JP2019503220A - Robot system for ultrasonic probe control - Google Patents

Abstract

According to various embodiments, a headset is provided that can be worn on the head, including a probe that emits energy into the head. The headset further includes a support structure coupled to the probe. The support structure includes a translation actuator that translates the probe along an axis about the surface of the head. [Selection] Figure 3

Description

[Cross-reference with related applications]
This application claims priority to US Provisional Patent Application No. 62 / 347,527 entitled “PROBE SUPPORT STRUCTURE WITH VARIABLE STIFFNESS” filed Jun. 8, 2016, and its Priority to US Provisional Patent Application No. 62 / 181,862, filed June 19, 2015, entitled “INITIAL PLACEMENT OF TRANSCRANIAL DOPPLER SENSORS”, claiming benefit Claiming its benefits, filed on June 19, 2015, “Automatic DISCOVERY OF TRANSCRANIAL DOPPLER WIN” Filed on June 20, 2016 and is still pending, claiming priority and benefit to US Provisional Patent Application No. 62 / 181,859 entitled “OW)”, “Transcranial Doppler Probe (TRANSCRANIAL) US patent application Ser. No. 15 / 187,397 entitled “DOPPLER PROBE”, which is incorporated herein by reference in its entirety. The present disclosure is directed to US Provisional Patent Application No. 62 / 275,192, filed Jan. 5, 2016, entitled “Systems and Methods for Detecting Neurological Conditions” (NEUROLOGICAL CONDITIONS). This document claims priority and benefits, and is incorporated herein by reference in its entirety. This disclosure claims priority and benefit to US patent application Ser. No. 15 / 399,648, filed Jan. 5, 2017, which is incorporated herein by reference in its entirety. It is done.

  The subject matter described herein relates generally to medical devices, and specifically to headsets that include probes for diagnosing medical conditions.

  Transcranial Doppler (TCD) is used to non-invasively measure cerebral blood flow velocity (CBFV) in the main conducting arteries of the brain (eg, Willis Arterial Ring). TCD is used in the diagnosis and monitoring of multiple neurological conditions, such as the evaluation of arteries after subarachnoid hemorrhage (SAH), prophylactic treatment of children with sickle cell anemia, and risk of embolic stroke patients or subjects Useful for evaluation.

  Conventionally, in the TCD ultrasonic method, a technician manually positions a probe with respect to a patient or a subject. The probe emits energy into the head of the patient or subject. The technician identifies the CBFV waveform characteristics of the intracerebral artery or vein in the head. This signal identification includes integration of probe probe depth, angle and placement in one of the plurality of ultrasound windows, and includes waveform spectrum, sound, M-mode and velocity. A characteristic value from the sound wave signal is required. For devices that utilize probes (eg, automatic transcranial Doppler devices), the pressure applied by the probe during alignment and use (eg, comfort and safety when worn on a person, or assurance of probe effectiveness) There are concerns about. Some devices incorporate a spring within the probe, but such a device may not be effective for pressure control due to lateral displacement and displacement of the spring within the probe.

  According to various embodiments, a headset is provided that can be worn on the head, including a probe that emits energy into the head. The headset can further include a support structure coupled to the probe that includes a translation actuator that translates the probe along at least two axes generally parallel to the surface of the head.

  In some embodiments, the headset can further include at least one vertical translation actuator that translates the probe along a vertical axis generally perpendicular to the surface of the head. In some embodiments, the headset can further include at least one rotary actuator that rotates the probe about at least one axis of rotation. The headset may further include a tilt axis that is generally orthogonal to the vertical axis. The headset can further include a pan axis that is generally orthogonal to the vertical axis.

  In some embodiments, the headset is translated in two degrees of freedom through two axes (x, y) that are generally parallel to the head surface and a vertical axis (z that is generally perpendicular to the head surface. Providing exactly 5 degrees of freedom of movement of the probe, including 1 degree of freedom of movement through, 1 degree of freedom along the tilt axis, and 1 degree of freedom along the pan axis Can do.

  According to various embodiments, an apparatus configured to interact with a target surface is provided, the apparatus including a probe configured to interact with the target surface. The apparatus can further include a support structure coupled to the probe that moves the probe relative to the target surface. The support structure can be configured to translate the probe along a translation plane that is generally parallel to the target surface. The support structure can be further configured to rotate the probe about at least one axis of rotation.

  In some embodiments, the support structure is configured to translate the probe along a translation axis generally perpendicular to the translation plane. In some embodiments, the support structure includes a tilt axis that is different from the translation axis. In some embodiments, the support structure includes a pan axis that is different from the translation and tilt axes. In some embodiments, the support structure is further configured to rotate the probe about and away from the target surface about the tilt and pan axes. In some embodiments, the support structure has a stiffness along each of the translation plane and the translation axis, and the stiffness along the translation plane is higher than the stiffness along the translation axis. In some embodiments, the probe is configured to emit ultrasound into the target surface.

  In some embodiments, the apparatus further includes a first actuator configured to translate the probe along a first direction along the translation plane. In some embodiments, the apparatus further includes a second actuator configured to translate the probe along a second direction perpendicular to the first direction along the translation plane. In some embodiments, the apparatus further includes a third actuator configured to translate the probe along a translation axis perpendicular to the translation plane. In some embodiments, the first actuator and the second actuator are configured to have a translational surface stiffness, and the third actuator is configured to have a translational axis stiffness.

  In some embodiments, the first, second, and third actuators are servo motors.

  In some embodiments, the method includes determining the configuration of the probe support structure and the configuration of each of the first, second, and third actuators of the support structure by the first, second, and third methods. The input of each of the actuators is determined. In some embodiments, the method further includes determining a stiffness matrix of the support structure based on the configuration of the support structure and the desired conditional stiffness of the support structure. In some embodiments, the method further includes determining a force vector by multiplying the stiffness matrix by a vector of differences between the desired translational and rotational positions of the probe and the actual translational and rotational positions. In some embodiments, the method further includes calculating a Jacobian of the support structure. In some embodiments, the method further includes determining the input of each of the first, second, and third actuators by multiplying the force vector and the Jacobian transpose matrix.

  According to various embodiments, there is provided a method of manufacturing a device configured to interact with a target surface, the method comprising providing a probe configured to interact with the target surface. . In some embodiments, the method further includes coupling to the probe a support structure that moves the probe relative to the target surface, the support structure being a translation plane that is generally parallel to the target surface and a plane that is generally perpendicular to the translation plane. The probe is translated along both translation axes and configured to rotate the probe about at least one axis of rotation. In some embodiments, one axis of rotation includes a tilt axis that is different from the translation axis. In some embodiments, one axis of rotation includes a pan axis that is different from the translation and tilt axes.

