Autonomous robotic system for ultrasound examination

Abstract

Autonomous robotic systems for ultrasound examination are provided. The robotic systems include a robotic arm having an end effector for connecting an ultrasound tool. The arm is connected to a base station having a computing and control assembly disposed therein configured to process inputs from a vision module and control the robotic arm to position the tool to perform an ultrasound procedure on a patient. The end effector can include a load cell for measuring forces and torques experienced by the tool. A haptic device can be used to control articulation of the robotic arm to position the tool and provide force feedback to an operator. The robotic system can be configured to generate a 3D model of the patient, receive input of a feature region, and control the robotic arm to position the tool to perform an ultrasound procedure on the feature region. Various cleaning devices for cleaning the ultrasound tool are described.

Description

Technical Field

[0001] The embodiments disclosed herein relate to autonomous robotic technology for healthcare applications, and more specifically, to an autonomous robotic system for ultrasound examination. Background Technology

[0002] Completing an ultrasound examination involves multiple aspects, aiming to provide a holistic patient experience. This requires not only the expert's sophisticated biomechanical skills during the examination but also involves the emotional and communicative aspects of the experience. Current robotic systems lack the comprehensive technology stack required for autonomous ultrasound procedures.

[0003] The combination of advanced sensors, artificial intelligence, and advanced robotics will transform how medical imaging systems operate and empower healthcare institutions to reach and treat more patients. However, existing systems lack seamless integration solutions for tool connectors in the robotic system's end effector and for the computing units used to communicate with the robotic system.

[0004] Therefore, there is a need for novel autonomous robotic systems for ultrasound examinations. Summary of the Invention

[0005] According to some embodiments, an autonomous robotic system for ultrasound procedures is provided. The system includes an articulated robotic arm with an end effector. The end effector includes a mounting interface for detachably attaching an ultrasound tool, the ultrasound tool having a connector interface complementary to the mounting interface. A first vision module in the end effector is configured to sense operation of the ultrasound tool and the area near the tool.

[0006] According to one embodiment, the end effector includes a load cell configured to measure the forces and torques experienced by the ultrasonic tool. The robotic system may include a haptic device configured to control joint movements of the robotic arm to position the ultrasonic tool via manual input from an operator actuating the haptic device. The haptic device is also configured to provide force feedback to the operator regarding the forces and torques experienced by the ultrasonic tool.

[0007] According to one embodiment, the end effector includes a projector configured to project text, images, and video onto a surface. A vision module can be configured to sense interactions between a user and a user interface projected by the projector.

[0008] The system includes a base connected to a robotic arm. The base includes a second vision module and a computing and control component; the second vision module is configured to sense the environment around the robotic system, and the computing and control component is configured to process input from the vision module and control the robotic arm to position the ultrasound tool to perform an ultrasound procedure on the patient while avoiding collisions with objects in the environment.

[0009] The robotic system is configured to generate a 3D model of the patient based on input from a vision module and output the 3D model to a display. The robotic system is also configured to receive input of a landmark region on the 3D model and control the robotic arm to position an ultrasound tool to perform ultrasound on that landmark region. Input can be voice commands, visible gestures, or input from an input device.

[0010] According to some embodiments, the system includes a second robotic arm connected to a base. The second robotic arm includes a second end effector, a second tool connected to the second end effector, and a third vision module configured to sense operation of the second tool and a region near the second tool. In a dual-arm embodiment, a computing and control component is also configured to process input from the second and third vision modules and control the second robotic arm to position the second tool to perform procedures on the patient while avoiding collisions with objects in the environment.

[0011] The system may also include a base connected to a substation, the base having a display for showing ultrasonic data acquired by the ultrasonic tool. The system may also include a satellite communication system configured to transmit and receive data. The system may further include a solar panel system for generating energy to power the system, and one or more batteries for storing the energy generated by the solar panel system. Depending on various embodiments, the system can be deployed in a vehicle.

[0012] The system may also include cleaning devices. Various cleaning devices for cleaning ultrasonic tools are described in the text.

