CN109069112A

CN109069112A - For controlling the robot system of ultrasonic probe

Info

Publication number: CN109069112A
Application number: CN201780005528.XA
Authority: CN
Inventors: 罗曼·弗洛里斯二世; 马修·赫特; 杰勒德·萨利纳斯; 迈克尔·科斯塔; 马修·西尔维斯特; 罗伯特·汉密尔顿; 科里·蒂博; 利奥·彼得罗相; 尚卡尔·拉达克利希南; M·奥布赖恩; S·威尔克; J·兹维斯塔
Original assignee: Nervous System Analysis Co
Current assignee: Nervous System Analysis Co; Neural Analytics Inc
Priority date: 2016-01-05
Filing date: 2017-01-05
Publication date: 2018-12-21
Also published as: EP3399921A1; EP3399921A4

Abstract

According to various embodiments, a kind of mountable helmet on head is provided, helmet includes the probe for being emitted to energy in head.Helmet further includes the support construction for being coupled to probe.Support construction includes translatable actuator, for translating probe along the axis on the surface around head.

Description

For controlling the robot system of ultrasonic probe

Cross reference to related applications

The application is the entitled TRANSCRANIAL DOPPLER examined now submitted on June 20th, 2016 The part of the U.S. Patent application of the Serial No. 15/187,397 of PROBE (transcranial Doppler probe) is continued, it is required that 2015 The entitled AUTOMATIC DISCOVERY OF TRANSCRANIAL DOPPLER WINDOW that on June 19, in submits is (through cranium The automatic discovery of Doppler's window) No. 62/181,859 U.S. Provisional Patent Application of Serial No. priority and right (its Full content is incorporated herein by reference), the entitled INITIAL PLACEMENT for also requiring on June 19th, 2015 to submit The Serial No. the 62/th of OF TRANSCRANIAL DOPPLER SENSORS (initial placement of transcranial Doppler sensor) The priority and right (entire contents are incorporated herein by reference) of 181, No. 862 U.S. Provisional Patent Applications, and also want Seek the entitled PROBE SUPPORT STRUCTURE WITH VARIABLE STIFFNESS (tool submitted on June 8th, 2016 Have the probe support structure of stiffness variable) No. 62/347,527 U.S. Provisional Patent Application of Serial No. priority and power Beneficial (entire contents are incorporated herein by reference).The disclosure requires the entitled SYSTEMS AND submitted on January 5th, 2016 METHODS FOR DETECTING NEUROLOGICAL CONDITIONS's (system and method for detecting nervous disorders) The priority and right of the U.S. Provisional Patent Application of Serial No. 62/275,192, entire contents are incorporated in by reference This.The disclosure requires the priority and power of the U.S. Patent application for the Serial No. 15/399,648 submitted on January 5th, 2017 Benefit, entire contents are incorporated herein by reference.

Technical field

Theme described herein relates generally to Medical Devices, and relates more specifically to include for diagnosing medical conditions Probe helmet.

Background technique

Transcranial Doppler (TCD) is used for the brain blood of non-invasively measuring brain main conduction artery (such as Willis ring) Flow velocity degree (CBFV).It is for diagnosing and monitoring many nervous system diseases, such as commenting for subarachnoid hemorrhage (SAH) artery Estimate, assist the Preventive Nursing of sickle-cell anemia infant and the risk assessment of embolic apoplexy patient or subject.

Traditionally, TCD ultrasonic wave includes manualling locate probe relative to patient or subject by technical staff.Probe will Amount is emitted to the head of patient or subject.Technical staff identifies the CBFV wave character of head cerebral artery or vein.Signal Identification needs the sonic depth of integration probe, angles and positions in one of several ultrasonic windows, and from ultrasonic signal Feature, including waveform spectrum, sound, M-mode and speed.For using the equipment of probe (for example, automation transcranial Doppler is set It is standby), there is a problem of it is related with the alignment and pressure for applying probe during use (for example, when being maintained on the person in order to Comfortableness and security, or the validity in order to ensure probe).In some equipment, spring is incorporated in probe, but due to Spring in probe sliding laterally and moving, and such equipment may not be able to efficiently control pressure.

Summary of the invention

According to various embodiments, a kind of mountable helmet on head is provided, helmet includes for inciting somebody to action Probe of the energy transmitting into head.Helmet can also include the support construction for being coupled to probe, wherein support construction packet It includes for the translatable actuator along at least two axis translation probe for being roughly parallel to head surface.

In some embodiments, helmet can also include at least one vertical translation actuator, for along substantially Probe is translated perpendicular to the vertical axis on the surface on head.In some embodiments, helmet can also include at least one Revolving actuator, for surrounding at least one rotation axis rotating detector.Helmet can also include generally normal to vertical The tilt axis of axis.Helmet can also include be approximately perpendicular to vertical axis move axis.

In some embodiments, helmet can provide the probe one-movement-freedom-degree of lucky five actuatings, including by flat Row is in two actuating translation freedoms of two axis (x, y) of head surface, by being approximately perpendicular to the vertical of head surface One actuating freedom degree of axis (z), one along tilt axis activates freedom degree and along an actuating for moving axis Freedom degree.

According to various embodiments, a kind of equipment for being configured as interacting with target surface is provided, which includes It is configured as the probe to interact with target surface.The equipment can also include the support construction for being coupled to probe, be used for phase For target surface mobile probe.Support construction can be configured as to be translated along the translated plane for being roughly parallel to target surface Probe.Support construction can be further configured to rotate probe around at least one rotation axis.

In some embodiments, support construction is configured as visiting along the translated axis line translation for being approximately perpendicular to translated plane Head.In some embodiments, support construction includes the tilt axis different from translated axis line.In some embodiments, support knot Structure includes different from translated axis line and tilt axis moving axis.In some embodiments, support construction is additionally configured to make Probe is around tilt axis and moves axis toward and away from target surface rotation.In some embodiments, support construction is along flat Moving each of plane and translated axis line has rigidity, and is greater than the rigidity along translated axis line along the rigidity of translated plane. In some embodiments, probe is configured as emitting ultrasonic acoustic waves into target surface.

In some embodiments, which further includes the first actuator, and the first actuator is configured to along translated plane edge First direction translation probe.In some embodiments, which further includes the second actuator, second actuator be configured to along Translated plane translates probe along the second direction perpendicular to first direction.In some embodiments, which further includes that third causes Dynamic device, the third actuator are configured as along the translated axis line translation probe perpendicular to translated plane.In some embodiments, One actuator and the second actuator are configured with the rigidity of translated plane, and third actuator is configured with the rigidity of translated axis line.

In some embodiments, the first, second, and third actuator is servo motor.

In some embodiments, the input power of each of the first actuator, the second actuator and third actuator is logical It crosses the configuration including determining the support construction for probe and is used to support the first actuator of structure, the second actuator and the The methods of each of three actuators determines.In some embodiments, this method further includes the configuration based on support construction The stiffness matrix of support construction is determined with the desired condition rigidity of support construction.In some embodiments, this method is also wrapped It includes by the way that stiffness matrix is multiplied with the vector of the expectation of probe and the difference of practical translation position and rotation position and determines force vector Amount.In some embodiments, this method further includes the Jacobian matrix for calculating support construction.In some embodiments, this method It further include determining each of first, second, and third actuator by the way that force vector is multiplied with the transposition of Jacobian matrix Input power.

