limitations to the size of each acquired 3D volume.
It is the role of the ultrasound operator to infer the point of interest and to make or capture measurement to refer to a clinician requesting the data. Such an arrangement can lead to a high degree of subjectivity and inconsistency between cases, especially when cases have different ultrasound operators. It may also be difficult for sonographers to position their arm in certain locations, such as underneath, for prolonged periods of time, which can lead to muscle fatigue in the short term and injury in the long term.
This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
One embodiment includes a robotic ultrasound system comprising: an ultrasound probe; a transport mechanism for moving the ultrasound probe in at least one direction; a scanning bed comprising the transport mechanism and the ultrasound probe, the scanning bed having a fluid filled portion for the ultrasound probe, wherein a fluid of the fluid filled portion allows transmission of ultrasound waves from the ultrasound probe to a surface of the robotic ultrasound system.
In one embodiment the scanning bed of the robotic ultrasound system further comprises: a housing; and a flexible portion on which an anatomic region of interest of a patient may be placed for scanning by the robotic ultrasound system, the flexible portion being in contact with the fluid of the fluid filled portion.
In one embodiment the robotic ultrasound system further comprises: a wall to support the flexible portion.
In one embodiment the wall is removable.
In one embodiment the robotic ultrasound system further comprises a level sensor to monitor a level of the fluid.
In one embodiment the level sensor is the ultrasound probe.
In one embodiment the level sensor is used to determine a presence of the anatomic region of interest on the flexible portion.
In one embodiment the ultrasound probe scans the anatomic region of interest from one side.
In one embodiment the flexible portion conforms to a shape of the anatomic region of interest.
In one embodiment the transport mechanism for moving the ultrasound probe is located in the fluid filled portion.
In one embodiment the transport mechanism for moving the ultrasound probe provides movement of the ultrasound probe in a direction selected from a set of directions comprising lateral, longitudinal, vertical, pitch, roll, and yaw.
In one embodiment the ultrasound probe is submerged in the fluid of the fluid filled portion.
In one embodiment the scanning bed of the robotic ultrasound system further comprises: a second ultrasound probe submerged in the fluid of the fluid filled portion; and a second transport mechanism for moving the second ultrasound probe in at least one direction.
In one embodiment the first and the second transport mechanisms travel on an inner and an outer rail.
In one embodiment the fluid is a mineral oil.
In one embodiment the fluid filled portion contains a calibration object for calibrating the ultrasound probe.
In one embodiment the fluid of the fluid filled portion is pressurised.
In one embodiment the fluid of the fluid filled portion is heated.
In one embodiment the fluid filled portion is heated to increase venous and arterial dilation.
In one embodiment a level of the fluid in the scanning bed may be varied.
In one embodiment the robotic ultrasound system further comprises a tower to which the scanning bed is attached.
In one embodiment the scanning bed is height adjustable by moving relative to the tower.
One embodiment includes a method of performing an ultrasound scan using the robotic ultrasound system, the method comprising: initiating a scan of the anatomic region of interest from a robotic ultrasound system controller; calibrating the robotic ultrasound system; and collecting data for a length of a scannable volume.
In one embodiment, calibrating the robotic ultrasound system comprises capturing scan data of the calibration object within the fluid filled portion.
At least one embodiment of the present invention is described, by way of example only, with reference to the accompanying figures.
The following modes, given by way of example only, are described in order to provide a more precise understanding of one or more embodiments. In the figures, like reference numerals are used to identify like parts throughout the figures.
Disclosed is robotic ultrasound system that can perform robotic tomographic ultrasound scanning and that can scan an anatomic region of interest (AROI) of a patient without the need for a skilled ultrasound operator to operate and conduct the ultrasound scan. The robotic ultrasound system, sometimes referred to as an ultrasound system, may comprise an ultrasound probe and also include a transport mechanism for moving the ultrasound probe in at least one direction. The ultrasound system may include a housing for the transport mechanism and ultrasound probe, the housing having a fluid filled portion for the ultrasound probe wherein a fluid of the fluid filled portion allows transmission of ultrasound waves from the ultrasound probe to a surface of the ultrasound system.
The disclosed robotic ultrasound system may comprise an ultrasound probe and a transport mechanism for moving the ultrasound probe in at least one direction. The robotic ultrasound system may also comprise a scanning bed comprising the transport mechanism and the ultrasound probe, the scanning bed having a fluid filled portion for the ultrasound probe, wherein a fluid of the fluid filled portion allows transmission of ultrasound waves from the ultrasound probe to a surface of the robotic ultrasound system.
One or more embodiments of the robotic ultrasound system are described, including a single ultrasound probe and a dual ultrasound probe configuration.
A particular embodiment of the present invention can be realised using a processing system, an example of which is shown in
Input device 106 receives input data 118 and can include, for example, a keyboard, a pointer device such as a pen-like device or a mouse, audio receiving device for voice controlled activation such as a microphone, data receiver or antenna such as a modem or wireless data adaptor, data acquisition card, etc. Input data 118 could come from different sources, for example keyboard instructions in conjunction with data received via a network. Output device 108 produces or generates output data 120 and can include, for example, a display device or monitor in which case output data 120 is visual, a printer in which case output data 120 is printed, a port for example a USB port, a peripheral component adaptor, a data transmitter or antenna such as a modem or wireless network adaptor, etc. Output data 120 could be distinct and derived from different output devices, for example a visual display on a monitor in conjunction with data transmitted to a network. A user could view data output, or an interpretation of the data output, on, for example, a monitor or using a printer. The storage device 114 can be any form of data or information storage means, for example, volatile or non-volatile memory, solid state storage devices, magnetic devices, etc.