[0013] Other aspects and features will become apparent to those skilled in the art after reviewing the following description of some exemplary embodiments.

[0014] Brief description of the attached figures

[0015] The accompanying drawings are used to illustrate embodiments of the various articles, methods and apparatus described in this specification.

[0016] In the attached diagram: Figure 1A-1B These are frontal and rear perspective views of an autonomous robotic system for ultrasound examination according to one embodiment; Figure 1C A front view of a dual-arm autonomous robotic system for ultrasound examination according to one embodiment; Figure 1D A perspective view of an autonomous robotic system for ultrasound examination according to another embodiment; Figure 2A-2BThe figures are a plan view and a side view of an ultrasonic tool connected to an end effector according to one embodiment. Figures 3A-3B They are respectively Figure 2A-2B Plan views of the top and bottom surfaces of the ultrasonic tool with the nozzle in the deployed position; Figure 4 for Figure 2A-2B The bottom cover was removed using ultrasonic tools to reveal a plan view of the bottom surface of the internal components; Figures 5A-5B They are respectively Figures 3A-3B Plan view and side view of the internal components shown; Figure 6A This is a schematic diagram of a dual-roller cleaning device according to one embodiment; Figure 6B This is a schematic diagram of a brush cleaning device according to one embodiment; Figure 6C This is a schematic diagram of a conveyor belt cleaning device according to one embodiment; Figures 7A-7B The images show, respectively, frontal and rear perspective views of the ultrasound probe fixation device relative to the ultrasound probe according to one embodiment; and Figures 7C-7D They are respectively Figure 7A Side and bottom views of the ultrasonic probe fixation device.

[0017] Detailed description

[0018] Various apparatuses or processes will be described below to provide examples of each claimed embodiment. No embodiment described below is intended to limit any claimed embodiment, and any claimed embodiment may cover processes or apparatuses other than those described below. Claimed embodiments are not limited to apparatuses or processes having all the features of any of the apparatuses or processes described below, nor are they limited to features common to the multiple or all of the apparatuses described below.

[0019] One or more systems described herein may be implemented in a computer program that executes on a programmable computer, each programmable computer including at least one processor, a data storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. For example, and without limitation, a programmable computer may be a programmable logic unit, a mainframe computer, a server, a personal computer, a cloud-based program or system, a laptop computer, a personal digital assistant, a mobile phone, a smartphone, or a tablet device.

[0020] Each program is preferably implemented in a high-level procedural programming or object-oriented programming and / or scripting language to communicate with a computer system. However, if desired, the program may also be implemented in assembly or machine language. In any case, the language may be a compiled or interpreted language. Each such computer program is preferably stored on a storage medium or device readable by a general-purpose or special-purpose programmable computer so that, when the computer reads the storage medium or device, it can configure and operate the computer to execute the program described herein.

[0021] The description of an embodiment with several components communicating with each other does not imply that all such components are necessary. Rather, a variety of optional components are described herein to illustrate various possible embodiments of the invention.

[0022] Furthermore, although process steps, method steps, algorithms, etc., may be described sequentially (in the disclosure and / or claims), such processes, methods, and algorithms may be configured to operate in an alternating order. In other words, any sequence or order of steps that may be described does not necessarily imply that these steps must be performed in that order. The steps of the process described herein can be performed in any practicable order. Moreover, some steps may be performed simultaneously.

[0023] When this article describes a single device or item, it is obvious that multiple devices / items (whether they collaborate or not) can be used in place of that single device / item. Similarly, when this article describes multiple devices or items (whether they collaborate or not), it is obvious that a single device / item can be used in place of those multiple devices or items.

[0024] In this document, unless otherwise stated, “robot system,” “robotic system,” and “robot” are used interchangeably to refer to an autonomous robotic system used for ultrasound examination. This robotic system typically includes a robotic arm attached to the ultrasound instrument and mounted on a trolley or other support structure.

[0025] In this paper, “AI” or “AIs” means artificial intelligence (e.g., trained neural networks), machine learning processes, algorithms, and / or natural language models programmed into the robotic system described herein.