  According to various embodiments, a robotic system used in scanning a subject comprising a probe that emits energy into the subject and a robot support structure coupled to the probe, the robot support structure comprising a probe A robotic system is provided that includes an actuator that moves parallel to the surface of the subject. In some embodiments, the robot system includes a robot support structure having five degrees of freedom of operation. In some embodiments, the robot system includes a robot support structure having six degrees of freedom of operation. In some embodiments, the robot system includes a robot support structure having more than six degrees of motion. In some embodiments, the robot system includes a robot support structure having more than six degrees of motion. In some embodiments, the robot system includes a robot support structure having four degrees of freedom of operation. In some embodiments, the robot system includes a control computer configured to control the movement of the robot support structure. In some embodiments, the robotic system includes a remotely operated controller configured to control movement of the robot support structure. In some embodiments, the robot system includes a hybrid position-force controller configured to control movement of the robot support structure. In some embodiments, the robotic system includes a force / torque sensor that contacts the probe.

  According to various embodiments, an apparatus configured to interact with a target surface, wherein the probe is configured to interact with the target surface, and coupled to the probe, the probe is directed against the target surface. An apparatus is provided that includes a hybrid position-force controller that controls movement of the support structure. In some embodiments, the hybrid position-force controller includes a spring configured to press the probe against the target surface to passively maintain contact force. In some embodiments, the hybrid position-force controller includes a first motor configured to move the probe along a first axis. In some embodiments, the hybrid position-force controller includes a second motor configured to move the probe along a second axis. In some embodiments, the hybrid position-force controller includes a third motor configured to rotate the probe about a third axis. In some embodiments, the hybrid position force-controller includes a fourth motor configured to rotate the probe about a fourth axis.

  According to various embodiments, an automated TCD system, a TCD probe configured to ultrasonically illuminate a patient's blood vessel, a robot attached to the probe, and a robot connected to the robot to control movement of the robot. An automatic TCD system is provided. In some embodiments, an automated TCD system includes an end effector that includes an axial force sensor attached to a robot and in communication with a probe. In some embodiments, an automated TCD system includes a robot configured to move with at least six degrees of freedom of operation. In some embodiments, an automated TCD system includes a robot configured to move with exactly five degrees of freedom of operation. In some embodiments, the automated TCD system includes a robot configured to move with exactly four degrees of freedom of operation.

  The features, aspects and advantages of the present invention will become apparent from the following description and the accompanying exemplary embodiments shown in the drawings briefly described below.

FIG. 3 illustrates a virtual support structure for manipulating a medical probe, according to an exemplary embodiment. FIG. 3 is a perspective view of a medical probe and gimbal structure, according to an exemplary embodiment. FIG. 3 is a perspective view of a two-link rotational support structure of the medical probe of FIG. 2 according to an exemplary embodiment. It is a front view of the support structure of FIG. It is a right front view of the support structure of FIG. FIG. 3 is a perspective view of a prism support structure of the medical probe of FIG. 2 according to an exemplary embodiment. It is a front view of the support structure of FIG. It is a right front view of the support structure of FIG. It is a schematic front view of the support structure of FIG. It is a schematic front view of the support structure of FIG. 5 is a flowchart of a method for determining actuator input or torque, according to an exemplary embodiment. FIG. 3 is a perspective view of a 5-bar parallel mechanism (rotation-rotation) support structure of the medical probe of FIG. 2 according to an exemplary embodiment. It is a front view of the support structure of FIG. It is a right front view of the support structure of FIG. FIG. 3 is a diagram illustrating a hybrid position-force admittance controller. It is a figure which shows the probe on a redundant manipulator. It is a figure which shows the probe on the redundant manipulator attached to the monitoring station. FIG. 5 shows a probe on a redundant manipulator that scans the zygomatic arch. It is a figure which shows the probe on the redundant manipulator which performs the transorbital scan of an orbit or an eyeball hole. FIG. 5 shows a probe on a redundant manipulator that scans the occipital bone. It is a figure which shows the probe on the redundant manipulator which scans a lower jaw. 1 is a schematic diagram of a TCD system. It is a figure which shows the probe on a redundant manipulator. It is a figure which shows the test result of the force output of the probe on a redundant manipulator. FIG. 6 is a top perspective view of a spring-loaded probe in a support structure having four actuation degrees of freedom and one passive degree of freedom. FIG. 6 is a front perspective view of a spring-loaded probe in a support structure having four actuation degrees of freedom and one passive degree of freedom. FIG. 6 is a cross-sectional view of a spring-loaded probe in a support structure having four actuation degrees of freedom and one passive degree of freedom. FIG. 5 is a front perspective view of a five-degree-of-freedom prism support structure of a medical probe, according to an exemplary embodiment. 7 is a rear perspective view of a five-degree-of-freedom prism support structure of a medical probe, according to an exemplary embodiment. FIG. FIG. 6 is an exploded perspective view of a five-degree-of-freedom prism support structure of a medical probe, according to an exemplary embodiment.

  The detailed description set forth below in connection with the appended drawings is intended as a description of various configurations and is not intended to represent the only configurations capable of implementing the concepts described herein. The detailed description includes specific details for a thorough understanding of various concepts. However, it will be apparent to those skilled in the art that these concepts may be practiced without these specific details. In some instances, well-known structures and components are shown in block diagram form in order to avoid obscuring such concepts.

  According to various embodiments, a five-degree-of-freedom (DOF) kinematic mechanism is used that can fully automate the evaluation of time window quality and rediscover the time window even after complete signal loss. For those skilled in the art, there is a distinction between one active or operational degree of freedom and the other passive degree of freedom. The active degree of freedom or the degree of freedom of operation includes an actuator such as a motor. Passive degrees of freedom do not require such an actuator. In this specification, when the term “degree of freedom” is used without limitation as passive, this degree of freedom means an active degree of freedom or a degree of freedom of operation. In some embodiments, the computer instructs and directs the mechanism to translate and reorient the probe along the head surface until a candidate signal is found. When a candidate signal is found, the probe is reoriented to increase the signal strength. In some embodiments, automatic system search time reduction and time window discovery are accomplished by aligning mechanisms and probes to known anatomical features such as the zygomatic arch. In some embodiments, alignment is performed using a visual window guide that allows the user to position the probe at an initial starting point along the zygomatic arch between the ear and eye.

  In some embodiments, after the probe is properly aligned, the probe remains seated as it moves in and out of the head following the surface of the head. The probe stiffness is kept perpendicular to the surface at a low level that is comfortable for the user. In some embodiments, the X and Y axes can maintain high servo stiffness to maintain precise control of probe position. Since the normal drag of the probe is determined by the Z-axis stiffness, in some embodiments, the sliding force experienced by the X and Y axes is limited to a comfortable level and the probe is instructed to perform a TCD window search. Can do. In some embodiments, the orientation stiffness can be increased via software if the orientation of the probe needs to be changed.