According to various embodiments, a kind of method that manufacture is configured as the equipment to interact with target surface is provided, Including the probe for being provided arranged to interact with target surface.In some embodiments, this method further includes that will support knot Structure is coupled to probe with relative to target surface mobile probe, wherein the support construction is configured as along being roughly parallel to It states the translated plane of target surface and translates the probe along both translated axis lines for being approximately perpendicular to the translated plane, And rotate the probe around at least one rotation axis.In some embodiments, a rotation axis includes being different from The tilt axis of translated axis line.In some embodiments, a rotation axis includes different from translated axis line and tilt axis Move axis.

According to various embodiments, provide a kind of for scanning the robot system of subject, which includes For the probe to subject's emitted energy, the robot support construction coupled with probe, the robot support construction includes using In the actuator for the surface mobile probe for being parallel to subject.In some embodiments, robot system includes that there are five cause for tool The robot support construction of dynamic freedom degree.In some embodiments, robot system includes that there are six the machines of actuating freedom degree for tool Device people's support construction.In some embodiments, robot system includes the robot support with more than six actuating freedom degrees Structure.In some embodiments, robot system includes the robot support construction with more than six actuating freedom degrees.One In a little embodiments, robot system includes that there are four the robot support constructions of actuating freedom degree for tool.In some embodiments, machine Device people's system includes the control computer for being configured to the movement of control robot support construction.In some embodiments, robot System includes the remote operation controller for being configured to the movement of control robot support construction.In some embodiments, robot System includes the hybrid position force controller for being configured to the movement of control robot support construction.In some embodiments, machine People's system includes power/torque sensor with probe contacts.

According to various embodiments, a kind of equipment for being configured as interacting with target surface, the equipment packet are provided It includes the probe for being configured as interacting with target surface and is coupled to probe for relative to target surface mobile probe Support construction, support construction include the hybrid position force controller for controlling support construction movement.In some embodiments, position is mixed Setting force controller includes spring, which is configured to pop one's head in pressing on the target surface passively to maintain contact force.Some In embodiment, hybrid power position force controller includes the first motor being configured to along first axle mobile probe.In some realities It applies in example, hybrid position force controller includes the second motor being configured to along the second axis mobile probe.In some embodiments, it mixes Box-like position force controller includes third motor, which is to rotate probe around third axis.In some realities It applies in example, the hybrid position force controller includes the 4th motor, and the 4th motor configurations are to make the probe around the Four axistyle rotation.

According to various embodiments, a kind of automation TCD system is provided comprising be configured as making the blood vessel of patient to receive The TCD of sound wave pops one's head in, and is installed to the robot of probe and is connected to the computer of robot, the computer-controlled robot's Movement.In some embodiments, automatic TCD system includes the end-effector with axial force transducer, axial force sensing Device is installed to the robot communicated with probe.In some embodiments, automatic TCD system includes robot, which is matched It is set to and is moved at least six actuating freedom degrees.In some embodiments, automation TCD system includes being configured as with proper The mobile robot of five actuating freedom degrees.In some embodiments, automatic TCD system includes being configured as with lucky four Activate the mobile robot of freedom degree.

Detailed description of the invention

According to the following description with adjoint exemplary embodiment shown in the drawings, feature of the invention, aspect and excellent Point will be apparent, these attached drawings briefly describe below.

Fig. 1 is the figure of the virtual support construction for manipulating medical probes accoding to exemplary embodiment.

Fig. 2 is the perspective view of medical probes and gimbal structure accoding to exemplary embodiment.

Fig. 3 is the perspective view for being used for the double link revolute support construction of medical probes of Fig. 2 accoding to exemplary embodiment.

Fig. 4 is the front view of the support construction of Fig. 3.

Fig. 5 is the right side elevation view of the support construction of Fig. 3.

Fig. 6 is the perspective for being used for translation (Prismatic) support construction of medical probes of Fig. 2 accoding to exemplary embodiment Figure.

Fig. 7 is the front view of the support construction of Fig. 6.

Fig. 8 is the right side elevation view of the support construction of Fig. 6.

Fig. 9 is the schematic elevational view of the support construction of Fig. 3.

Figure 10 is the front schematic view of the support construction of Fig. 6.

Figure 11 is accoding to exemplary embodiment for determining the flow chart of the input power of actuator or the method for torque.

Figure 12 is to prop up accoding to exemplary embodiment for the 5 bar parallel institutions (revolute-revolute) of the medical probes of Fig. 2 The perspective view of support structure.

Figure 13 is the front view of the support construction of Figure 12.

Figure 14 is the right side elevation view of the support construction of Figure 12.

Figure 15 shows hybrid position mechanical mobility controller.

Figure 16 shows the probe on redundancy manipulation device.

Figure 17 shows the probes on the redundancy manipulation device being mounted on monitoring station.

Figure 18 shows the probe on the redundancy manipulation device scanned by zygomatic arch.

Figure 19, which is shown, is executing the probe on the redundancy manipulation device scanned on socket of the eye by eye socket or eye socket.

Figure 20 shows the probe on the redundancy manipulation device scanned by occipital bone.

Figure 21 shows the probe on the redundancy manipulation device by lower jaw bone scanning.

Figure 22 shows the schematic diagram of TCD system.

Figure 23 A shows the probe on redundancy manipulation device.

Figure 23 B shows the test result of the power output of the probe on redundancy manipulation device.

Figure 24 shows tool, and there are four the spring loads in actuating freedom degree and the support construction of a passive freedom degree The top perspective of probe.

Figure 25 shows tool, and there are four the spring loads in actuating freedom degree and the support construction of a passive freedom degree The front perspective view of probe.

Figure 26 shows tool, and there are four the spring loads in actuating freedom degree and the support construction of a passive freedom degree The sectional view of probe.

Figure 27 shows five actuating freedom degrees for medical probes accoding to exemplary embodiment and translates support construction Front perspective view.

Figure 28 shows five actuating freedom degree translation support constructions for medical probes accoding to exemplary embodiment Back perspective view.

Figure 29 shows five actuating freedom degree translation support constructions for medical probes accoding to exemplary embodiment Decomposition perspective view.

Specific embodiment

The following detailed description of the drawings is intended as the description to various configurations, and being not intended to expression can be with Practice unique configuration of concepts described herein.Detailed description includes providing the detail understood thoroughly to each conception of species. It will be apparent, however, to one skilled in the art that this can be practiced without these specific details A little concepts.In some cases, in order to avoid obscuring these concepts, well-known structure and group are shown with block diagram form Part.

According to various embodiments, it using five actuating freedom degree (DOF) kinematic mechanisms, is fully automated to time window The assessment of mouthful quality, and even if time window can also be rediscovered after complete lossing signal.For art technology For personnel, exist on the one hand actively or the freedom degree of actuating and the on the other hand passively difference between freedom degree.Actively or The freedom degree of actuating includes actuator, such as motor.Passive freedom degree does not need such actuator.In the present specification, such as Fruit is freedom passive, then that the freedom degree discussed is meant to be active or activates without limiting it using term " freedom degree " Degree.In some embodiments, computer generate order and indicating mechanism along head surface translation and redirect probe Until finding candidate signal.Once positioning, probe will be redirected to increase signal strength.In some embodiments, it reduces The search time of automated system with discovery time window be by by mechanism and probe such as zygomatic arch known anatomical features Place is aligned to realize.In some embodiments, it using alignment is executed for the Visual window guiding piece of user, will visit Head is placed at the initial seed point along the zygomatic arch between ear and eyes.