[0026] Reference Figure 1A-1B The image shows an autonomous robotic system 100 for ultrasound examination according to one embodiment. The robotic system 100 includes a robot body, an end effector 106, and a base 110; the robot body includes at least one articulated arm 102 and a base 104; the end effector 106 is located on the distal limb segment for connection to an ultrasound transducer tool 108.

[0027] Arm 102 includes multiple movable limb segments or connectors, providing up to seven degrees of freedom. Arm 102 includes multiple proximity sensors disposed in proximity-sensing skin for sensing the surrounding environment to enable autonomous control of the articulated arm 102 during operation. Arm 102 also includes fluid lines extending from base 104 through the limb segments to end effector 106. Arm 102 may be an articulated arm as disclosed in International Patent Publication No. WO2022241550.

[0028] Base station 104 includes computing and control components as well as input and output components, such as microphones, speakers, and indicator lights (e.g., LEDs) arranged around base station 104 for 360-degree input sensing and output. The computing and control components include one or more processors for executing artificial intelligence or other instructions to perform autonomous tasks, including ultrasound programs on various organs and body parts. The base station may also include I / O connectors (e.g., USB, HDMI, USB-C ports) for connecting peripheral devices (e.g., display 112), input devices (e.g., mouse), or VR / AR components to control and / or interact with robot 100. The base station may include wireless communication components (e.g., Bluetooth™ and / or Wi-Fi antennas, receivers, or transceivers) for connecting robot 100 to a communication network and for connecting wirelessly connected tools 108, input devices, and VR / AR components.

[0029] The base 104 includes a vision module 115, which has two RGB cameras with global shutters, a proximity sensor (time-of-flight sensor), and a thermopile sensor for viewing / sensing the surrounding environment and the user (operator, patient) to enable autonomous control of the robotic system during operation. The vision module 115 is mounted on a gimbal system with three degrees of freedom (pitch, yaw, roll) to point the cameras / sensors in different directions, thereby observing the environment around the robotic system 100. In addition to the cameras in the vision module 115, the base 104 may also include two additional RGB cameras. The base, together with the vision module 115 and the two additional cameras, can rotate 360 ​​degrees. The base 104 may be the base disclosed in International Patent Publication No. WO2022241550.

[0030] The robot body is connected to the base / support structure 110 at the base 104. Depending on the implementation, the base 110 may be a desk / table / stand, a manual trolley, or an autonomous mobile robot trolley. The base 110 includes a touchscreen display 112 for receiving user input and displaying instructions / information. For example, the display 112 can be connected to an ultrasound tool 108 via the base 104 and the robot arm 102 to display ultrasound data (e.g., ultrasound scan images) acquired by the tool 108, as well as other information related to the procedure. The base 110 also includes a storage slot 114 for storing tools picked up (attached) or unattached (disassembled) from the end effector 106 on the arm. The base 110 includes one or more lifting columns for adjusting (raising / lowering) the top surface of the base 100 connected to the base 104. The base 110 includes an emergency stop button located on the lifting column. If the base 110 is an autonomous mobile robot trolley, an emergency stop button is provided on both the lifting column and the base of the trolley.

[0031] The base 110 may also include storage devices for storing various fluids (liquids or gases). These storage devices are in fluid communication with fluid lines that extend from the base, pass through the robotic arm 102 and the end effector 106.

[0032] The end effector 106 includes a vision module 116 with multiple cameras and sensors for viewing / sensing the surrounding environment, the user, and the ultrasonic tool. These cameras / sensors include two stereo cameras with global shutters, a time-of-flight sensor, a thermopile sensor, and an inertial measurement unit. The vision module 116 also includes a projector for projecting text, images, or video onto the surface.