In use, the processing system 100 is adapted to allow data or information to be stored in and/or retrieved from, via wired or wireless communication means, the at least one database 116. The interface 112 may allow wired and/or wireless communication between the processing unit 102 and peripheral components that may serve a specialised purpose. The processor 102 receives instructions as input data 118 via input device 106 and can display processed results or other output to a user by utilising output device 108. More than one input device 106 and/or output device 108 can be provided. It should be appreciated that the processing system 100 may be any form of terminal, server, specialised hardware, or the like. In some instances, such as when a touch screen display is used, the output device 108 and the input device 106 may be the same device.
The processing system 100 may be a part of a networked communications system 200, as shown in
Other networks may communicate with network 202. For example, telecommunications network 230 could facilitate the transfer of data between network 202 and mobile, cellular telephone or smartphone 232 or a PDA-type device 234, by utilising wireless communication means 236 and receiving/transmitting station 238. Satellite communications network 240 could communicate with satellite signal receiver 242 which receives data signals from satellite 244 which in turn is in remote communication with satellite signal transmitter 246. Terminals, for example further processing system 248, notebook computer 250 or satellite telephone 252, can thereby communicate with network 202. A local network 260, which for example may be a private network, LAN, etc., may also be connected to network 202. For example, network 202 could be connected with ethernet 262 which connects terminals 264, server 266 which controls the transfer of data to and/or from database 268, and printer 270. Various other types of networks could be utilised.
The processing system 100 is adapted to communicate with other terminals, for example further processing systems 206, 208, by sending and receiving data, 118, 120, to and from the network 202, thereby facilitating possible communication with other components of the networked communications system 200.
Thus, for example, the networks 202, 230, 240 may form part of, or be connected to, the Internet, in which case, the terminals 206, 212, 218, for example, may be web servers, Internet terminals or the like. The networks 202, 230, 240, 260 may be or form part of other communication networks, such as LAN, WAN, ethernet, token ring, FDDI ring, star, etc., networks, or mobile telephone networks, such as GSM, CDMA, 4G, 5G etc., networks, and may be wholly or partially wired, including for example optical fibre, or wireless networks, depending on a particular implementation.
A configuration of a robotic ultrasound system 1400 will now be described in relation to
The robotic ultrasound system 1400 also has a user interface 1460 for communicating information to a user. The robotic ultrasound system controller 1410 may be connected to a display device, such a computer monitor, or liquid crystal display, to provide status information. The display device may also operate as a touch screen. The display may also provide information to allow the user to conduct manual operation and may render 3D vascular geometry for on-demand inspection by the operator. The status information shown may include scan in progress, scan complete with valid data or scan failed to indicate that the scan needs to be repeated. Status information may also be shown using LED indicators located on a region of the robotic ultrasound system 1400. Status information may alternatively, or additionally, be indicated using audible status updates from speakers of the robotic ultrasound system 14. The audible status may be a pre-recorded vocal statement or other audible forms. Status information may also be accessible over a network using a suitable app or web browser running on a computer connected, via a network connection, to the robotic ultrasound system controller 1410.
Example of a robotic ultrasound system will be described below. Described is an ultrasound imaging robot that may control the position and movement of an ultrasound probe as well as the generating and receiving of ultrasound waves. Use of the robotic ultrasound system may allow for simplified and fast, operator-independent, ultrasound imaging. The robotic ultrasound system moves the ultrasound probe within a sealed volume containing a fluid, such as mineral oil, with the ultrasound waves generated by the probe carried through the fluid before passing through the flexible portion of an outer shell of the robotic ultrasound system. The ultrasound probe is submerged in fluid of the fluid portion inside the flexible portion. The fluid is in contact with the flexible portion. A relevant part of the patient, an anatomic region of interest such as a limb, is positioned resting on an outside of a flexible portion of the shell. The ultrasound waves are transmitted through and conducted by the fluid and reflect from the patient, back through the flexible portion and fluid where the ultrasound waves are received by the ultrasound probe. The fluid under the flexible portion creates a hydrostatic pressure on the flexible portion as to the robotic ultrasound system is filled up to, or even above, the level of the flexible portion. In one example, the fluid may be heated for comfort of a patient when they are in contact with the flexible portion. The fluid may be heated by a heating element, located in the sealed volume, to control the temperature of the fluid. An additional heater may also be located in the fluid filled portion and/or an external reservoir that holds additional fluid.
The flexible portion is made of a flexible material such as thermoplastic polyurethane (TPU) and provides a suitable interface between the ultrasound probe and biological tissue of the patient. A thickness of the flexible material is chosen that balances strength against flexibility, as a thicker material may be less flexible but stronger, while thinner material may be more flexible but weaker. An example of a suitable thickness of the flexible material is 0.1 mm. In one embodiment the thickness of the material may vary, for example the side wall may be thicker than other areas of the flexible material. The flexible portion may have a contoured shape that allows an anatomic region of interest to be placed on the flexible portion and be in contact with the flexible portion to allow scanning by the ultrasound probe. The flexible portion material may have ultrasound conductive properties and be able to be formed without air pockets as air pockets would reduce conductivity of the ultrasound. Preferably, the flexible portion material does not compress or deform the tissue or vasculature being scanned. If the flexible portion material is made of material with elastic properties then the flexible portion material may allow freedom for the anatomic region of interest of the patient to sink in with the flexible region conforming to a shape of the anatomic region of interest due to the hydrostatic pressure from the fluid. The flexible portion provides a region for the patient to hold or place the anatomic region of interest, e.g. a body segment such as an arm or a leg, in a position. The shape of the flexible portion may encourage the patient to place the body part in approximately the same position each time the robotic ultrasound system is used. As the patient is in contact with the flexible portion, the flexible portion material may be required to withstand disinfecting processes.