In some embodiments, after probe is correctly aligned, the rigidity of probe with sufficiently high level keep normal direction in Surface to keep probe to be located is low enough to that user is made to feel to relax when probe is movable into and out along the surface on head It is suitable.In some embodiments, X and Y-axis can keep higher servo stiffness, to keep the accurate control of probe positions.Some In embodiment, because the normal force of probe is determined that the sliding force that X-axis and Y-axis encounter will be limited in comfortably by Z axis rigidity Level, and can guide probe execute TCD window search.In some embodiments, if the orientation needs of probe change Become, being then orientated rigidity can be increased by software.

In some embodiments, the movement mechanism of probe include five motors or actuating freedom degree Q=J1, J2, J3, J4, J5) (that is, motor or joint space) with realize position and orientation on five freedom degree X={ x, y, z move (pan), incline Tiltedly } (i.e. task space).Therefore, forward motion can be written as the relationship between motor coordinate and probe co-ordinate: X=fwd_ Kin (Q), wherein fwd_kin is to indicate a series of function of the equatioies designed based on mechanism and usually by Denavit- Hartenberg Parameter analysis.

In some embodiments, the placement of TCD probe: Q=inv_kin is specified via the inverse kinematics with the inverse solution of parsing (X) or by using the inverse solution dQ of numerical differentiation such as Jacobi_cmd(n)=J^-l(X_err(n)), wherein J is Jacobian matrix, by horse The differential motion reached is associated with the differential motion of probe, X_err(n) it is probe positions and misorientation at time n, and dQ_cmd (n) be time n difference motor instruct.More than controlled probe positions and orientation coordinate for motor or actuating freedom degree More mechanisms, kinematics is known as redundancy, and this mechanism has the motor more than five.For redundant unit, inverse kinematics The Moore-Penrose pseudoinverse (or other generalized inverses) of Jacobian matrix is converted to from inverse Jacobian,

Fig. 1 be accoding to exemplary embodiment for pop one's head in 20 virtual support construction 10 model figure.Support construction 10 are configured to will to pop one's head in 20 positions relative to target surface 22.In some embodiments, probe 20 is medical probes, such as with warp Cranium Doppler (TCD) device is used together to emit the medical probes for the ultrasonic wave transmitting for being directed toward target surface 22.In other realities It applies in example, probe 20 is configured as emitting other kinds of wave, such as, but not limited to infrared waves, X-ray etc. during operation.? In various embodiments, probe 20 can be through cranium coloud coding ultrasonic examination (TCCS) probe or it can be and such as send out The sequence array of ejected wave or the array of phased array.

In some embodiments, probe 20 has first end 20a and second end 20b.In some embodiments, first end 20a and 10 interface of support construction.In some embodiments, second end 20b contact probe head 20 at contact point 21 operates on it Target surface 22.In some embodiments, second end 20b is concave structure, so that contact point 21 is annular shape (that is, Two end 20b are along the rounded outer edge contact target surface 22 of spill second end 20b).Support construction 10 controls the opposite of probe 20 Position (for example, z-axis power, y-axis power, x-axis power, Normal Align etc.).Support construction 10 is shown as virtual architecture, the virtual architecture Including being coupled between probe 20 and virtual surface 12 and along the first virtual spring 11 of 13 applied force of z-axis, it is coupled in spy Between first 20 and virtual surface 15 and along the second virtual spring 14 of 16 applied force of y-axis；And it is coupled in 20 Hes of probe Between virtual surface 19 and along the third virtual spring 17 of 18 applied force of x-axis.Virtual support construction 10 further includes surrounding Tilt axis 27 applies the torsionspring 23 of torque and around the second torsion bullet for moving the application torque of axis (pan axis) 29 Spring 25.In some embodiments, virtual support construction 10 includes other virtual components, such as virtual damper (not shown).It is empty Quasi- damper indicates to improve the element of system stability, highly useful to the dynamic response of adjustment system.By to mechanism inertia, The influence of motor rotation inertia, centripetal/centrifugal effect is modeled and is fed, and is replaced in the limitation of the physical property of equipment Arbitrary inertial properties are changed to, the virtual or virtual inertia of probe can be set to special with isotropism or anisotropy Property.

Virtual support construction 10 indicates to can be used for the various mechanical structures relative to 22 positioning probe 20 of target surface, as follows Face is in greater detail.In some embodiments, the second end 20b of probe 20 is made to contact relatively fragile surface, such as patient Or the skin of subject.Support construction is configured as adjusting its rigidity (for example, impedance, flexibility etc.) so that provide on probe 20 can The linear force and rotary force of change, and can be relatively hard in some directions and can relative flexibility in the other direction. For example, support construction 10 can apply along z-axis 13 the smallest power and can with relative flexibility with minimize substantially normally in The power of patient or subject are applied on the direction of target surface 22 (for example, if patient or subject are relative to support construction It is mobile) and can be relatively hard to improve probe 20 along being roughly parallel to the flat of target surface 22 along y-axis 16 and x-axis 18 The positional accuracy and precision in face.In addition, depending on task at hand, support construction 10 can be at any time along the expectation rigidity of each axis Variation.For example, support construction can be configured as the (example in the case where support construction 10 is relative to patient or mobile subject Such as, during the initial setting up of sonde configuration, removal of sonde configuration etc.) or when moving freely advantageous relatively (for example, During maintenance/cleaning etc.) relative flexibility, and can be when the accuracy and precision of the positioning of probe 20 is advantageous (for example, during executing TCD program or other programs with probe 20) is configured as relatively hard in some directions.

As described in more detail below, it can use the kinematics model of support construction 10 to calculate and be applied to by probe 20 The power of target surface 22 and by before actuated support structure actuator apply power (for example, torque) between relationship.Therefore, by The power that probe 20 in theoretical system is applied to target surface 22 can be determined theoretically, be sensed without direct power, The needs with the load cell of probe 20 being aligneds setting and/or the torque sensor for being coupled to probe 20 are eliminated, to protect Contact force appropriate is held, to maximize signal quality.In physical system, static friction and other unmodeled physical effects Some uncertainties may be brought.

With reference to Fig. 2, the probe 20 shown accoding to exemplary embodiment is mounted in a part of support construction, the branch A part of support structure is illustrated as gimbal structure 24, and gimbal structure 24 can rotate at first end 20a around multiple axis. Gimbal structure 24 includes that can surround the first block frame component 26 of the rotation of tilt axis 27 and can surround to move the rotation of axis 29 The the second block frame component 28 turned.Target surface 22 can be uneven (for example, nonplanar).Gimbal structure 24 allows to visit First 20 be oriented make its at contact point 21 normal direction in target surface 22.