[0033] The end effector 106 also includes a tool mounting interface for mechanically and electrically connecting the robotic arm 102 to the ultrasonic tool 108. Typically, the mounting interface of the end effector 106 complements the connector interface of the tool 108. The mounting interface includes electrical connectors (e.g., spring pins and / or USB) for electrically connecting the end effector 106 (and the rest of the robotic system 100) to the ultrasonic tool 108. The electrical connection between the end effector 106 and the tool 108 provides power to the tool 106 and further enables data transmission between the tool 106 and the rest of the robotic system 100. The mounting interface also includes locking mechanisms (e.g., locking lugs or grooves, spiral rings, etc.) for mechanically connecting the ultrasonic tool 108 to the end effector 106 (and the robotic arm 102). The end effector 106 also includes a multi-axis load cell configured to measure the forces and torques experienced by the tool 108 for tactile feedback and control. The end effector 106 may be the end effector disclosed in the same applicant’s international patent application number PCT / CA2024 / 050803.

[0034] According to various implementations, the camera and sensors on the robot system 100 can be configured in a tactile system with force feedback for remote operation. The robot system can also be integrated with or connected to a tactile control device (e.g., the tactile device disclosed in International Patent Application No. PCT / CA2024 / 050803) for manual control by a user.

[0035] According to various implementations, the robot system 100 may include one or two arms 102. In a dual-arm configuration, both arms are connected to a base 104, and the arms 102 are substantially similar except for the tools they are connected to.

[0036] The dual-arm configuration offers greater operational flexibility and independence in performing tasks. For example, in one embodiment, the first arm holds the ultrasound coupling gel to be applied to the user, while the second arm is connected to an ultrasound tool or probe. In another embodiment, the first arm, connected to the ultrasound tool, performs the ultrasound examination, while the second arm projects instructions, images, and lighting to the user via its vision module 116 to adjust the ambient atmosphere and mood. In yet another embodiment, the first arm cleans / wips the user, while the second arm cleans the ultrasound probe.

[0037] Reference Figures 2A-3B The figure shows a view of an ultrasonic transducer tool 108 connected to an end effector 106. The ultrasonic tool 108 includes an ultrasonic transducer / probe 118 configured to emit and receive ultrasonic waves. The ultrasonic tool 108 includes an applicator nozzle 120 for dispensing ultrasonic coupling gel and other liquids. The nozzle 120 can extend from the tool housing or remain inside the tool 108 and dispense through the surface of the tool 108.

[0038] The ultrasonic tool 108 includes a connector interface 130 for mechanically and electrically connecting the tool 108 to a mounting interface on the end effector 106. The connector interface 130 includes at least an electrical connector (e.g., a spring-loaded pin and / or a USB port) for connecting to mating spring-loaded pins and / or USB connectors / ports on the end effector 106, thereby electrically connecting the ultrasonic tool 108 to the end effector 106 (and the robot 100) and providing power to the tool 108. The connector interface 130 includes a locking mechanism (e.g., a locking lug or groove, a spiral ring, etc.) for mechanically connecting the ultrasonic tool 108 to the end effector 106 (and the robot arm 102). According to some embodiments, the ultrasonic tool 108 is configured to wirelessly connect to the robot 100 to enable wireless ultrasonic data transmission between the tool 108 and the robot 100.

[0039] Reference Figures 3A-3BThe applicator nozzle 120 unfolds / extends from its storage location via an actuator (e.g., a linear, electromechanical, piezoelectric, or magnetostrictive actuator). The ultrasonic tool 108 includes a base cover 119, which may be removable to provide access to the applicator nozzle 120, the actuator, and other internal components. The ultrasonic tool 108 may also include a sheath covering its outer surface to prevent fluids (e.g., ultrasonic coupling gel) from entering grooves in the outer surface.

[0040] Reference Figure 4 , 5A Figures 5B and 5B show an ultrasonic tool 108 with the bottom cover 119 removed. The ultrasonic tool 108 includes one or more fluid conduits 122, 124, 126 for connection to fluid lines passing through the robotic arm and end effector to direct one or more fluids to a nozzle 120. The same fluid conduits 122, 124, 126 and fluid lines can be used to direct different fluids for different purposes. For example, cleaning / disinfectant and / or compressed air can be directed to the nozzle 120 via one or more fluid conduits 122, 124, 126 and fluid lines. The fluid conduits and fluid lines connect to pneumatic or hydraulic connectors on the mounting interface of the end effector 106.