  In some embodiments, the kinematic mechanism of the probe provides five position and orientation degrees of freedom X = {x, y, z, pan, tilt} (ie, task space), five motor degrees of freedom or actuation. Degree of freedom Q = {J1, J2, J3, J4, J5} (ie, motor space or joint space). Thus, forward kinematics can be expressed as the relationship between motor coordinates and probe coordinates: X = fwd_kin (Q), where fwd_kin is typically based on a mechanism design analyzed by the Denavit-Hartenberg parameter. A function that represents a series of equations.

In some embodiments, the placement of the TCD probe is through inverse kinematics such as analytical inverse Q = inv_kin (X), or Jacobian inverse dQ _cmd (n) = J ^−l (X _err (n)) Where J is the Jacobian that relates the differential motion of the motor to the differential motion of the probe, and X _err (n) is the position and orientation error of the probe at time n , DQ _cmd (n) is the differential motor command at time n. For mechanisms that have more motor or operating degrees of freedom than the position and orientation coordinates of the probe to be controlled, this kinematics is called redundant and such mechanisms have more than five motors. In a redundant mechanism, the inverse kinematics changes from the inverse Jacobian to the Jacobian Moore-Penrose pseudoinverse matrix dQ _cmd (n) = J ^† (X _err (n)) (or other general inverse matrix).

  FIG. 1 is a diagram illustrating a model of a virtual support structure 10 of a probe 20 according to an exemplary embodiment. Support structure 10 is configured to position probe 20 relative to target surface 22. In some embodiments, the probe 20 is a medical probe, such as a medical probe used with a transcranial Doppler (TCD) device, that emits ultrasound radiation toward the target surface 22. In other embodiments, the probe 20 is configured to emit other types of waves during operation, such as but not limited to infrared waves and x-rays. In various embodiments, the probe 20 can be an array, such as a transcranial color-coded sonography (TCCS) probe, or a continuous or phased array that emits waves.

  In some embodiments, the probe 20 has a first end 20a and a second end 20b. In some embodiments, the first end 20 a is interconnected with the support structure 10. In some embodiments, the second end 20b contacts the target surface 22 and the probe 20 operates at a contact 21 on this surface. In some embodiments, the second end 20b is a concave structure so that the contacts 21 are ring-shaped (i.e., the second end 20b is a circular shape of the concave second end 20b). Contact the target surface 22 along the outer edge). The support structure 10 controls the relative position (eg, z-axis force, y-axis force, x-axis force, vertical alignment, etc.) of the probe 20. The support structure 10 is coupled between the probe 20 and the virtual surface 12 and is coupled between the first virtual spring 11 that exerts a force along the z-axis 13 and the probe 20 and the virtual surface 15. Shown as a virtual structure including a second virtual spring 14 that exerts a force along 16 and a third virtual spring 17 that is coupled between probe 20 and virtual surface 19 and exerts a force along x-axis 18. ing. The virtual support structure 10 further includes a torsion spring 23 that provides a torque about the tilt axis 27 and a second torsion spring 25 that provides a torque about the pan axis 29. In some embodiments, the virtual support structure 10 includes other virtual elements, such as a virtual damper (not shown). The virtual damper corresponds to an element that improves the stability of the system and helps to adjust the dynamic response of the system. The virtual or apparent inertia of the probe models and feedforwards the effects of mechanism inertia, motor rotation inertia, centripetal / centrifugal effects, and replaces them with arbitrary inertial properties within the physical performance limits of the device Therefore, it can be set to be isotropic or anisotropic.

  Virtual support structure 10 represents a variety of mechanical structures that can be utilized to position probe 20 relative to target surface 22, as described in more detail below. In some embodiments, the second end 20b of the probe 20 contacts a relatively delicate surface, such as the patient's or subject's skin. The support structure is configured to adjust its rigidity (eg, impedance, compliance, etc.) to provide variable linear and rotational forces to the probe 20, and may be relatively rigid or relatively flexible depending on the direction. Can do. For example, the support structure 10 is in a plane generally perpendicular to the target surface 22 (eg, when the patient or subject moves relative to the support structure) on the z-axis 13 to minimize the force applied to the patient or subject. Along the plane generally parallel to the target surface 22 with minimal force along the y-axis 16 and x-axis to improve the positional accuracy and precision of the probe 20. 18 can be relatively rigid. Furthermore, the desired stiffness of the support structure 10 along the various axes can vary over time depending on the task at that time. For example, the support structure may be in a situation where the support structure 10 is moving relative to the patient or subject (eg, during initial placement of the probe structure, during removal of the probe structure, etc.) or when it is advantageous to move relatively freely. Situations that can be configured to be relatively flexible (eg, during maintenance / cleaning, etc.) and where positioning accuracy and precision of the probe 20 are advantageous (eg, during a TCD procedure or probe 20) Can be configured to be relatively stiff in some directions.

  As described in more detail below, the kinematic model of the support structure 10 is utilized to utilize the force applied by the probe 20 to the target surface 22 and the force applied by the actuator that operates the support structure 10 (eg, torque) The relationship between can be calculated. Thus, the force that the probe 20 exerts on the target surface 22 in an ideal system can be theoretically determined without sensing the force directly, thereby providing a load cell and / or probe 20 that is aligned with the probe 20. The combined force torque sensor eliminates the need to maintain the proper contact force that maximizes signal quality. In physical systems, some uncertainty may be introduced by static friction and other unmodeled physical effects.

  FIG. 2 illustrates a probe 20 having a first end 20a that can be rotated about a plurality of axes, attached to a portion of a support structure, shown as a gimbal structure 24, according to an exemplary embodiment. The gimbal structure 24 includes a first frame member 26 that can rotate about a tilt shaft 27 and a second frame member 28 that can rotate about a pan shaft 29. The target surface 22 can be non-planar (eg, non-planar). The gimbal structure 24 can orient the probe 20 to be perpendicular to the target surface 22 at the contact 21.

  Next, FIGS. 3-5 illustrate a support structure 30 of the probe 20 as a two-link rotating (eg, rotation-rotating) robot according to an exemplary embodiment. The support structure 30 includes a first frame member 32, a second frame member 34, a third frame member 36, a fourth frame member 38, and a gimbal structure 24. The first frame member 32 is configured as a stationary member. The first frame member 32 is attached to, for example, a halo or headset 33 attached to the head of the patient or the subject, or the first frame member 32 is attached to the patient or the subject, or the position of the first frame member 32 is set. It can be attached to other structures that are fixed to the patient or subject. Probe 20 is configured to emit energy into the head of the patient or subject.

  Referring to FIG. 3, the second frame member 34 is a link configured to rotate around the z-axis 13. The z-axis 13 is generally perpendicular to the head surface. The first end 40 of the second frame member 34 is coupled to the first frame member 32. According to an exemplary embodiment, rotation of the second frame member 34 relative to the first frame member 32 is controlled by an actuator 42 shown as an electric motor and gearbox mounted through the first frame member 32. Actuator 42 functions as a vertical translation actuator that translates the probe along a vertical axis that is generally perpendicular to the surface of the head.