During operation of the robotic ultrasound system it is important that there are no air gaps between the ultrasound probe and the patient as the air gaps may interfere with ultrasound transmission. The fluid in the fluid filled portion may prevent air gaps between the ultrasound probe and the flexible material, while application of ultrasound, aqueous gel to the anatomic region of interest before being placed on the flexible portion may prevent air gaps between the flexible material and the anatomic region of interest.
The ultrasound probe, also referred to as an ultrasound transducer, is movable within the robotic ultrasound system to allow the ultrasound probe to be positioned to scan an anatomic region of interest. In one example, the ultrasound probe is an Interson SP-LO1 probe which houses an ultrasound transducer, although other probes may be used and the probe does not have to be a hand held design. Data and power for the ultrasound probe may be provided via a USB or a micro-coaxial cable, where to data may include communication for control signals and data between a robotic ultrasound system controller, such as the robotic ultrasound system controller 1410 described above or other controller. A beamformer is also used to generate the send and receive of the ultrasound transducer, which is used to create ultrasound images. The beamformer may be part of the ultrasound probe or provided over the USB or micro-coaxial cable or an additional cable to the ultrasound probe. The ultrasound probe may sit in a cradle, located on a carriage that moves on rails. The cradle may be exchanged with other cradles to allow the robotic ultrasound system to operate with different ultrasound probes where each cradle can be designed for mounting a different ultrasound probe, such different ultrasound probes made by different manufacturers. Changing between ultrasound probes may be done by swapping the cradle of the carriage and selecting a new ultrasound probe type in the software of the robotic ultrasound system controller.
The robotic ultrasound system controller may communicate, via the network 202, to a local or remote, e.g. cloud based, server by sending data collected from the ultrasound probe to the cloud. The collected data may be raw data from the ultrasound probe or may be processed in either the ultrasound probe or by the robotic ultrasound system controller software before being transmitted to the local or remote server. In one example of the robotic ultrasound system the ultrasound probe data may be customised before being uploaded to the remote server where the data can be accessed by clinicians for analysis and diagnosis.
The robotic ultrasound system controller may also provide the ability to enter patient information relating to the scan. The patient information may be entered before, during or after the scan. Alternatively, a patient may have an associated bar code scanned by a bar code reader. Alternatively, a two dimensional barcode may be used such as a QR code. A physical token can also be used, such as a near field communications tag that is read by a near field antenna connected to the robotic ultrasound system controller.
Self-calibration of the robotic ultrasound system may be carried out when the system is first powered or on demand when selected by a user, via the user interface. The self-calibration may be performed by imaging calibration objects, or phantoms, located within the fluid of the robotic ultrasound system. Each ultrasound probe in the robotic ultrasound system may be positioned to image a known calibration object and the image/data sent to the robotic ultrasound system controller where the scan of the known calibration objection is compared to an expected result and a calibration configuration is determined for the ultrasound probe, the robotic ultrasound system controller software or both. The calibration objects may be located in the fluid, the flexible portion or another part of the robotic ultrasound system that can be imaged by the ultrasound probe.
The housing 320 is typically made of a rigid material that is non-reactive to any fluid contained within the robotic ultrasound system 300. The housing 320 has a contoured region 322 that may be used as a resting place for a limb, or a non-scanned anatomic region of a patient during operation. An example may be seen in
As seen in
The flexible portion 310 has a scooped, or concave, shape suitable for placing a anatomic region of interest, such as scanned limb 370. The flexible portion 310 is made from a flexible material that is resistant to the fluid within the robotic ultrasound system 300. A scan window 330 is a region of the flexible portion 310 where the ultrasound waves from a probe 340 pass through the flexible portion 310 to allow scanning of a limb of a patient. The size of the scan window 330 may determine a range of scanning by the probe 340 and also take into account possible movement of the probe 340 by the transport mechanism 360.
A portable robotic ultrasound system 1500 will be described in relation to
The portable robotic ultrasound system 1500 has the adjustable scanning bed 1570 which has a removable fluid support wall 1560. The wall 1560 provides support for the flexible portion 1540 and may support the flexible portion 1540 and prevent or limit deformation the flexible portion 1540 caused by hydrostatic pressure of fluid in the portable robotic ultrasound system 1500. The fluid support wall 1560 prevents the flexible portion 1540 from spilling over a front edge of the portable robotic ultrasound system 1500. The fluid support wall 1560 may also help the flexible portion 1540 conform to the region of interest and prevent overspill of the material of the flexible portion 1540. When the anatomic region of interest is placed on the flexible portion 1540, suitable connection between the material of the flexible portion 1540 and the region of interest can ensure transmission of the ultrasound waves. The fluid support wall 1560 may be removable, allowing removal for scans when the fluid support wall 1560 may interfere or limit positioning of the region of interest for scanning. The fluid support wall 1560 may be used on the described robotic ultrasound systems including the robotic ultrasound system 300 described above.
The tower 1510 contains a pumping system to pump fluid from a reservoir, located in the tower 1510, to the adjustable scanning bed 1570. The scanning bed may be adjusted for height or rotated to adjust the angle and is moved by gearing driven by motors in the tower 1510. The height and rotation of the scanning bed may be changed, relative the tower 1510. The tower 1510 also houses electrical components, such as a computer or micro-controllers and an ultrasound beamformer. The reservoir holds fluid and may also have a heater to keep the fluid in the reservoir at a set temperature. The portable robotic ultrasound system 1500 may also have a touchscreen monitor to provide a user interface for controlling operation of the system, as well as for displaying status information. While the portable robotic ultrasound system 1500 shows an adjustable scanning bed 1570 attached to the tower 1510, the adjustable scanning bed 1570 may be replaced with other attachments.