Referring now to Fig. 3-5, accoding to exemplary embodiment, for pop one's head in 20 support construction 30 be shown as double link rotation Turn secondary (such as revolute-revolute) robot.Support construction 30 includes the first block frame component 32, the second block frame component 34, the Three block frame components 36, the 4th block frame component 38 and gimbal structure 24.First block frame component 32 is configured to static component.For example, First block frame component 32 can be mounted on the ring or helmet 33 worn on the head for being worn on patient or subject or First block frame component 32 is attached to patient or subject or fixes the position of the first block frame component 32 relative to patient or subject In the other structures set.Probe 20 is configured as energy being emitted to the head of patient or subject.

With reference to Fig. 3, the second block frame component 34 is configured as the connecting rod rotated around z-axis 13.Z-axis 13 is approximately perpendicular to head The surface in portion.The first end 40 of second block frame component 34 is coupled to the first block frame component 32.Accoding to exemplary embodiment, second piece Frame member 34 is controlled relative to the rotation of the first block frame component 32 by actuator 42, and actuator 42 is shown as through the first block frame structure The electric motor and gear-box that part 32 is attached.Actuator 42 is used as vertical translation actuator, is approximately perpendicular to head table for edge The vertical axis in face translates probe.

Third block frame component 36 is configured as the connecting rod rotated around z-axis 13.The first end 44 of third block frame component 36 It is coupled to the second end 46 of the second block frame component 34.Accoding to exemplary embodiment, third block frame component 36 is relative to the second block frame The rotation of component 34 is controlled by actuator 48, and actuator 48 is shown as the electric motor and tooth being attached by the second block frame component 34 Roller box.

4th block frame component 38 be configured to along z-axis 13 translate (for example, into go out, into leave head etc.).According to Exemplary embodiment, the 4th block frame component 38 are sliding along the guide rail component 50 for the second end 52 for being fixed to third block frame component 36 It is dynamic.4th block frame component 38 relative to third block frame component 36 position by such as electric motor and driving screw (in order to clearly See and be not shown) actuator control.

Gimbal structure 24 and probe 20 are installed to the 4th block frame component 38.The control of gimbal structure 24 probe 20, which surrounds, to incline Oblique axis 27 and the orientation (such as move and tilt) for moving axis 29.Probe 20 is around the position of tilt axis 27 by being shown as electricity The actuator 54 of dynamic motor and gear-box controls.Actuator 54 is used as revolving actuator with rotating detector.Probe 20 is surrounded and is moved The position of axis 29 is controlled by the actuator 56 for being shown as electric motor and gear-box.Actuator 56 is used as revolving actuator to revolve Turn probe.In one embodiment, the rotation regardless of block frame component 34 and 36, probe 20 is around tilt axis 27 and moves The rotation of axis 29 is all different from z-axis 13.

By the rotation of the second block frame component 34 and third block frame component 36, probe 20 can on the x-y plane, i.e., by x It is moved in the translated plane that axis 18 and y-axis 16 limit.Probe 20 can be by the translation of the 4th block frame component 38 along z-axis 13 I.e. translated axis line is mobile.In addition, probe 20 around tilt axis 27 and can move the rotation of axis 29 by gimbal structure 24. Probe 20 is allowed to be fully described and control relative to the position of target surface 22 and orientation in conjunction with this five actuating freedom degrees, from And it reduces around the rotation for being orthogonal to the third axis for moving axis 29 and tilt axis 27.

Accoding to exemplary embodiment, the actuator for positioning support structure 30 is servo motor.Compared with stepper motor, Support construction is controlled using servo motor allows torque output, rotation position and angular speed and probe 20 for motor Interaction between corresponding position and probe 20 and target surface 22 carries out more precise control.It is of course also possible to use this Other suitable motors known to the those of ordinary skill of field.

Referring now to Fig. 6-8, the branch for pop one's head in 20 and gimbal structure 24 is shown according to another exemplary embodiment Support structure 60 is as translation (such as Descartes, straight line etc.) robot.Fig. 6 illustrates exemplary translation-translation-translating machinery People.Support construction 60 includes the first block frame component 62, the second block frame component 64, third block frame component 66, the 4th block frame component 68 With gimbal structure 24.First block frame component 62 is configured to static component.For example, the first block frame component 62 can be mounted to pendant It is worn on the ring or helmet 33 on the head of patient or subject or fixes the first block frame structure relative to patient or subject In the other structures of the position of part 62.

Second block frame component 64 is configured to translate along y-axis 16 (for example, upper and lower, bottom to the top of ear of ear Portion etc.).Accoding to exemplary embodiment, the second block frame component 64 is sliding along the guide rail component 70 for being fixed to the first block frame component 62 It is dynamic.Second block frame component 64 relative to the first block frame component 62 position by such as electric motor and driving screw (in order to clearly See and be not shown) actuator control.

Third block frame component 66 is configured as translating (for example, forwardly and rearwardly, ear to eye etc.) along x-axis 18.According to Exemplary embodiment, third block frame component 66 are slided along the guide rail component 72 for being fixed to the second block frame component 64.Guide rail component 72 is orthogonal with guide rail component 70.Third block frame component 66 by such as electric motor and is led relative to the position of the second block frame component 64 The actuator of screw rod (being for the sake of clarity not shown) controls.

4th block frame component 68 be configured as along z-axis 13 translate (for example, into go out, into leave head etc.).Root According to exemplary embodiment, the 4th block frame component 68 is slided along the guide rail component 74 for being fixed to third block frame component 66.4th piece Frame member 68 (is for the sake of clarity not shown) relative to the position of third block frame component 66 by such as electric motor and driving screw Actuator control.

Gimbal structure 24 and probe 20 are installed to the 4th block frame component 68.The control of gimbal structure 24 probe 20, which surrounds, to incline Oblique axis 27 and the orientation (such as tilt and move) for moving axis 29.Probe 20 is around the position of tilt axis 27 by being shown as The control of the actuator 84 of electric motor and gear-box.Probe 20 surrounds the position for moving axis 29 by being shown as electric motor and tooth The actuator 86 of roller box controls.

Probe 20 can be moved on the x-y plane by the translation of the second block frame component 64 and third block frame component 66, be led to The translation for crossing the 4th block frame component 68 is moved along z-axis 13, and surrounds tilt axis 27 and shaking by gimbal structure 24 Axis 29 is moved to rotate.Activating freedom degree in conjunction with this five allows probe 20 complete relative to the position of target surface 22 and orientation Description and control, to reduce around the rotation perpendicular to the third axis for moving axis 29 and tilt axis 27.

Kinematics model can be developed for any embodiment of the support construction of probe 20, be applied on probe 20 with determining Power and by control support construction actuator apply power between relationship.