  The third frame member 36 is a link configured to rotate around the z-axis 13. The first end 44 of the third frame member 36 is coupled to the second end 46 of the second frame member 34. According to an exemplary embodiment, rotation of the third frame member 36 relative to the second frame member 34 is controlled by an actuator 48 shown as an electric motor and gearbox mounted through the second frame member 34.

  The fourth frame member 38 is configured to translate along the z-axis 13 (eg, in and out of the head, for example, close to or away from the head). According to the exemplary embodiment, the fourth frame member 38 slides along a rail member 50 that is secured to the second end 52 of the third frame member 36. The position of the fourth frame member 38 relative to the third frame member 36 is controlled by an actuator such as an electric motor and a lead screw (not shown for clarity).

  The gimbal structure 24 and the probe 20 are attached to the fourth frame member 38. The gimbal structure 24 controls the orientation (for example, pan and tilt) of the probe 20 around the tilt axis 27 and the pan axis 29. The position of the probe 20 around the tilt shaft 27 is controlled by an actuator 54 shown as an electric motor and gearbox. The actuator 54 functions as a rotary actuator that rotates the probe. The position of the probe 20 around the pan axis 29 is controlled by an actuator 56, shown as an electric motor and gearbox. The actuator 56 functions as a rotary actuator that rotates the probe. In one embodiment, the rotation of the probe 20 around the tilt axis 27 and pan axis 29 is different from the z-axis 13 regardless of the rotation of the frame members 34 and 36.

  The probe 20 can move on the xy plane defined by the x-axis 18 and the y-axis 16, that is, the translation plane, through the rotation of the second frame member 34 and the third frame member 36. The probe 20 can move along the z-axis 13, ie the translation axis, through the translation of the fourth frame member 38. Further, the probe 20 can rotate around the tilt axis 27 and the pan axis 29 through the gimbal structure 24. Combining these five degrees of freedom of operation makes it possible to fully represent and control the position and orientation of the probe 20 relative to the target surface 22, centered on a third axis orthogonal to the pan axis 29 and the tilt axis 27. Can be ignored.

  According to an exemplary embodiment, the actuator utilized for positioning the support structure 30 is a servo motor. Controlling the support structure using a servo motor is more accurate than a stepper motor in terms of motor torque output, rotational position and angular velocity, and corresponding probe 20 position and interaction between probe 20 and target surface 22. Control becomes possible. Of course, other suitable motors known to those skilled in the art can also be used.

  6-8 illustrate a support structure 60 and a gimbal structure 24 of the probe 20 as a prism (e.g., Cartesian, straight, etc.) robot, according to another exemplary embodiment. FIG. 6 shows an exemplary prism-prism-prism robot. The support structure 60 includes a first frame member 62, a second frame member 64, a third frame member 66, a fourth frame member 68, and the gimbal structure 24. The first frame member 62 is configured as a stationary member. The first frame member 62 can be attached to, for example, a halo or headset 33 mounted on the patient or subject's head or other structure that fixes the position of the first frame member 62 relative to the patient or subject. .

  The second frame member 64 is configured to translate along the y-axis 16 (eg, up and down from the bottom of the ear to the top of the ear, etc.). According to the exemplary embodiment, the second frame member 64 slides along a rail member 70 fixed to the first frame member 62. The position of the second frame member 64 relative to the first frame member 62 is controlled by an actuator such as an electric motor and a lead screw (not shown for clarity).

  The third frame member 66 is configured to translate along the x-axis 18 (eg, forward and backward from the eye to the ear, etc.). According to an exemplary embodiment, the third frame member 66 slides along a rail member 72 that is secured to the second frame member 64. The rail member 72 is orthogonal to the rail member 70. The position of the third frame member 66 relative to the second frame member 64 is controlled by an actuator such as an electric motor and a lead screw (not shown for clarity).

  The fourth frame member 68 is configured to translate along the z-axis 13 (eg, in and out of the head, for example, close to or away from the head). According to an exemplary embodiment, the fourth frame member 68 slides along a rail member 74 that is secured to the third frame member 66. The position of the fourth frame member 68 relative to the third frame member 66 is controlled by an actuator such as an electric motor and a lead screw (not shown for clarity).

  The gimbal structure 24 and the probe 20 are attached to the fourth frame member 68. The gimbal structure 24 controls the orientation (for example, tilt and pan) of the probe 20 around the tilt axis 27 and the pan axis 29. The position of the probe 20 around the tilt shaft 27 is controlled by an actuator 84 shown as an electric motor and gearbox. The position of the probe 20 around the pan axis 29 is controlled by an actuator 86, shown as an electric motor and gearbox.

  The probe 20 can move on the xy plane through translation of the second frame member 64 and the third frame member 66, and can move along the z-axis 13 through translation of the fourth frame member 68. The tilt axis 27 and the pan axis 29 can be rotated through the gimbal structure 24. Combining these five degrees of freedom of operation makes it possible to fully represent and control the position and orientation of the probe 20 relative to the target surface 22, centered on a third axis orthogonal to the pan axis 29 and the tilt axis 27. Can be ignored.

  A kinematic model for any embodiment of the support structure of the probe 20 can be developed to determine the relationship between the force applied to the probe 20 and the force applied by the actuator that controls the support structure. .

First, the stiffness matrix of the support structure is obtained. The stiffness matrix is the physical properties of the support structure (such as frame member geometry, individual frame member stiffness), system stiffness along the selected coordinate system axis, and velocity-based for system damping. It is obtained using a number of variables including terms. According to an exemplary embodiment, the desired stiffness of the support structure is expressed in z-direction (K _z ), y-direction (K _y ) (eg, as represented by virtual springs 11, 14, and 17 in FIG. 1). And in the x direction (K _x ) and around the pan axis 29 (Kω _x ) and tilt axis 27 (Kω _y ) (eg, as represented by the virtual torsion springs 23 and 25 of FIG. 1). . As described above, in some embodiments, the virtual stiffness varies with time based on the tasks achieved using the probe 20. For example, the y- and x-direction stiffnesses are configured with a lower limit corresponding to a relatively low lateral stiffness during a placement procedure or a removal procedure in which the support structure is configured to be relatively flexible, and the support structure is configured to be relatively rigid. And an upper limit corresponding to a relatively high stiffness during the scanning procedure that allows more accurate positioning of the probe 20. Similarly, the z-direction stiffness is such that the z of the probe 20 allows the probe 20 to be self-aligned (eg, to minimize patient or subject discomfort) so that the support structure is relatively flexible. A scan corresponding to a lower limit corresponding to a relatively low stiffness during initial positioning of the direction and a more rigid support structure to overcome the frictional force between the probe 20 and the target surface 22 to maintain the orientation of the probe 20 And an upper limit corresponding to a relatively high stiffness during the procedure. Further, the rotational stiffness about the y-axis and x-axis allows the support structure (eg, gimbal structure 24) to be configured relatively flexibly (eg, to minimize patient or subject discomfort). A lower limit corresponding to a relatively low rotational stiffness during positioning of 20 to fit the contour of the target surface 22 (e.g., the patient's or subject's head), and more accurate positioning of the probe 20 (e.g., And an upper limit corresponding to a relatively high rotational stiffness when panning, tilting, etc.) are desired.