[0041] Refer again Figure 1A-1B The robot system 100 is configured to integrate with a variety of commercially available wireless ultrasound tools 108, which use Bluetooth Low Energy communication, Wi-Fi, and / or NFC to transmit data. Examples of compatible ultrasound probes include products sold by Clarius™ (C3HD3, L20HD3, L15HD3), GE™ (VScan Air), and Siemens™ (Acuson Freestyle). The robot's computing unit and its connectivity are housed within the robot base, providing a seamlessly integrated system. Alternatively, wireless communication can be enabled via external peripherals, such as wireless network cards connected to the base 104 or the dock 110.

[0042] Wired handheld ultrasound probes can also be connected to the robot system via a mounting interface on the end effector 106, and data is transmitted via spring pins for power and data transfer. Examples of such probes include, but are not limited to, ultrasound probes sold by Butterfly™ (IQ), Phillips™ (Lumify), EchoNous™ (Kosmos), and Exo™ (Iris). Data is transmitted via serial digital signals, including but not limited to USB 2, USB 3, and Serial Peripheral Interface (SPI) protocols.

[0043] Still refer to Figure 1A-1BDuring operation of the robotic system 100, the compliance / stiffness of the arm 102 (and the attached tool 108) can be adjusted during autonomous operation, manual remote operation, or manual on-site operation in gravity-compensated mode. By autonomously determining the location of organs using vision modules 115, 116 and programmed artificial intelligence, the stiffness / compliance of the robotic arm 102 can adapt and / or dynamically adjust to predefined settings based on that region, and these predefined settings can be overridden. During remote operation, as the operator moves the robotic arm 102 to specific areas of the body, the compliance will adjust / adapt according to each region, providing options to increase / decrease the degree of compliance. The compliance of the robotic arm 102 is based on a combination of single or different control systems, which are not limited to reactance and magnetoresistive control systems. See below for further details. Figures 7A-7D Further explanation of the compliance of robot system 100.

[0044] Utilizing the cameras and sensors in vision modules 115 and 116, and configured with artificial intelligence for, but not limited to, pose estimation, point cloud, and depth sensing, multiple tasks can be performed autonomously.

[0045] According to one implementation, during patient preparation, the robotic system 100 is configured to guide the patient, using stereo cameras on vision modules 115 and 116 and the aforementioned artificial intelligence (supplemented by natural language processing artificial intelligence). For example, using a built-in speaker on base 104, the system guides the patient on lying position on the bed, provides an overview of the upcoming ultrasound examination, instructs them to lift their clothing, adjust their body orientation, and perform other guiding tasks required during preparation, examination, and post-examination. The robotic system 100 can utilize sensors in vision modules 115 and 116 to implement a feedback loop to observe whether the patient follows instructions and repeat or modify instructions as needed.

[0046] Depending on the target organ being examined by ultrasound, robot 100 will utilize vision modules 1155, 116 and artificial intelligence to determine the relevant area and, based on a time-of-flight sensor and a 3D model created using the artificial intelligence, dispense an appropriate amount of ultrasound coupling gel relative to the patient's size. The amount of gel dispensed depends on the patient's surface area and the relevant area where the target organ is located. According to some embodiments, the applied fluid is not limited to ultrasound coupling gel. For example, robot 100 may dispense disinfectant / sterilizing / cleaning fluid or compressed air.

[0047] The robotic system 100 is configured to generate a 3D model of the patient using various sensors in vision modules 115 and 116, as well as artificial intelligence programmed for point cloud, pose estimation, depth sensing, and other functions. The robotic system 100 is further configured to use the two vision modules 115 and 116 to determine the relative position between the tool 108 connected to the arm 102 and the patient; the robot 100 can identify relevant regions / organs (e.g., heart, liver, kidneys, etc.) and autonomously navigate to them. The robotic system 100 can also receive instructions via voice commands and visual cues (such as gestures) to navigate to a desired area or target location.