The stiffness matrix of support construction is determined first.Stiffness matrix is determined using multiple variables, including support construction Physical property (for example, the geometry of block frame component, rigidity of each block frame component etc.), along the system of selected coordinate system axis Rigidity and system damping item based on speed.Accoding to exemplary embodiment, the expectation rigidity of support construction is in the direction z (K_z), the side y To (K_y) and the direction x (K_x) (for example, virtual spring 11,14 and 17 as shown in figure 1) and around moving (the K ω of axis 29_x) and enclose Around (the K ω of tilt axis 27_y) limit on (for example, as by the virtual torsionspring 23 and 25 in Fig. 1 represented by).Institute as above It states, in some embodiments, virtual rigidity changes over time and based on the job change completed with probe 20.For example, the direction y It can have with the rigidity on the direction x corresponding to during installation or removal process (wherein support construction is configured as relative flexibility) Relatively low lateral stiffness lower limit, and correspond to scanning process during (wherein support construction is configured as relatively hard) The upper limit of relatively high rigidity, to allow to be more accurately located probe 20.Similarly, the rigidity on the direction z can have Corresponding to during 20 initial alignment in a z-direction of probe (wherein support construction is configured as relative flexibility) it is relatively low The lower limit of rigidity, to allow to pop one's head in 20 autoregistrations (for example, to minimize the discomfort of patient or subject)；It is scanned with corresponding to The upper limit of (wherein support construction is configured as harder) relatively high rigidity during journey, to overcome probe 20 and target surface 22 Between frictional force and maintain probe 20 orientation.In addition, the rotational stiffness around y-axis and x-axis can have corresponding to probe 20 During positioning (wherein support construction (for example, gimbal structure 24) be configured as relative flexibility (for example, with minimize patient or The discomfort of subject)) lower limit of relatively low rotational stiffness, to meet the profile of target surface 22 (for example, patient or tested The head of person)；And corresponding to rotation relatively higher when it is expected more accurate positioning (for example, moving, inclination etc.) of probe 20 Turn the upper limit of rigidity.

Then force vector is exported using following equation:

(equation 1)

Wherein K be stiffness matrix andIt is the expectation in x, y and z directionss with practical translation position and around spy The vector of the difference of the rotation position of first 20 x-axis 18 and y-axis 16.

Then following equation can be used to determine the power applied by actuator (for example, the torsion applied by revolving actuator Square) to control the position of support construction:

(equation 2)

Wherein J^TIt is the Jacobi's transposition determined by the kinematics of specific support structures.Jacobian matrix be joint position with Difference relationship between end-effector position and orientation (such as position of probe 20).Joint position or as unit of radian (for example, being used for rotary joint), either with length unit (for example, for translation or linear joint).Jacobian matrix is not Static, and change with the variation of support structure position.

Referring now to Figure 9, showing the front schematic view of support construction 30.Second block frame component 34 is by with length l₁ First connecting rod 90 indicate.First connecting rod 90 is hinged by revolving actuator 94, and the rotation of revolving actuator 94 is illustrated as q₁。 Third block frame component 36 is by with length l₂Second connecting rod 92 indicate.Second connecting rod 92 is hinged by revolving actuator 96, rotation The rotation of actuator 96 is expressed as q₂.Mobile probe 20 in x-y plane of actuator 94 and 96.

The direct kinematics of the equipment are:

c₁=cos (q₁),s₁=sin (q₁)

c₁₂=cos (q₁+q₂),s₁₂=sin (q₁+q₂)

X=l₁c₁+l₂c₁₂

(equation 3)

Y=l₁s₁+l₂s₁₂

(equation 4)

Such revolute-revolute robot Jacobian matrix be by by direct kinematics relative to q₁And q₂Two Person asks partial derivative to obtain.

(equation 5)

Jacobian matrix shown in equation 5 is revolute-revolute robot Descartes movement on the x-y plane Jacobian matrix (for example, along translation of y-axis 16 and x-axis 18), the difference described between joint motions and probe movement closes System.One of ordinary skill in the art will be understood that can include addition Item in Jacobian matrix to retouch in other embodiments The difference relationship between the movement of probe 20 and other movements of robot is stated (for example, probe 20 is around tilt axis 27 and shakes Move the rotation of axis 29 and the translation along z-axis 13).

Referring now to Figure 10, showing the front schematic view of support construction 60.Probe 20 passes through the first linear actuators 100 (such as electric motor and driving screws) move in y-direction and by the second linear actuators 102 (such as electric motors And driving screw) move in the x direction.Mobile probe 20 in x-y plane of actuator 100 and 102.Due to each joint with separately One joint is orthogonal, and the one-to-one mapping relationship with joint motions and Descartes's movement, so this translating machinery people Jacobian matrix become unit matrix:

Jacobian matrix shown in equation 6 is that the Descartes of translating machinery people on the x-y plane is mobile (for example, along y The translation of axis 16 and x-axis 18) Jacobian matrix, the difference relationship between joint motions and probe movement is described.In other realities It applies in example, can include addition Item in Jacobian matrix to describe between the movement of probe 20 and other movements of robot Difference relationship (for example, probe 20 is around tilt axis 27 and moves the rotation of axis 29 and the translation along z-axis 13).

With reference to Fig. 3, support construction 30 makes the 4th block frame using single linear actuators (such as electric motor and driving screw) Component 38 translates to control the position of probe 20 in a z-direction.With reference to Fig. 6, similarly, support construction 60 utilizes single linear cause Dynamic device (such as electric motor and driving screw) translates the 4th block frame component 68 to control the position of probe 20 in a z-direction.For Any support construction, there are directly related properties between the position of actuator and the position of probe 20.

Referring now to Figure 11, show accoding to exemplary embodiment the actuator of determining probe support structure input power or The method 110 of torque.Configuration (the step 112) of the support construction for probe is determined first.The configuration may include any number The rotation subjoint of amount and/or translation joint.In some embodiments, support construction provides probe along one or more axis (such as the x in cartesian coordinate system, y and z-axis；R in polar coordinate system, θ and z-axis etc.) translation and/or surround one Or the rotation of multiple axis.

The desired stiffness variable of configuration and support construction based on support construction determines the rigidity square for being used to support structure Battle array (step 114).Stiffness matrix includes the physical property based on support construction, the geometry including block frame component and each piece The rigidity of frame member, the expectation rigidity of support construction (Kz), the direction y (Ky) and the direction x (Kx) in the z-direction, support construction It is expected that rotational stiffness (K ω_x, K ω_y) item and system damping the item based on speed.

Desired translation and rotation position based on stiffness matrix and probe, determine force vector (step 116).The phase of probe Hope position that any coordinate system can be used to determine.Accoding to exemplary embodiment, force vector is the phase from stiffness matrix and probe Derived from the product of the matrix of the translation and rotation position of prestige, as in equationi.

Then Jacobian matrix (the step 118) of support construction is calculated.Jacobian matrix by specific support construction movement It learns and determines.Jacobian matrix is the difference relationship between joint position and end-effector position.Joint position or with radian For unit (for example, be used for rotary joint), either with length unit (for example, for translate or linear joint).Jacobean matrix Battle array is not static, and is changed with the variation of support structure position.

Based on force vector and Jacobian matrix, the input power (step 120) of actuator is determined.Accoding to exemplary embodiment, As shown in equation 2, the input power of actuator is exported from the product of Jacobian matrix and force vector.