The robotic ultrasound system 400 includes a curved flexible portion 440 to allow the probe 460 access to regions of the anatomic region of interest of a patient that may be difficult to access using the robotic ultrasound system 300. The flexible portion curvature 440 has both a contour, like the flexible portion 310 and the flexible portion 410, as well as a curvature. That is, the flexible portion curvature 440 may allow scanning of non-straight anatomic region of interest of the patient. One example is scanning an arm, shoulder, axilla or elbow. Another example may be scanning a leg, such as groin, knee or foot. In the example of scanning a foot, the patient may have a leg on the flexible portion 410 and the top of the foot extending around the curved flexible portion 440. The curve of the curved flexible portion 440 allows the probe 460 to scan a curved anatomic region of interest such as a shin, ankle and top of the foot region without the patient being reposition between scans. A fluid support wall 480, similar to the detachable fluid support wall 1560 may also be included in the robotic ultrasound system 400. The robotic ultrasound system 400 may be placed on a height adjustable platform or trolley to allow height and rotation adjustment to allow the patient to be comfortable during scanning.
Another alternative portable robotic ultrasound system 1800 will be described in relation to
A side of the flexible portion 1820 may allow scanning of a side of a patient, torso, or armpit through a side scanning window 1824. The region of the patient to be scanned is placed on the side scanning window 1824 and the ultrasound probe directed to scan the area.
The tower 1840 contains items such a power supply, which may include an uninterruptable power supply, a beamformer, motor microcontroller, fluid reservoir, fluid pump, an electrocardiogram, motors for moving the adjustable scanning bed 1810, an ultrasound beamformer and microcontrollers. The adjustable scanning bed 1810 may have at least one carriage, an ultrasound probe, fluid heater and a fluid level sensor. On the outside of the tower 1840 is a detachable touch screen controller, wheels 1850 and a handle 1870.
A transport mechanism for a single ultrasound probe will now be described in relation to
While yaw of the carriage 935 is controlled by moving the carriage 935 along the outer rail motor 915 and the inner rail motor 920, additional movement of an ultrasound probe 990, carried in a cradle 995, is also possible. The additional movement of the ultrasound probe 990 is achieved by moving the cradle 995 on the carriage 935. The carriage based motion allows the ultrasound probe 990 to pitch up and down, raise and lower as well as move forwards and backwards where forwards moves the ultrasound probe 990 toward the scanning window and the anatomic region of interest and backwards moves the ultrasound probe 990 away from the scanning window. The motion of the transport mechanism 900 and the carriage 935 allows for adjustment of the pitch, height and distance to the anatomic region of interest of the ultrasound probe 990. The ultrasound probe 990 is submerged in the fluid of the fluid filled portion of the robotic ultrasound system.
The carriage based motion of the ultrasound probe 990 is driven by a left rail motor 940, a right rail motor 945 and a middle motor 950. The left rail motor 940 drives a left rail carriage slide 965 on a left rail 955 using a belt, not shown, that returns via a sprocket. The belt is attached to a left rail belt attachment point 975. Movement of the left rail carriage slide 965 manipulates a left rail lever arm 1015. The right rail motor 945 drives a right rail carriage slide 970 on a right rail 960 using a belt, not shown, that returns via a right rail sprocket 1005. The belt is attached to a right rail belt attachment point 980. Movement of the right rail carriage slide 970 manipulates a right rail lever arm 1020. The middle motor 950 does not have an associated rail on the carriage 935. Instead, a belt, not shown, for the middle motor 950 returns via a middle sprocket 1010 and is attached to a middle belt attachment point 985.
The carriage based motion of the ultrasound probe 990 allows the ultrasound probe 990 to move up 1030 and down 1035, forward 1040 and backwards 1045, as well as pitch up 1050 and pitch down 1055. The motion is achieved by movement of three levers, the left rail lever arm 1015, the right rail lever arm 1020 and a middle lever arm. Motion of the three levers is co-ordinated by the robotic ultrasound system controller, such as the robotic ultrasound system controller 1410, executing the robotic ultrasound system controller software. For example, moving all three levers in the forward 1040 direction at the same speed will move the ultrasound probe 990 forwards. Moving the motors to different positions will allow the ultrasound probe 990 to move up 1030, down 1035, pitch up 1050 and pitch down 1055.
Operation of the outer rail 905 and the inner rail 910, along with movement of the carriage 935 provide movement in a lateral direction for the ultrasound probe 990. The lateral movement allows the ultrasound probe 990 to scan along the anatomic region of interest.
The alternative transport mechanism has a carriage 1600 for moving an ultrasound cradle that holds an ultrasound probe 1605. The carriage 1600 has a plurality of components including a secondary carriage 1610, that rides on top of the carriage 1600, that may move back and forth to allow longitudinal translational movement of the ultrasound probe 1605. A part of the secondary carriage 1610 may rotate about a secondary carriage yaw rotation point 1615 which allows for rotational movement of the secondary carriage 1610 in yaw. The movement of the ultrasound probe 1605 about the secondary carriage yaw rotation point 1615 is driven by a yaw motor 1620, through a gearbox. A pitch motor 1625 is connected to the secondary carriage 1610, allowing up and down vertical movement of the ultrasound probe 1605 about a pitch rotation point 1627. Roll motion of the ultrasound probe 1605 may be achieved using a roll motor 1630 on the secondary carriage 1610 to rotate about a roll rotation point 1635. Pitch motion of the ultrasound probe 1605 may be achieved by an ultrasound probe rotation motor 1640 at the end of the secondary carriage 1610. The ultrasound probe rotation motor 1640 may rotate the ultrasound cradle with the ultrasound probe 1605 about an ultrasound probe rotation point 1645. A longitudinal translational motor 1650 may drive a pinion 1655 along a rack 1660 to move the secondary carriage 1610 in a longitudinal direction, similar to movement forward 1040 and backwards 1045 described above. The secondary carriage 1610 moves in the longitudinal direction along a secondary carriage rail 1665. Linear bearings 1662 may attach the secondary carriage 1610 to the secondary carriage rail 1665.