（式１）
式中、Ｋは剛性行列であり、

は、プローブ２０のｘ、ｙ及びｚ方向における望ましい並進位置と実際の並進位置、並びにｘ軸１８及びｙ軸１６の周囲の望ましい回転位置と実際の回転位置の差分のベクトルである。 Next, the force vector is derived using the following equation.

(Formula 1)
Where K is the stiffness matrix,

Is a vector of the desired and actual translation positions of the probe 20 in the x, y and z directions, and the difference between the desired and actual rotation positions around the x-axis 18 and y-axis 16.

（式２） The following equation can then be used to determine the force applied by the actuator that controls the position of the support structure (eg, torque applied by the rotary actuator).

(Formula 2)

Where J ^T is a Jacobian transpose matrix determined by the kinematics of a particular support structure. Jacobian is a differential relationship between joint position and end effector position and orientation (eg, probe 20 position). The joint position is either in radians (eg, in the case of rotating joints) or length units (eg, in the case of prism joints or linear joints). Jacobian is not static and changes as the position of the support structure articulates.

Next, FIG. 9 shows a schematic front view of the support structure 30. The second frame member 34 is represented by a first link 90 having a length l ₁ . The first link 90 is articulated by a rotary actuator 94 that indicates rotation as q ₁ . The third frame member 36 is represented by a second link 92 having a length l ₂ . The second link 92 is articulated by a rotary actuator 96 indicating the rotation as q _2. Actuators 94 and 96 move the probe 20 in the xy plane.

（式３）

（式４） The forward kinematics of this device is as follows.

(Formula 3)

(Formula 4)

（式５）
式５に示すヤコビアンは、関節運動とプローブ運動との間の微分関係を表現する、ｘ−ｙ平面における回転−回転ロボットのデカルト運動（例えば、ｙ軸１６及びｘ軸１８に沿った並進）のヤコビアンである。当業者であれば、他の実施形態では、このヤコビアンに追加項を含めて、プローブ２０の動きとロボットの他の動きと（例えば、チルト軸２７及びパン軸２９の周囲のプローブ２０の回転と、ｚ軸１３に沿った並進と）の間の微分関係を表現することもできると理解するであろう。 The Jacobian of such a rotation-rotation robot is derived by taking the forward kinematic partial derivative for both q ₁ and q ₂ .

(Formula 5)
The Jacobian shown in Equation 5 represents the Cartesian motion of a rotation-rotation robot (eg, translation along y-axis 16 and x-axis 18) in the xy plane that represents the differential relationship between joint motion and probe motion. Jacobian. A person skilled in the art may include additional terms in this Jacobian in other embodiments, including movement of the probe 20 and other movements of the robot (e.g., rotation of the probe 20 around the tilt axis 27 and pan axis 29). It will be understood that a differential relationship between the translation along the z-axis 13) can also be expressed.

（式６）
式６に示すヤコビアンは、関節運動とプローブ運動との間の微分関係を表現する、ｘ−ｙ平面におけるプリズムロボットのデカルト運動（例えば、ｙ軸１６及びｘ軸１８に沿った並進）のヤコビアンである。他の実施形態では、このヤコビアンに追加項を含めて、プローブ２０の動きとロボットの他の動きと（例えば、チルト軸２７及びパン軸２９の周囲のプローブ２０の回転と、ｚ軸１３に沿った並進と）の間の微分関係を表現することもできる。 Next, FIG. 10 shows a schematic front view of the support structure 60. The probe 20 is moved in the y direction by a first linear actuator 100 (eg, an electric motor and a lead screw) and moved in the x direction by a second linear actuator 102 (eg, an electric motor and a lead screw). Actuators 100 and 102 move the probe 20 in the xy plane. Each joint is orthogonal to the other joint and maps the joint motion to Cartesian motion on a one-to-one basis, so the Jacobian of such a prism robot becomes a unit matrix.

(Formula 6)
The Jacobian shown in Equation 6 is a Jacobian of the Cartesian motion (eg, translation along the y-axis 16 and the x-axis 18) of the prism robot in the xy plane that expresses the differential relationship between joint motion and probe motion. is there. In other embodiments, the Jacobian may include additional terms to include movement of the probe 20 and other movements of the robot (eg, rotation of the probe 20 around the tilt axis 27 and pan axis 29 and along the z-axis 13. It is also possible to express the differential relationship between translation and

  Referring to FIG. 3, the support structure 30 controls the position of the probe 20 in the z direction by translation of the fourth frame member 38 using a single linear actuator (eg, an electric motor and a lead screw). Referring to FIG. 6, similarly, the support structure 60 also controls the z position of the probe 20 by translation of the fourth frame member 68 using a single linear actuator (eg, an electric motor and a lead screw). For any support structure, there is a direct correlation between the position of the actuator and the position of the probe 20.

  Next, FIG. 11 illustrates a method 110 for determining the input or torque of an actuator of a probe support structure, according to an exemplary embodiment. First, the configuration of the probe support structure is determined (step 112). This configuration can include any number of rotational joints and / or prism joints. In some embodiments, the support structure translates the probe along one or more axes (eg, x, y and z axes in a Cartesian coordinate system, r, θ and z axes in a polar coordinate system, etc.). And / or provide rotation about one or more axes.

Based on the structure of the support structure and the desired variable stiffness of the support structure, a stiffness matrix of the support structure is obtained (step 114). The stiffness matrix is the frame member geometry and individual frame member stiffness, the desired stiffness of the support structure in the z-direction (Kz), y-direction (Ky) and x-direction (Kx), and the desired stiffness of the support structure. Including terms based on the physical properties of the support structure, including rotational stiffness (Kω _x , Kω _y ) and velocity-based terms for system damping.

  A force vector is determined based on the stiffness matrix and the desired translational and rotational positions of the probe (step 116). The desired position of the probe can be determined using either coordinate system. According to an exemplary embodiment, the force vector is derived from the product of the stiffness matrix and the desired translational and rotational position matrix of the probe, as shown in Equation 1.

  Next, the Jacobian of the support structure is calculated (step 118). Jacobian is determined by the kinematics of a particular support structure. Jacobian is a differential relationship between joint position and end effector position. The joint position is either in radians (eg, in the case of rotating joints) or length units (eg, in the case of prism joints or linear joints). Jacobian is not static and changes as the position of the support structure articulates.

  Based on the force vector and the Jacobian, the actuator input is determined (step 120). According to an exemplary embodiment, the actuator input is derived from the product of the Jacobian and the force vector as shown in Equation 2.