Referring now to Figure 12-14, show according to another exemplary embodiment for pop one's head in 20 support construction 130 as five Connecting rod revolute robot.Support construction 130 includes the first block frame component 132；The a pair for being coupled to the first block frame component 132 is close Side member is shown as the second block frame component 134a and third block frame component 134b；It is coupled to corresponding proximal end block frame component and coupling Mutual a pair of of distal component is closed, the 4th block frame component 136a and the 5th block frame component 136b are shown as；It is coupled to distal side block 6th block frame component 138 of frame member；With gimbal structure 24.First block frame component 132 is configured to static component.For example, the One block frame component 132 can be mounted on the ring or helmet 33 being worn on the head of patient or subject or relative to Patient or subject fix in the other structures of the position of the first block frame component 132.

Second block frame component 134a and third block frame component 134b is configured as the connecting rod rotated around z-axis 13.Second The first end 140a of block frame component 134a is coupled to the first block frame component 132.Similarly, the first end of third block frame component 134b 140b is coupled to the different piece of the first block frame component 132.Accoding to exemplary embodiment, the second block frame component 134a is relative to The rotation of one block frame component 132 is controlled by actuator 142a, and actuator 142a is shown as the electricity being attached by the first block frame component 132 Dynamic motor and gear-box.Accoding to exemplary embodiment, third block frame component 134b relative to the first block frame component 132 rotation by Actuator 142b control, actuator 142b are shown as the electric motor and gear-box being attached by the first block frame component 132.

4th block frame component 136a and the 5th block frame component 136b is configured as the connecting rod rotated around z-axis 13.4th The second end 146a of the first end 144a of block frame component 136a and the second block frame component 134a are respectively via bearing (for example, press-fitting Bearing etc.) it is coupled to hub component 148a.Similarly, the first end 144b of the 5th block frame component 136b and third block frame component 134b Second end 146b be respectively coupled to hub component 148b via bearing (for example, press-fitting bearing etc.).

4th block frame component 136a and the 5th block frame component 136b is coupled via bearing (for example, press-fitting bearing etc.) To form five-rod.Hub component 148a and 148b make Proximal member along z-axis 13 deviate distal member, this allow connecting rod by Actuator 142a and 142b rotate when nearside block frame component (for example, second block frame component 134a and third block frame component 134b) from By moving through distal side block frame component (for example, the 4th block frame component 136a and the 5th block frame component 136b).

Gimbal structure 24 and probe 20 are installed to the 6th block frame component 138.6th block frame component 138 is coupled to distal end structure One (for example, the 4th block frame component 136a or the 5th block frame component 136b) in part, and be configured to make gimbal structure 24 With probe 20 along the translation of z-axis 13 (for example, into go out, into and far from head etc.).Such as above for the of support construction 30 Four block frame components 38 (referring to Fig. 3-5) are described, and the 6th block frame component 138 can be translated for example in orbit.Gimbal structure 24 Control probe 20 is around tilt axis 27 and the orientation (such as move and tilt) for moving axis 29.Probe 20 surrounds tilt axis 27 position is controlled by the actuator (not shown) of such as electric motor and gear-box.Probe 20 is around the position for moving axis 29 It is controlled by the actuator (not shown) of such as electric motor and gear-box.In one embodiment, no matter 134 He of block frame component How is 136 rotation, and probe 20 is around tilt axis 27 and moves the rotation of axis 29 and is all different from Z axis 13.

By by the first block frame component 132, the second block frame component 134a, third block frame component 134b, the 4th block frame component The movement for the five-rod that 136a and the 5th block frame component 136b is constituted, probe 20 can move on the x-y plane.It pops one's head in 20 energy Enough moved by the translation of the 6th block frame component 138 along z-axis 13.In addition, probe 20 can be enclosed by gimbal structure 24 Around tilt axis 27 and move the rotation of axis 29.Allow to pop one's head in 20 relative to target surface 22 in conjunction with this five actuating freedom degrees The position of (referring to Fig. 1-2) and orientation are fully described and control, and move axis 29 and sloping shaft to reduce and surround to be orthogonal to The rotation of the third axis of line 27.

Accoding to exemplary embodiment, the actuator for positioning support structure 130 is servo motor.Of course, it is possible to use Any suitable motor in place servo motor.Compared with stepper motor, support construction is controlled using servo motor to be allowed relatively It is mutual between the rotation position of motor and angular speed and the corresponding position and probe 20 and target surface 22 of probe 20 Effect precisely controls.

It can be by determining force vector, determining the direct kinematics of support construction 130 and by relative to each actuating The rotation of device 142a and 142b take the partial derivative of direct kinematics to calculate Jacobian matrix, calculate in a similar way as described above The input power of actuator 142a and 142b.

In some embodiments, for 20 contact and in place of popping one's head in, rather than try to prediction and control probe 20 is accurate Position and orientation, but the impedance of probe 20 is selectively controlled by Machine Design or by software.In this way, probe 20 takes It can be flexible to freedom degree, so that their resistance contacts rotate and flush probe 20 with head in place, and translate certainly By spend enough firmly with mobile probe 20 and hold it against head place.In some embodiments, each direction has different Impedance.

In some embodiments, implement software to limit the motor torsional moment and motor servo stiffness of probe 20.In some realities It applies in example, can there is different limitations for each direction, to generate different rigidity in a different direction.In some realities It applies in example, moves and tilt very flexible, and translational motion is moderately harder.In some embodiments, pass through the rigid of probe 20 It spends more more flexible than X, Y translation freedoms.

In some embodiments, software is implemented to task space impedance control.In other words, it may be considered that probe 20 Orientation has the local coordinate system of the Z axis across the center of probe 20 to limit.Instead of by adjusting motor servo stiffness and turn Square limitation manipulates the impedance of probe 20, in some embodiments, it may be considered that the kinematics of entire robot is by five sides 20 coordinate block frames of probe are set to the impedance of each of (X, Y, Z, move and tilt).In this way, probe 20 can be more Add flexibility, by the center line of probe 20, but still keeps the contact with skin surface, but have enough part X and Y hard It spends precisely enough to control the position of probe 20.

According to various embodiments, probe 20 includes a series of elastic actuators.In some embodiments, by being set in machinery The impedance that flexible member changes equipment as the elastic element in motor or as the structural elements of robot is added in meter.? In some embodiments, implement exact position and orientation of the measurement of amount of deflection so as to measuring probe 20.A series of elastic actuators The advantages of, is to design accurate, and even increases damping element, while it is non-thread to avoid calculating related with programming impedance Property and unstability.

In some embodiments, by the application electric current of monitoring motor come indirect force measurement.For quiescent conditions, it is contemplated that Power/moment vector of the kinematics characteristic of robot, system is calculated by Jacobian matrix: F=(J^T)^-1τ.Wherein τ is horse Up to torque vector, by the current forecasting for being applied to motor.

In some embodiments, the interaction force between probe 20 and head and torque are by by power/torque sensing machine Structure is placed on behind probe 20 and controls.The position of probe and orientation are related with the power and torque measured, with obtain desired power/ Torque vector.This closed loop controller is known as admittance control, and is incorporated into software.Admittance is controlled the power of measurement and desired spy Head position and orientation are associated, as shown in following equation.

Desired position vector is used for from the desired joint position of the computation of inverse- kinematics.Motor joint control is using high Servo stiffness is programmed, and to enhance anti-interference ability, and has lower servo tracking errors.Mixing position is shown in Figure 15 Set mechanical mobility controller 150.