Another alternative single probe transport mechanism will now be described in relation to
A carriage is shown with three components, a carriage base 2042, a middle carriage 2044 and a upper carriage 2048. The carriage base 2042 moves along a single axis and is driven by a rear leadscrew 2010 and a front leadscrew 2012. The two leadscrews operate in tandem and keep the carriage base 2042 generally perpendicular to the leadscrews. A leadscrew nut on at least one of the rear leadscrew 2010 and/or front leadscrew 2012 is attached to a leadscrew attachment point 2058. Parts of the leadscrews without a leadscrew but pass under the carriage base 2042 through leadscrew clearance 2054. The carriage also has rail attachment points 2066 that connect the carriage to an inner rail 2062 and an outer rail 2064. Mounted on the carriage base 2042 is a rack 2014 and pinion 2022 that allow the middle carriage 2044 to move in a single direction, toward or away from the anatomic region of interest, driven by a pinion motor 2020. The upper carriage 2048 can move in a number of direction with motion about a upper carriage yaw rotation point 2024, roll rotation point 2032, driven by roll motor 2030, ultrasound probe rotation point 2036 and ultrasound probe yaw rotation point 2040. Each of the rotation points allows a motor to move a portion of the upper carriage 2048 in one degree of freedom. The result is that an ultrasound probe 2050 can be moved in six degrees of freedom.
A dual probe robotic ultrasound system will now be described in relation to
In one embodiment, a dual probe transport 1100 uses a dual rail configuration as used in the transport mechanism 900 with an outer rail 1105 and an inner rail 1110 located closer to an anatomic region of interest. As with the transport mechanism 900, dual probe transport 1100 may also be located in the fluid filled portion. The arrangement of the dual probe transport 1100 provides for two ultrasound probes with the probe operating on a left and a right hand side of the outer rail 1105 and the inner rail 1110. Drive of a left hand side ultrasound probe 1160 is provided by a left probe outer rail motor 1115 and a left probe inner rail motor 1120. The motors of the left probe 1160 are connected to a left probe carriage 1155 on which the left probe 1160 is mounted. A left probe outer rail belt 1135 and a left probe inner rail belt 1140 connect the left probe outer rail motor 1115 and the left probe inner rail motor 1120 and allow the motors to traverse and slew the left probe carriage 1155. Movement of the left probe 1160 on the left probe carriage 1155 may be carried out in a similar manner as described above for the carriage 935.
A right side ultrasound probe, not shown, may be mounted on a right probe carriage, also not shown. Typically the left probe carriage 1155 and the right probe carriage will have matching design and operation. The right probe carriage moves along the outer rail 1105 and the inner rail 1110 using a right probe outer rail motor 1125, driving a right probe outer rail belt 1145, and a right probe inner rail motor 1130 driving a right probe inner rail belt 1150. A right probe outer rail carriage mount 1165 and a right probe inner rail carriage mount 1170 connect to the right probe outer rail belt 1145 and the right probe inner rail belt 1150, respectively, are attached to the right probe carriage.
As the left probe carriage 1155 and the right probe carriage are both attached and move along the outer rail 1105 and the inner rail 1110 the two carriages are unable to pass each other during operation of the dual probe transport 1100. Position tracking may be used to implement collision prevention to maintain separation between the two carriages and may take into account the position and slew of each of the carriages.
An alternative dual probe robotic ultrasound system will now be described in relation to
A robotic ultrasound system scanning method 1300 will now be described in relation to
Next, at a position anatomic region of interest step 1320 the anatomic region of interest is placed on the flexible portion of the robotic ultrasound system, facing towards a scanning window of the robotic ultrasound system, such as the scan window 330 of the robotic ultrasound system 300. The robotic ultrasound system may be situated on a height adjustable trolley or platform, or may be inbuilt into an arm-rest of a chair, table, hospital bed etc. The anatomic segment may be comfortably positioned on the flexible portion. Different arrangements may be made depending which anatomic region of interest is being scanned. For example, in the case an arm being scanned, the patient may hold an object and/or may use an ergonomic support such that the arm movement is limited with no degrees of freedom for the arm to be positioned in any other position. Similarly, when a leg is being scanned, the leg may be braced in a similar ergonomic manner.
At an initiate scan step 1330 a scan of the anatomic region of interest is initiated on the robotic ultrasound system controller software. The robotic ultrasound system controller software may be executed on a cloud based controller or may be executed on a local controller as described for the robotic ultrasound system controller software 1420. When the scan is initiated, a user of the robotic ultrasound system controller software may enter information such as type of scan, patient, clinic and device. In some examples, the robotic ultrasound system may automatically identify the patient from a biometric scanner instead of having the information manually entered. The robotic ultrasound system controller software may issue a unique identifier for the confidential patient data to be stored under or mapped to.
At a calibrate robotic ultrasound system step 1340 an optional calibration of the robotic ultrasound system may be performed. The calibration may be related to the transport system, such as positioning any carriages, such as the carriage 935, against limit switches to reset position encoders for the drive motors. In one example the ultrasound probe may perform a calibration operation, such as scanning a known calibration object contained within the fluid filled portion of the robotic ultrasound system, as described above.