  Next, FIGS. 12-14 illustrate a support structure 130 for the probe 20 as a five-link rotating robot according to another exemplary embodiment. The support structure 130 includes a first frame member 132 and a pair of proximal members, shown as a second frame member 134a and a third frame member 134b, coupled to the first frame member 132, in proximity to each other. A pair of distal members, shown as fourth frame member 136a and fifth frame member 136b, coupled to each other and coupled to each other, and a sixth frame member 138 coupled to the distal frame member. And a gimbal structure 24. The first frame member 132 is configured as a stationary member. The first frame member 132 can be attached to, for example, a halo or headset 33 mounted on the patient or subject's head, or other structure that fixes the position of the first frame member 132 relative to the patient or subject. .

  The second frame member 134 a and the third frame member 134 b are links configured to rotate around the z axis 13. The first end 140 a of the second frame member 134 a is coupled to the first frame member 132. Similarly, the first end 140 b of the third frame member 134 b is coupled to a separate portion of the first frame member 132. According to an exemplary embodiment, rotation of the second frame member 134a relative to the first frame member 132 is controlled by an actuator 142a, shown as an electric motor and gearbox, mounted through the first frame member 132. According to the exemplary embodiment, the rotation of the third frame member 134b relative to the first frame member 132 is controlled by an actuator 142b, shown as an electric motor and gearbox, mounted through the first frame member 132.

  The fourth frame member 136 a and the fifth frame member 136 b are links configured to rotate around the z axis 13. The first end portion 144a of the fourth frame member 136a and the second end portion 146a of the second frame member 134a are respectively coupled to the hub member 148a via a bearing (for example, a press-fit bearing). Similarly, the first end 144b of the fifth frame member 136b and the second end 146b of the third frame member 134b are respectively coupled to the hub member 148b via a bearing (for example, a press-fit bearing). .

  The fourth frame member 136a and the fifth frame member 136b are coupled together via a bearing (for example, a press-fit bearing) to form a 5-bar link mechanism. Hub members 148a and 148b cause the proximal member to be offset from the distal member along z-axis 13 so that when the link is rotated by actuators 142a and 142b, the proximal frame member (e.g., second frame member 134a and 148b). The third frame member 134b) is free to move over the distal frame members (eg, the fourth frame member 136a and the fifth frame member 136b).

  The gimbal structure 24 and the probe 20 are attached to the sixth frame member 138. The sixth frame member 138 is coupled to one of the distal members (eg, the fourth frame member 136a or the fifth frame member 136b) and moves the gimbal structure 24 and the probe 20 along the z-axis 13 (eg, It is configured to translate in and out of the head. The sixth frame member 138 can translate, for example, on a rail, as described above with respect to the fourth frame member 38 of the support structure 30 (see FIGS. 3-5). The gimbal structure 24 controls the orientation (for example, pan and tilt) of the probe 20 around the tilt axis 27 and the pan axis 29. The position of the probe 20 around the tilt shaft 27 is controlled by an actuator (not shown) such as an electric motor and a gear box. The position of the probe 20 around the pan shaft 29 is controlled by an actuator (not shown) such as an electric motor and a gear box. In one embodiment, the rotation of the probe 20 around the tilt axis 27 and pan axis 29 differs from the z-axis 13 regardless of the rotation of the frame members 134 and 136.

  The probe 20 is a 5-bar link formed by a first frame member 132, a second frame member 134a, a third frame member 134b, a fourth frame member 136a, and a fifth frame member 136b. It can move in the xy plane through the movement of the mechanism. The probe 20 can move along the z-axis 13 through translation of the sixth frame member 138. Further, the probe 20 can rotate around the tilt axis 27 and the pan axis 29 through the gimbal structure 24. Combining these five degrees of freedom of operation makes it possible to fully represent and control the position and orientation of the probe 20 relative to the target surface 22 (see FIGS. 1-2). Rotation about a third axis that is orthogonal can be ignored.

  According to an exemplary embodiment, the actuator utilized to position the support structure 130 is a servo motor. Of course, any suitable motor could be used in place of the servo motor. Controlling the support structure using a servo motor allows more precise control over the rotational position and angular velocity of the motor and the corresponding position of the probe 20 and the interaction between the probe 20 and the target surface 22 compared to a stepper motor. become.

  The inputs of the actuators 142a and 142b are obtained by determining the force vector, determining the forward kinematics of the support structure 130, and taking the partial derivative of the forward kinematics for each rotation of the actuators 142a and 142b, similar to the method described above. It can be calculated by calculating the Jacobian.

  In some embodiments, for contact and seating of the probe 20, whether by mechanical design or software, instead of trying to predict and control the exact position and orientation of the probe 20 20 impedances are selectively controlled. Thus, the degree of freedom of orientation of the probe 20 can be flexible so that the probe 20 can rotate at the same height as the head against contact and seating, whereas the degree of translational freedom moves the probe 20. It is stiff enough to maintain contact with the head. In some embodiments, each direction has a different impedance.

  In some embodiments, software is implemented that limits the motor torque and motor servo stiffness of the probe 20. In some embodiments, there are different restrictions for each direction, and different stiffnesses can occur in different directions. In some embodiments, the translation is reasonably rigid while the pan and tilt are very flexible. In some embodiments, the stiffness through the probe 20 is more flexible than the X, Y translational degrees of freedom.

  In some embodiments, software for task space impedance control is implemented. In other words, the local coordinate system including the Z axis passing through the center of the probe 20 can be determined in consideration of the orientation of the probe 20. Instead of manipulating the impedance of the probe 20 by adjusting the servo stiffness and torque limits of the motor, in some embodiments, the local X of the coordinate frame of the probe 20 is considered in consideration of the robot's overall kinematics. , Y, Z, pan, and tilt can be set in each of the five directions. Therefore, while making the probe 20 more flexible through the centerline of the probe 20, it still maintains contact with the surface of the skin and has local X and Y stiffness so that the position of the probe 20 can be accurately controlled. Can be.

  According to various embodiments, the probe 20 includes a series of elastic actuators. In some embodiments, the impedance of the device is changed by adding a flexible element to the mechanical design, such as a spring element into the motor or a structural member of the robot. In some embodiments, the amount of deflection is measured to determine the exact position and orientation of the probe 20. The series of elastic actuators has the advantage of avoiding the computational non-linearities and instabilities associated with impedance programming while being designed for precise compliance and also adding damping elements.

In some embodiments, the force is measured indirectly by monitoring the applied current of the motor. In the static example, considering the kinematics of the robot, the force / torque vector of the system is calculated from the Jacobian F = (J ^T ) ⁻¹ τ, where τ is the motor predicted by the applied current to the motor. This is a torque vector.

In some embodiments, a force / torque sensing mechanism is placed behind the probe 20 to control the interaction force and torque between the probe 20 and the head. The position and orientation of the probe is specified in relation to the measured force and torque to achieve the desired force / torque vector. This type of closed-loop controller is called admittance control and is programmed into software. Admittance control relates the measured force to the desired position and orientation of the probe, as shown in the following equation.