In this example of mixed type position force controller, power is controlled on the direction z of probe, and position is then in x and y Direction and moving is controlled on inclined direction.Mixing order [the x of position and strength in task space_cmd,y_cmd, F_cmd,pan_cmd,tilt_cmd] 152 sent by probe order input block 154, probe order input block 154 determine probe towards appointing The movement of business, such as search for.In this case, position and orientation with x, y, move and tilt and specify, and with length and angle (millimeter and radian) provides for unit.Power is specified in a z-direction, and is provided as unit of newton.For admittance controller, power life Order must be converted into desired position.From probe 154 extraction force order F of order input block_cmd156 are used as admittance power control block 154 order uses.Use the power F of measurement_measured, the changes delta z that regular block 158 calculates z location is controlled by admittance power.Diagram One simple digital ratio equation gain controller, but other controller forms also can be used.Updating z command position block 160 In, Δ z 162 is added to old z command position to create the z order Z of update_cmd164.The information and the probe order that reconciles Other probe positions and orientation Command combination in block 166.It reconciles and orders R_cmd168 with the specified probe position of length and angle unit It sets and is orientated, [x_cmd,y_cmd,z_cmd,pan_cmd,tilt_cmd].Inverse kinematics block 170 uses reconciliation order R_cmd168 are based on spy The mechanism for determining robot solves new joint of robot command position q_cmd172.It will be appreciated from the above discussions that robot can To have the inverse solution of directly analysis, or the numerical solution based on the inverse or pseudo- Inverse jacobian matrix for depending on number of degrees of freedom,.

Joint commands position q_cmd172 are used as by joint motor controller block 174, output torque 176, as physical machine The input for the interior location control loop that the robotic block 178 of device people and the joint position q 180 of measurement are formed.Machine People's mechanics block 178 further includes the power F of output measurement_measured182 force snesor.The power F of measurement_measured182 be admittance Power controls the second input of regular block 158, closing force control loop.

The joint position q 180 of measurement is used as calculating direct kinematics block 184, and direct kinematics block 184 calculates currently Probe positions and orientation [x, y, z are moved, inclination] 186, and probe order input block 154 is sent back to, for its probe life Enable generating algorithm.

When combining with impedance law, different directions and orientation rigidity at probe 20 can be programmed.Admittance control is suitable For non-return drive motor, this is more difficult with for real impedance controller, because without torque sensor, it is static When user stiction be not observable.

The other configurations of support construction included actuating mechanism and deficient actuating mechanism.Cross actuating mechanism or redundancy manipulation device packet It includes and more activates freedom degree than attempting controlled task space coordinate；For example, motor quantity Q=Jl, J2, J3, J4, J5 ...) it is greater than the position for the probe being controlled and five freedom degrees of orientation X={ x, y, z are moved, and are tilted }.For Such mechanism, it will there are many may be that an infinite number of inverse kinematics solves scheme.

Cross actuating mechanism or redundancy manipulation device another example is the UR3 robot manufactured by Universal Robots, Robot tool is there are six rotary joint, and each rotary joint is by its own actuator or motor control, to allow six Activate freedom degree movement.With reference to Figure 16, in some embodiments, probe 20 can be placed on redundancy manipulation device 190.With reference to figure 17, in some embodiments, it may include on the monitoring station 192 of display screen 194 that redundancy manipulation device 190, which is easily installed in,. With reference to Figure 18, it can control the scanning of redundancy manipulation device and pass through zygomatic arch 196.With reference to Figure 19, the executor of redundancy can control to hold Scanning between socket of the eye of passing through passes through eye socket or eye socket 198.With reference to Figure 20, it can control the scanning of redundancy manipulation device and pass through occipital bone 200.With reference to Figure 21, redundancy manipulation device can be controlled to scanning by under jaw 202.

As shown in figure 22, in some embodiments, automation TCD system 203 includes providing the redundancy behaviour of robot localization Vertical device 190, the probe holder 204 with force snesor 206, probe driver plate 208 and control computer 210.It is some superfluous The embodiment of remaining executor 190 provides enough kinematics precision, has been authorized for around the mankind in its working space, And have the security level that can be set to limit speed and impact force.These features solve safety problem so as to the mankind one It rises and uses.The probe 20 for patient or the sound wave of subject's blood vessel that can be Spencer TCD probe is mounted to referred to as On the probe holder 204 of " end-effector ".Probe holder 204 is installed to the end of redundancy manipulation device 190, and has axis To force snesor 206, directly to monitor the power for being applied to scanned surface by redundancy manipulation device 190.Force snesor 206 passes power Sensor information 212 is sent to redundancy manipulation device 190.The force snesor 206 is for ensuring between probe 20 and scanned surface Enough contact forces are formed, but are also the second safety measure for preventing contact force from overloading.In some embodiments, probe driver Plate 208 is connected to probe 20 and provides electronic device to send probe for electric power 214 to emit ultrasonic energy and handle and return The sensor output signal 216 returned.

In some embodiments, control computer 210 is connected to the control of redundancy manipulation device 190 by TCP/IP communication 218 Device 220 is simultaneously connected to probe driver plate 208 by USB 222.Redundancy manipulation device 190 is provided to controller 220 about such as Its current location, speed, the estimation power for being applied to end-effector, the information for customizing sensor reading and other status informations 224, then the information 224 is sent to controller computer 210 via TCP/IP 218.Probe driver plate 208USB 222 Interface provides setting 20 parameters of probe and the method for operating (such as depth), and returns to treated data, such as velocity envolop.Control Computer 210 processed takes all these information to execute probe searching algorithm and issue the new order of redundancy manipulation device 190 and move Dynamic redundancy manipulation device.Embodiment can also be carried out the technical staff that simulated training is always or usually as specified using machine learning algorithm and position sound wave blood vessel Professional knowledge.In some embodiments, control computer 210 automatically controls 20 scanning processes of probe, but in other realities Apply in example, people can be used technology well known by persons skilled in the art (such as in NeuroArm and Leonardo da Vinci's operating robot make Technology) come remotely operate probe 20 scanning processes,.

Referring now to Figure 23 A and Figure 23 B.Figure 23 A shows the redundancy manipulation device 190, force snesor 206, probe of Figure 22 Retainer 204 and probe 20.Figure 23 B shows the test result using the configuration, show be controlled to 2 to 10N dead zone The power of range 220 exports.

Integration testing shows to keep the control loop of 125Hz over the whole system, and the circuit is sufficiently fast with from probe Driver board 208 reads all data, reads all status datas from redundancy manipulation device 190, updates signal processing and plan is calculated Method, and new motion command is issued to redundancy manipulation device 190 with its servo rate.

In some embodiments, using the modularization snake robot or other robot with more than six actuating freedom degrees Kinematics configures to replace UR3 as redundancy manipulation device.