A pre-scan step 1345 performs an initial scan of the anatomic region of interest to determine where the skin and other parts of the anatomy are located and to check the anatomic region of interest has been place in the correct location for scanning. The scanning that follows may be conducted in a sequential or non-sequential manner where different parts of the scanning are done, such as scanning at different angles. The output of the pre-scan step 1345 may be geometrical attributes that can be used during ultrasound scanning. Temporally varying flow measurement may also be collected, for anywhere in the anatomic region of interest. At a scan step 1350 scan information is collected. The scan step 1350 may perform different scan types, as selected by a user. The scan type may be pre-mapping, AV fistula, monitoring, tissue, muscle, or cancer. In one embodiment, at the scan step 1350, ECG-gated scan slices are obtained for the length of the total scannable volume. The scans are triggered during a predetermined part of the cardiac cycle using ECG information. Alternatively, the scans can be triggered by a pulse oximeter. The scan slices are accumulated in storages, such as memory of the robotic ultrasound system controller. The scan information may be stored in a raw format, such as raw RF format, or may be stored in a compressed format.
During the scan step 1350 the robotic ultrasound system may collect temporally varying flow measurements for end slices to fully define boundaries of the ultrasound scan. Finally, at an upload scan data step 1370 the scan data collected during operation of the robotic ultrasound system scanning method 1300 may be uploaded to a computer where the scan information may be processed. In one example, the scan information may be compressed before sending to a remote server for processing. The scan information may be sent over the network to a remote processor or the scan information may be processed locally. Although the upload scan data step 1370 is shown occurring after completion of the ultrasound scan, the scan information may commence being uploaded/transferred, to a local or remote server, once scans are collected at the scan step 1350. Data may continue to be uploaded as a parallel process to collection of further scan information. Alternatively, all the scan information may be collected before being sent for processing. In one example, the data may be processed in real time to provide feedback during the ultrasound scanning. The feedback may be used by the ultrasound system to make dynamic changes to the ultrasound scanning process.
Once the robotic ultrasound system scanning method 1300 sends the scan data and the scan data has been processed, the processed information may be used for diagnostic purposes.
To conduct a scan using the ultrasound system, the system is turned on and powered by either mains power or a battery. To prepare for scanning, the scanning bed is filled with fluid and the fluid is heated. Am ultrasound system that used regularly may have the fluid heated before first operation, with the heating system starting based on a timer. The ultrasound system may have an indicator to show that the system has reach a set temperature. An alarm may sound if a scan is initiated before the fluid is at the correct temperature. A scan type, such as pre-mapping, AV fistula, or monitoring, is selected using a suitable user interface. A user of the ultrasound system can also check the patient details with the user interface.
Before scanning, the scan area is checked for sharp objects, the system is located in position and the scanning bed is set at a correct level and angle. Gel is applied to the anatomic region of interest of the patient and/or the scanning bed, before placing the anatomic region of interest on the scanning bed. The operator of the ultrasound system may detach a touch screen on the system, if desired. Once the scan type is selected, the patient is prepared and position. Once the system is ready the scan may start.
A pre-map operation can show a potential scanning error, such as the anatomic region of interest is incorrectly positioned. If the patient moves during scanning, the ultrasound system may alert the operator and the scan restarted. Completion of the scan may be indicated to the operator and a scan successful or scan error message displayed. After the scan is completed, the patient removes the anatomic region of interest, the gel is removed from the patient and the ultrasound system and other suitable cleaning is performed.
The results from the ultrasound system scan can be viewed on the display on the system or another device, such as a tablet or computer through a suitable portal. The results may be used to read parameters on a display, label arteries/veins, obtain flow rate values, add labels to ultrasound images and/or make comments. Ultrasound clinical reports may also be created and exported from the system.
As described above, the ultrasound system has wheels that allows the system to be moved. Moving the system can be done after powering down the system, disconnecting any external power supplies and releasing a brake on the wheels. When moving the robotic ultrasound system for longer distances, such as moving using a vehicle transport, the fluid is drained from the system, the scanner bed stowed in a travel position or detached and the display screen secured or removed.
Maintenance of the robotic ultrasound system can be carried out at regular intervals, either based on a number of operating hours or time since the last maintenance. The fluid can be inspected through an access hatch on the tower. Tubes, pipes and pumps can be inspected for fluid leaks. Dust filters and fluid filters, located in the tower, may be cleaned. The scanning bed can be emptied of fluid and the top of the scanning bet removed to inspect the internal components, such as the motors, carriages, ultrasound scanner and cables. The ultrasound scanner can be examined to ensure that cables, housing lens and connectors are in good condition. The detachable screen can also be inspected to ensure that all user interface aspects are operational and the cable is in good condition. Software on the system may also be updated.
The ultrasound system should also be cleaned after use with any ultrasound gel removed and contact surfaces sanitised. The contact surfaces include the flexible portion of the scanning bed, housing of the trolley and touchscreen display.
While motion on the carriage is described above as being driven by motors and belts, other arrangements may also be used. In one example, the belt may be replaced by a lead screw or a ball screw arrangement with the motors driving the screws and encoders attached to the screws determining position of the components of the carriage. Screw based drive systems may provide reduced backlash compared to a belt drive system.
In one example, the dual probe transport 1100 may use more than two rails. For example, a left probe carriage may be mounted on two separate rails to a right probe carriage. In one example, the carriages may be mounted on a single rail with a motor on the carriage providing rotation to slew the carriage about the rail. In some examples, such as the robotic ultrasound system 400, the range of motion of the ultrasound probe may be increased to allow scanning of curved flexible portions, such as the curved flexible portion 440. In dual ultrasound probe systems each ultrasound probe may be able to scan one of the curved flexible portions.
The examples described above show the scan window of the robotic ultrasound system located on one side of an anatomic region of interest of a patient to perform scans from one side and underneath the anatomic region of interest to enable scanning around the anatomic region of interest. In alternative system the scan window may be located underneath the patient with an ultrasound probe pointing up to the patient. Such an arrangement may allow for a narrower robotic ultrasound system with the probe transport, or transports, located under the patient. Such an arrangement may be useful where portability is important. In one alternative, the scan window may be located to one side of the anatomic region of interest. In another alternative, the scanning bed may be rotated 180 degrees so that ultrasound scanning can be conducted from the top of the anatomic region of interest.