  The desired joint position is calculated from the inverse kinematics using this desired position vector. The motor joint controller is programmed to have high servo stiffness, enhanced disturbance rejection and low servo tracking error. A hybrid position-force admittance controller 150 is shown in FIG.

In this hybrid position-force controller example, the force is controlled in the z direction of the probe, while the position is controlled in the x and y directions, and the pan and tilt directions. A probe command input block 154 that determines the movement of a task-oriented probe such as a search transmits a hybrid command [xcmd, ycmd, F _cmd , pan _cmd , tilt _cmd ] 152 of position and force in the task space. In this case, position and orientation are specified in x, y, pan and tilt and are given in units of length and angle (mm and radians). The force is specified in the z direction and is given in Newton units. In an admittance controller, the force command must be converted to the desired position. From the probe input command block 154, a force command F _cmd 156 used as a command for the admittance force control block 154 is extracted. The admittance force control law block 158 calculates Δz, which is the change in z position, using F _measured , which is the _measured force. Although a simple single proportional gain controller is shown, other controller configurations can be used. In the z instruction position update block 160, Δz 162 is added to the old z instruction position to create an updated z instruction Z _cmd 164. This information is merged with other probe position and orientation commands in a probe command alignment block 166. The harmonized command R _cmd 168 specifies the position and orientation of the probe in units of length and angle [x _cmd , y _cmd , z _cmd , pan _cmd , tilt _cmd ]. The inverse kinematics block 170 uses the harmonized command R _cmd 168 to determine a new robot joint command position q _cmd 172 based on the mechanism of the particular robot. From the above description, it is understood that this robot has a direct analysis inverse solution or a numerical solution based on an inverse Jacobian or a pseudo inverse Jacobian depending on the number of degrees of freedom.

The joint command position q _cmd 172 is used as an input to an internal position control loop consisting of a joint motor controller block 174, an output torque 176, a robot mechanism block 178 which is a physical robot, and a measured joint position q180. . Robot mechanism block 178 also includes a force sensor that outputs F _measured 182 which is the _measured force. The measured force F _measured 182 is a second input to the admittance force control law block 158, which closes the force control loop.

  The measured joint position q180 calculates [x, y, z, pan, tilt] 186, the current position and orientation of the probe, and sends it back to the probe command input block 154 for use in the probe command generation algorithm. Used as input to forward kinematics calculation block 184.

  Combined with the impedance law, the stiffness of the different directions and orientations in the probe 20 can be programmed. Admittance control is suitable for non-reverse drive motors that are difficult to use with pure impedance controllers because the static friction that resists the user cannot be observed during a stop without a force-torque sensor.

  Other configurations of the support structure include an over actuated mechanism and an under actuated mechanism. An overdrive mechanism or redundant manipulator includes more degrees of freedom of operation than the task space coordinates to be controlled, eg, the number of motors Q = {J1, J2, J3, J4, J5,. More than five positions and orientation degrees of freedom of the probe X = {x, y, z, pan, tilt}. In such a mechanism, there may be many, in some cases, an infinite number of inverse kinematic solutions.

  An example of an overdrive mechanism or redundant manipulator is the UR3 robot manufactured by Universal Robot, which is controlled by a unique actuator or motor, each allowing six movements of freedom of movement. It has 6 rotary joints. Referring to FIG. 16, in some embodiments, the probe 20 can be placed on a redundant manipulator 190. Referring to FIG. 17, in some embodiments, redundant manipulator 190 can be conveniently attached to a monitoring station 192 that can include a display screen 194. Referring to FIG. 18, the redundant manipulator can be controlled to scan the zygomatic arch 196. Referring to FIG. 19, the redundant manipulator can be controlled to perform an orbital scan through the orbit or eyeball 198. Referring to FIG. 20, the redundant manipulator can be controlled to scan the occipital bone 200. Referring to FIG. 21, the redundant manipulator can be controlled to scan the submandibular 202.

  As shown in FIG. 22, in some embodiments, an automated TCD system 203 includes a redundant manipulator 190 that positions the robot, a probe holder 204 that includes a force sensor 206, a probe driver board 208, and a control computer 210. including. Some embodiments of the redundant manipulator 190 provide sufficient kinematic accuracy, are certified for use around humans in the workspace, and are configurable safety to limit speed and impact force Has a level. These features can enable human use in response to safety concerns. A probe holder 204 called “end effector” is attached with a probe 20 which can be a Spencer TCD probe for ultrasonically irradiating a blood vessel of a patient or a subject. Probe holder 204 is attached to the end of redundant manipulator 190 and has an axial force sensor 206 that directly monitors the force applied by redundant manipulator 190 on the surface to be scanned. The force sensor 206 transmits force sensor information 212 to the redundant manipulator 190. This force sensor 206 not only serves to ensure that sufficient contact force is generated between the probe 20 and the surface to be scanned, but is also a second safety measure to prevent contact force overload. In some embodiments, a probe driver board 208 is connected to the probe 20 that provides electronics to transmit power 214 to the probe to emit ultrasonic energy and process the returned sensor output signal 216.

  In some embodiments, the control computer 210 is connected to the controller 220 of the redundant manipulator 190 via TCP / IP communication 218 and is also connected to the probe driver board 208 by USB 222. The redundant manipulator 190 provides the controller 220 with information 224 regarding its current position, velocity, estimated force applied to the end effector, custom sensor readings and other status information, which is then transmitted to the TCP / IP 218. To the control computer 210. The USB 222 interface of the probe driver board 208 provides parameters such as the depth of the probe 20 and how to set the operation, and returns processing data such as the velocity envelope. The control computer 210 captures all this information and executes the probe search algorithm, issues a new redundant manipulator 190 instruction to move the redundant manipulator. Embodiments can also use a machine learning algorithm that mimics the expertise of a skilled technician to locate a sonicated blood vessel. In some embodiments, the control computer 210 autonomously controls the scanning process of the probe 20, while in other embodiments, techniques well known to those skilled in the art, such as those used in NeuroArm and DaVinci surgical robots, are used. Thus, a human can remotely control the scanning process of the probe 20.

  Next, referring to FIGS. 23A and 23B, FIG. 23A shows the redundant manipulator 190, the force sensor 206, the probe holder 204, and the probe 20 of FIG. FIG. 23B shows the test results using this configuration showing the force output controlled in the 2N-10N deadband range 220.

  In integration testing, all data from the probe driver board 208 is read, all state data from the redundant manipulator 190 is read, the signal processing and planning algorithm is updated, and the redundant manipulator 190 is updated at its servo speed. It has been shown that a 125 Hz control loop that is fast enough to issue new operating instructions can be maintained throughout the system.

  In some embodiments, instead of UR3, a modular snake robot or other robot kinematic configuration with more than 6 degrees of freedom of operation is used as the redundant manipulator.