Referring now to Figure 24-26, deficient actuating system 300 is shown.Such system is moved in x, y, is had on tilt axis There are four actuating freedom degrees, and spring provides power along z-axis.It is owed in actuating system 300 shown in, system is having less than five A actuating freedom degree, but still it is able to carry out TCD location tasks.Shown in owe actuating system 300 be 4 actuating freedom degree machines Structure can position and be orientated probe 20 in X={ x, y are moved, inclination }.In deficient actuating system 300, spring 302 along The applied force on probe 20 of z-axis 13.It, will by the power that the spring in actuating system 300 applies in five actuating system with one degree of freedom It is activated by motor drive mechanism.Gimbal structure 24 allows probe 20 to be oriented.By characterizing spring associated with spring 302 Constant monitors the power in z-axis 13.Actuating in x-axis 18 is controlled by the actuator 304 for being shown as electric motor and driving screw. By controlling the actuating in y-axis 16 as the actuator 306 shown in electric motor and driving screw.Move the actuating on axis 29 It is controlled by motor 308.Actuating on tilt axis 27 is controlled by motor 310.

Referring now to Figure 27, Figure 28, Figure 29, show for pop one's head in 20 support construction 400, and gimbal structure 24 It is shown as translation (such as Descartes, straight line etc.) robot according to another exemplary embodiment.For example, support construction 400 can To be mounted on the ring or helmet 33 on the head for being worn on patient or subject or in other structures.Support construction 400 Lid 401 including covering some mechanisms of support construction 400.In Figure 29, the exploded view of support construction 400, show from The lid 401 that support construction 400 is removed.

First motor 402 is configured so that the first spur gear 404 to activate 405 mechanism of driving screw.First spur gear, 403 coupling It closes to the second spur gear 404, the rotary motion of the first motor 402 is converted into the line along driving screw 405 by the second spur gear 404 Property movement so that probe 20 is along the translation of y-axis 16 (for example, top to bottm, bottom of ear to ear top etc.).Second motor 406 are configured with the third spur gear 407 for being coupled to the 4th spur gear 408, the 4th spur gear 408 be coupled to again rack gear and Pinion gear mechanism 409 is with 20 translational head along z-axis 13 toward and away from subject that will pop one's head in.As shown, in Figure 28, Third motor 412 and bearing 410 allow universal joint 24 to rotate around tilt axis 27, and in this embodiment, tilt axis 27 is flat Row is in x-axis 18.Plate 414, which accommodates two linear guides 416,418 and allows to install the 4th motor, (not to be shown for the sake of clarity Out) to translate (such as forwardly and rearwardly, ear to eye etc.) along x-axis 18.As shown in figure 29, the 5th motor 420 allows to control Universal joint 24 surrounds the rotation for moving axis 29, is parallel to y-axis 16 in this embodiment, to complete to limit five degree of freedom actuating The necessary freedom degree of robot system.

Although above only describes and be shown in the accompanying drawings probe 20 support construction some configurations, this field is common The skilled person will understand that many other configurations are possible, and similar method can be used to determine the system of being used to support Actuator or input power from force-moment sensor to realize desired stiffness variable in any direction.

The above-mentioned term used, including " attachment ", " connection ", " fixation " etc. may be used interchangeably.In addition, although having retouched It has stated some embodiments and has included that first element is " coupled " (or " attachment ", " connection ", " fastening " etc.) to second element, but the One element may be coupled directly to second element or can be indirectly coupled to second element via third element.

There is provided previous description is to enable any person skilled in the art to practice various aspects described herein. Various modifications in terms of these will be apparent to those skilled in the art, and generic principles defined herein It can be applied to other aspects.Therefore, claim is not limited to aspects illustrated herein, and is to fit to and language right It is required that consistent full scope, wherein reference element is not intended to expression " one and only one " in the singular, unless tool Body is so stated, but " one or more ".Unless stated otherwise, term "some" refer to one or more.This field is common Technical staff is known or later will be for various aspects described in entire previous description known to persons of ordinary skill in the art All structure and function equivalents of element are expressly incorporated into herein, and are intended to be covered by claim.Moreover, Whether any content disclosed herein, which is all not intended to, is dedicated to the public, be expressly recited in the claims regardless of these are open.It removes Non- clearly to describe element using phrase " device being used for ... ", otherwise any claim element is all not necessarily to be construed as device Add function.

It should be understood that the specific order or level of in the disclosed process the step of are the examples of illustrative method.It is based on Design preference, it is to be understood that step while in the range of keeping describing previous, during can rearranging Rapid specific order or level.Appended claim to a method gives the element of various steps with example sequence, is not meant to It is limited to given specific order or level.

It provides to the previous description of disclosed realization so that any person skilled in the art can make or use Disclosed theme.To those skilled in the art, the various modifications of these embodiments will be apparent, and And in the case where not departing from the spirit or scope of previous description, the General Principle being defined herein can be applied to other realities Apply example.Therefore, previous description is not intended to be limited to embodiment shown in this article, but should be endowed with it is disclosed herein Principle and the consistent widest range of novel feature.

Claims

1. a kind of for scanning the robot system of subject, the robot system includes:

Probe for being emitted to energy in the subject；And

It is coupled to the robot support construction of the probe, the robot support construction includes for being parallel to the subject The mobile probe in surface actuator.

2. robot system according to claim 1, further includes:

There are five the robot support constructions of actuating freedom degree for tool.

3. robot system according to claim 1, further includes:

There are six the robot support constructions of actuating freedom degree for tool.

4. robot system according to claim 1, further includes:

Robot support construction with more than six actuating freedom degrees.

5. robot system according to claim 1, further includes:

There are four the robot support constructions of actuating freedom degree for tool.

6. robot system according to claim 1, further includes:

Computer is controlled, is configured as controlling the movement of the robot support construction.

7. robot system according to claim 1, further includes:

The controller of remote operation is configured as controlling the movement of the robot support construction.

8. robot system according to claim 1, further includes:

It is configured to control the hybrid position force controller of the movement of the robot support construction.

9. robot system according to claim 1 further includes power/torque sensor with the probe contacts.

10. a kind of equipment for being configured as interacting with target surface, the equipment include:

It is configured as the probe to interact with the target surface；And

It is coupled to the support construction of the probe, for relative to the mobile probe of the target surface, the support construction Include:

Hybrid position force controller controls the movement of the support construction.

11. equipment according to claim 10, wherein the hybrid position force controller further include:

Spring is configured as the probe being pressed against on the target surface to passively maintain contact force.

12. equipment according to claim 11, wherein the hybrid position force controller further include:

First motor is configured as moving the probe along first axle.

13. equipment according to claim 12, wherein the hybrid position force controller further include:

Second motor is configured as moving the probe along second axis.

14. equipment according to claim 13, wherein the hybrid position force controller further include:

Third motor is configured as rotating the probe around third axis.

15. equipment according to claim 14, wherein the hybrid position force controller further include:

4th motor is configured as rotating the probe around four axistyle.

16. a kind of automation TCD system, comprising:

TCD probe is configured as making the Vascular Ultrasonography of patient to receive sound wave；

The robot being mounted on the probe；And

It is connected to the computer of the robot, the computer controls the movement of the robot.

17. automatic TCD system according to claim 16, further includes:

End-effector with axial force transducer, the axial force transducer are installed to and the machine popped one's head in and be connected to Device people.

18. automation TCD system according to claim 16, wherein the robot is configured as at least six actuatings Freedom degree is mobile.

19. automatic TCD system according to claim 16, wherein what the robot was configured as activating with lucky five Freedom degree is mobile.

20. automatic TCD system according to claim 16, wherein the robot is configured as with lucky four actuatings certainly It is moved by degree.