In one alternative, there may be ultrasound probes scanning from a left side, a right side, underneath, above or some combination of the four directions. When scanning from underneath, or below, the ultrasound probe will face upwards to scan the anatomic region of interest. A robotic ultrasound system may have ultrasound probes located on either side to provide a more detailed view of the patient. The flexible portion of the shell of the robotic ultrasound system may also be larger to allow a neck or torso of a patient to be scanned. In one example, the robotic ultrasound system may be part of a bed, with a patient lying on a flexible portion, supported by the fluid in the robotic ultrasound system.
The robotic ultrasound system may determine fluid levels in the system using a level sensor to monitor a level of fluid in the system. In one embodiment, the ultrasound probe may act as a level sensor to determine fluid levels as the ultrasound probe can detect the location of the air above the fluid. If using a dedicated level sensor to determine fluid level, a level detecting system may use a series of discrete switches to monitor fluid levels or may use a system capable of providing a level measure. The fluid monitoring system may be used to ensure that the fluid level is suitable to cover the ultrasound probe as well as a path of the ultrasound waves. The fluid monitoring system may also be used to determine that the anatomic region of interest of the patient is located on the flexible portion of the robotic ultrasound system. As a limb of the patient is placed on the flexible portion, the fluid level in the robotic ultrasound system will rise. The change in the fluid level may be used to determine that presence and absence of the anatomic region of interest.
The fluid level in the scanning bed may be changed by the robotic ultrasound system to move the anatomic region of interest on the scanning bed up or down. In one embodiment the fluid level may be varied to allow the anatomic region of interest to be wrapped by the flexible portion. By lowering the fluid level, the anatomic region of interest may sink into the flexible portion and allow more regions of the anatomic region of interest to be scanned. The fluid is typically pumped to or from the reservoir to change the fluid level of the scanning bed.
The motors used for the robotic ultrasound system may be stepper motors. The stepper motors may be used in an open loop configuration or in a closed loop configuration with an encoder to determine the amount of movement. In one example, rotary encoders may be used on sprockets, such as the right rail sprocket 1005 and the middle sprocket 1010 of the carriage 935 or sprockets used for the outer rail belt 925 and the inner rail belt 930. An alternative is to use a servo motors which provides a closed loop configuration for the motors, or a combination of stepper motors and servo motors.
While the robotic ultrasound system described above uses a handheld ultrasound mounted on a transport mechanism, other ultrasound scanners may be used. Larger, or smaller, ultrasound scanners may be used that may be mounted on a carriage of the transport mechanism. The ultrasound probes used in the robotic ultrasound system may be capacitive or mechanical transducers such as micromachined ultrasonic transducers piezo-electric transducers, or any other type of mechanical transducer. The micromachined ultrasonic transducers may be CMUT (capacitive micromachined ultrasonic transducers) or PMUT (piezoelectric micromachined ultrasonic transducers), or a combination of both with CMUT and PMUT in one or more probes.
Examples of sound or acoustic waves include but are not limited to pressure waves, mechanical and longitudinal waves, and ultrasound waves. Ultrasound waves may comprise acoustic waves having a frequency greater than about 20 kHz. In some examples, the one or more mechanical transducers are ultrasound transducers configured to generate and detect ultrasound waves.
In some examples, the robotic ultrasound system comprises a single, or no more than one, mechanical transducer. In other examples, the robotic ultrasound system comprises a plurality of, such as two or more, mechanical transducers. The mechanical transducers of the plurality of mechanical transducers may be positioned or disposed in any arrangement or configuration. For example, two or more mechanical transducers may be arranged on a surface in a two-dimensional array or in a tiled configuration, such as a rectangular array, a square array, a circular array, or any other two or three-dimensional array shape.
Communications and power to the ultrasound probe may be delivered by USB, micro-coaxial, powered Ethernet, or an alternative means. In one alternative the power may be provided by a wired connection and the communication provided by a wireless communication protocol. The communication lines may also be used to update firmware of the ultrasound probe and sent via the robotic ultrasound system controller software. The robotic ultrasound system controller software may also be updated over a network connection to modify operation of the robotic ultrasound system. Such an operation may be used to update scanning processes of the robotic ultrasound system so that, for example, the robotic ultrasound system may be able to perform different diagnostic scans.
The ultrasound scan data collected by the robotic ultrasound system may be stored and processed either locally or on a remote server. In one example, the ultrasound scan data may be geometrical, 3 dimensional, scan data formed using locations of the ultrasound probe during scanning. The location may be tracked using the carriage and ultrasound probe position information from robotic ultrasound system controller. As described at the scan step 1350, the ultrasound scans of the robotic ultrasound system may have a timed capture according to the blood pulse cycle of a patient to account for variations in vein and/or artery changing in size as a heart of the patient beats. A trigger, such as electrocardiogram (ECG) may be used to select or trigger capture of data from the ultrasound probe or, alternatively, pulse oximetry gated acquisition may be used. The trigger may be used to determine a current stage of the stage of the cardiac pulse cycle and synchronise the date capture with the cardiac pulse cycle. In a further example, the ultrasound probe may capture blood flow rate, or blood flow velocity, for the anatomic region of interest. The ultrasound probe may be positioned by the robotic ultrasound system controller software to identify a particular vessel and obtain blood flow velocity. The ultrasound probe may be moved to more than one position to get an accurate measurement. As such, the samples may be aligned with a time domain, such as ECG. When the robotic ultrasound system uses more than one ultrasound probe, each of the ultrasound probes may require synchronisation using the ECG.