  Next, FIGS. 24-26 show the system 300 in operation. Such a system has four degrees of freedom of operation in the x, y, pan, and tilt axes and a spring that provides a force along the z axis. In the illustrated active system 300, the system has less than 5 operational degrees of freedom, but can still perform TCD positioning tasks. The illustrated active system 300 is a four-operational freedom mechanism X = {x, y, pan, tilt} that can position and orient the probe 20. In the operating system 300, the spring 302 exerts a force on the probe 20 along the z axis 13. In the five degree of freedom system, the force exerted by the spring in the operating system 300 is actuated by a motor drive mechanism. The gimbal structure 24 allows the probe 20 to be oriented. The force on the z-axis 13 is actually monitored by the characteristics of the spring constant associated with the spring 302. Operation in the x-axis 18 is controlled by an actuator 304, shown as an electric motor and lead screw. Operation in the y-axis 16 is controlled by an actuator 306, shown as an electric motor and lead screw. The operation of the pan shaft 29 is controlled by a motor 308. The operation on the tilt shaft 27 is controlled by a motor 310.

  27, 28 and 29 show a support structure 400 for the probe 20, with the gimbal structure 24 shown as a prism (eg, Cartesian, straight, etc.) robot according to another exemplary embodiment. . The support structure 400 can be attached to, for example, a halo or headset 33 attached to the patient or subject's head, or other structure. The support structure 400 includes a cover 401 that covers a part of the mechanism of the support structure 400. FIG. 29, which is an exploded view of the support structure 400, shows the cover 401 removed from the support structure 400.

  The first motor 402 is configured to operate a feed screw 405 mechanism using a first spur gear 404. The first spur gear 403 converts the rotational motion of the first motor 402 into linear motion along the feed screw 405 to move the probe 20 along the y-axis 16 (eg, from the bottom of the ear to the top of the ear). Coupled to a second spur gear 404 that translates up and down. The second motor 406 uses the third spur gear 407 coupled to the fourth spur gear 408 coupled to the rack and pinion mechanism 409 to move the probe 20 along the z axis 13 on the head of the subject. Configured to translate toward and away from the head. As shown in FIG. 28, the third motor 412 and the bearing 410 allow rotation of the gimbal 24 around the tilt axis 27 parallel to the x-axis 18 in this embodiment. A plate 414 contains two linear rails 416, 418 and translates along the x axis 18 (eg, forward and backward from ear to eye etc.) (not shown for clarity). ) Can be installed. As shown in FIG. 29, the fifth motor 420, in this embodiment, allows control of the rotation of the gimbal 24 about the pan axis 29 parallel to the y axis 16, resulting in a five degree of freedom operating robot system. The degree of freedom necessary to define is completed.

  Although only a few configurations of the support structure of the probe 20 have been described and illustrated above, many other configurations are possible by those skilled in the art, and similar methods may be used for the actuator of the support system or It will be appreciated that the input from the force-torque sensor can be determined to achieve the desired variable stiffness in any direction.

  The terms “attached”, “connected”, “secured” and the like used above are used interchangeably. Also, in some embodiments, the second element is “coupled” (or “attached”, “connected”, “fastened”, etc.) Some have been described as including a first element, but the first element can be coupled directly to the second element or indirectly to the second element via the third element. You can also.

  The above description is provided to enable any person skilled in the art to implement the various aspects described herein. Various modifications of these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects. Accordingly, the claims are not to be limited to the embodiments shown herein, but are to be accorded the full scope consistent with the language of the claims, and references to singular elements are not intended. Unless specifically stated otherwise, it is not intended to mean “one”, but rather is intended to mean “one or more”. Unless stated otherwise, the term “some” means one or more. All structural and functional equivalents of the elements of the various aspects described throughout the above description, well known to those skilled in the art or later become known, are expressly incorporated herein by reference. It is intended to be included in the scope of the claims. Further, the contents disclosed herein are not intended to be publicly disclosed regardless of whether they are expressly recited in the claims. A claim element should not be construed as a means plus function unless this element is clearly indicated using the expression “means for”.

  It is to be understood that the specific order or hierarchy of steps in the processes disclosed is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be reconfigured without exceeding the scope of the above description. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.

  The above description of the disclosed implementations is provided to enable any person skilled in the art to make or use the disclosed subject matter. Various modifications of these implementations will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other implementations without departing from the spirit or scope of the above description. Can be applied. Accordingly, the above description is not intended to be limited to the implementations shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

13 z-axis 16 y-axis 18 x-axis 20 probe 24 gimbal structure 27 tilt axis 29 pan axis 30 support structure 32 first frame member 33 headset 34 second frame member 36 third frame member 38 fourth frame member 40 Second frame member first end 42 Actuator 44 Third frame member first end 46 Second frame member second end 48 Actuator 50 Rail member 52 Third frame member Second end 54 Actuator 56 Actuator

Claims (20)

A robotic system used in scanning a subject,
A probe that emits energy into the subject;
A robot support structure coupled to the probe;
The robot support structure includes an actuator that moves the probe in parallel with the surface of the subject.
A robot system characterized by this. A robot support structure having five degrees of freedom of operation;
The robot system according to claim 1. A robot support structure having six degrees of freedom of operation;
The robot system according to claim 1. Further comprising a robot support structure having more than six operational degrees of freedom;
The robot system according to claim 1. A robot support structure having four degrees of freedom of operation;
The robot system according to claim 1. A control computer configured to control movement of the robot support structure;
The robot system according to claim 1. A remote control controller configured to control movement of the robot support structure;
The robot system according to claim 1. A hybrid position-force controller configured to control movement of the robot support structure;
The robot system according to claim 1. A force / torque sensor in contact with the probe;
The robot system according to claim 1. A device configured to interact with a target surface,
A probe configured to interact with the target surface;
A support structure coupled to the probe to move the probe relative to the target surface;
The support structure includes a hybrid position-force controller that controls movement of the support structure;
A device characterized by that. The hybrid position-force controller further includes a spring configured to press the probe against the target surface to passively maintain contact force.
The apparatus according to claim 10. The hybrid position-force controller further includes a first motor configured to move the probe along a first axis;
The apparatus of claim 11. The hybrid position-force controller further includes a second motor configured to move the probe along a second axis.
The apparatus according to claim 12. The hybrid position-force controller further includes a third motor configured to rotate the probe about a third axis.
The apparatus of claim 13. The hybrid position-force controller further includes a fourth motor configured to rotate the probe about a fourth axis.
The apparatus according to claim 14. An automatic TCD system,
A TCD probe configured to ultrasonically illuminate a patient's blood vessel;
A robot attached to the probe;
A computer connected to the robot for controlling movement of the robot;
An automatic TCD system comprising: An end effector including an axial force sensor attached to the robot and in communication with the probe;
The automatic TCD system according to claim 16. The robot is configured to move with at least six degrees of freedom of operation;
The automatic TCD system according to claim 16. The robot is configured to move with exactly five degrees of freedom of operation;
The automatic TCD system according to claim 16. The robot is configured to move with exactly four degrees of freedom of operation;
The automatic TCD system according to claim 16.

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