One example of a robotic ultrasound system may have processing in the robotic ultrasound system controller software to allow display of real-time images collected from the ultrasound probe. The robotic ultrasound system controller software may allow the operator to direct the ultrasound probe, or probes, to capture data based on the real-time images being displayed. Such an arrangement may be considered as semi-automated operation of the robotic ultrasound system.
As described above, the robotic ultrasound system may allow the patient to hold an object and/or may use an ergonomic support such that there is no degrees of freedom for an arm to be positioned. In the case where a leg of the patient is being scanned, the leg may be braced in a similar ergonomic manner. Sensors may be incorporated into the brace or held object. The sensors may be incorporated as part of the brace or held object or the sensors may be attached externally. The sensors may also be built in, or attached, to the flexible portion of the robotic ultrasound system. The sensor may include additional ultrasound units, temperature sensors, infrared sensors, lasers, fingerprint scanners, pressure sensors, cameras, etc and may be configured to provide pulse information, ECG data, movement information or other patient information. The sensors may also provide biometric information to identify the patient. In one example, pressure sensors may be used to determine if the patient modifies their grip on a hand hold or moves a limb.
While the robotic ultrasound system described above uses electric motor in a fluid such as mineral oil, other fluids may be used on the robotic ultrasound system. In one example, the robotic ultrasound system may be filled with water as the water will conduct the ultrasound waves from the ultrasound probe. However, as water is conductive, the electronics located in the fluid may be moved or use waterproof components. In one example, the movement of the transport mechanism and the carriage may be driven mechanically with the motors positioned separate to the water. Alternatively, the transport mechanism and the carriage may be moved using a hydraulic system. Any fluid used by the robotic ultrasound system may be drained from the system using a suitably positioned drainage tap.
The transport mechanism described physically positions the ultrasound probe to conduct a scan. In one example, the transport mechanism and carriage may be replaced with components that provide limited movement or no movement and use a 2D CMUT or PMUT array.
While the robotic ultrasound system has been described for the use on human patients, the robotic ultrasound system may also be used to scan any objects that can be imaged by ultrasound.
The robotic ultrasound system described above has a housing and flexible portion. In some examples of the robotic ultrasound system, the housing may be reduced or even eliminated. In one example, the robotic ultrasound system is made entirely of flexible material of the flexible portion. That is, there is no separate housing. The fluid filled portion of the robotic ultrasound system is located within the flexible portion.
The robotic ultrasound system described above provides a number of advantages. One advantage is that the robotic ultrasound system can perform automated ultrasound scanning without the need for specialised operators, such as sonographers. The robotic ultrasound system also provides comfortable, quick and reliable 3D ultrasound imaging at low cost.
Another advantage of the robotic ultrasound system is that the system allows for longitudinal monitoring because of the fixed position for the tissue, limb or body so that each scan is standardised. This may be useful for monitoring vascular disease. As described, the anatomic region of interest may be placed on the flexible portion of the robotic ultrasound system using aids to ensure the anatomic region of interest is in a set position. If the anatomic region of interest is repeatedly placed on the flexible portion using position aids then the ultrasound probe will scan the anatomic region of interest from the same angle for each ultrasound scan. Such a setup may provide for a high degree of repeatability compared to a traditional ultrasound system where the positioning of the ultrasound probe is conducted by the ultrasound system operator.
The use of a robotic ultrasound system may also be effective at providing remote or telehealth scanning. The scan can be conducted and the scan data uploaded to remote servers that can allow specialists to review the information at remote locations.
The robotic ultrasound system may also provide a more in depth view and resolution of the vasculature, compared to a traditional ultrasound, due to non real-time scanning that allows post-processing of the raw data. The robotic ultrasound system can also implement a two way iteration of scanning where the signals are sent and received and the ultrasound scanning is updated based on the anatomy being scanned. The robotic ultrasound system may also automatically capture the blood flow rates and be able to analyse the blood flow using computational fluid dynamics.
The design of the transport mechanism, such as the transport mechanism 900 provides a low profile design that is able to capture ultrasound images with a wide range of angles while fitting into a small volume within the robotic ultrasound system.
As the robotic ultrasound system is able to perform ultrasound scans under control of the robotic ultrasound system controller, updates or modifications to the system may occur by updating or modifying the software of the robotic ultrasound system controller. For example, an updated scanning process may be downloaded to update an existing scanning process. Alternatively, a library of scanning operations may form part of the robotic ultrasound system controller software or be accessible over a network connection and downloaded to the robotic ultrasound system to configure the robotic ultrasound system controller.
One advantage of the robotic ultrasound system that uses heated fluid is that vessels of the patient are heated to a consistent temperature. Heating the vessels to a suitable temperatures can allow for increased venous and arterial dilation. The use of heated fluid may also allow for consistent measurements during scans made over time, regardless of room temperature, as a constant temperature of an anatomic region, from the heated fluid, of interest can produce consistent scan information.
Another advantage of the robotic ultrasound system is that unskilled staff may operate the system. The workflow load of operating the robotic ultrasound system may be compared to that of measuring blood pressure with an automatic sphygmomanometer.
The reference in this specification to any prior publication (or information derived from the prior publication), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that the prior publication (or information derived from the prior publication) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates.
Throughout this specification and the claims which follow, unless the context requires otherwise, the word “comprise”, and variations such as “comprises” or “comprising”, will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not the exclusion of any other integer or step or group of integers or steps.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021903714 | Nov 2021 | AU | national |
The present application is a continuation of International Application No. PCT/AU2022/051385, filed Nov. 18, 2022, which claimed priority to Australian Application No. 2021903714, filed Nov. 18, 2021, the disclosures of which are hereby incorporated by reference in their entireties.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/AU2022/051385 | Nov 2022 | US |
| Child | 18462188 | US |