[0048] By using a screen / display 112 connected to the robot 100, an operator can highlight landmarks on a 3D representation of the patient's body using an input device such as a mouse, thereby creating landmarks that the robot 100 will navigate to. The robot 100 will then autonomously perform an ultrasound examination, or hover over the indicated landmarks, allowing the operator to take over and perform the examination, for example, by manipulating the robot 100 using haptic devices or other input devices. These landmarks can include xyz coordinates so that the robot 100 can locate itself based on the landmarks set by the operator.

[0049] The robot 100 will have a tool storage slot 114, located on the base 110 on which the robot is mounted, or somewhere near the robot arm 102. These tools include various ultrasound probes and other assistive medical devices, which can be selected depending on the type of ultrasound examination. Utilizing vision modules 115, 116 and artificial intelligence programmed for object recognition / detection, as well as a universal tool connector interface on the end effector 106, the robot system 100 can autonomously locate tools and move the arm 102 to connect / disconnect the appropriate tools as needed.

[0050] By using vision modules 115 and 116, robot 100 can set the working area boundary according to the relevant region / organ, thereby restricting the movement of robot arm 102 within the containment range of the target relevant region / organ. Based on this working space boundary, the magnitude of the applied force can be limited and adaptive. As mentioned above, robot 100 will be in compliant control mode during operation, and the stiffness of robot arm 102 will be dynamically adjusted according to the relevant region / organ.

[0051] According to some implementations, after the ultrasound procedure, the robotic system 100 is configured to autonomously perform a procedure to clean the ultrasound probe to remove any residue (such as ultrasound coupling gel) from the probe. This capability extends to connecting suitable tools to clean the bed. The robotic system 100 may be further configured to utilize vision modules 115, 116 to verify the cleanliness of the tools and / or the bed.

[0052] Various embodiments of the cleaning process and apparatus are described below. The cleaning apparatus may be provided as an accessory to the robotic system 100, capable of being mounted on a base 110 (e.g., a trolley, an autonomous robot cart) or placed on a flat surface (e.g., a table or workbench) near the robotic system 100. According to various embodiments, the robotic system 100 is configured to assemble the cleaning apparatus and / or replace consumable materials (e.g., sponges, rollers, disinfectant, etc.). In some embodiments, the cleaning apparatus and consumable materials will be assembled and replaced by a human user.

[0053] Reference Figure 6A The figure shows a dual-roller cleaning device 200 according to one embodiment. Device 200 includes a washing tank 202 for containing a disinfecting / cleaning solution 204 (e.g., CaviCide™). Device 200 includes a pair of microfiber rollers 210, 212 for cleaning an ultrasonic transducer tool 208 (a robotic system / arm connected to the tool 208 is not shown for illustration). A fixed roller 210 is disposed within the washing tank 202 such that the top of the fixed roller protrudes through an opening 206 at the top of the washing tank 202. A movable roller 212 is mounted on a pivotable spring-biased arm 214 above the fixed roller 210. The spring-biased arm 214 is biased downwards to press the movable roller 212 against the fixed roller 210. The movable roller 212 can be vertically moved via the arm 214, thereby raising the spring-loaded roller 212 relative to the fixed roller 210. Since the robotic system provides all the necessary motion for the cleaning tool 208 described below, this simple design eliminates the need for additional motors or electrical components in the device 200. The device 200 can be mounted in a housing (not shown). The device 200 can be placed on a trolley or support structure (e.g., base 110).

[0054] To clean tool 208, following the ultrasonic procedure, the robot system's vision module and trained artificial intelligence repeatedly insert and retract the transducer 209 of tool 208 between rollers 210 and 212. Inserting the transducer 209 between rollers 210 and 212 causes a spring-biased roller to rotate upwards around its axis on arm 214. When retracting the transducer, the spring bias causes roller 210 to move downwards. Subsequently, the robot rotates tool 208 180 degrees and repeats the insertion and retraction of tool 208 from rollers 210 and 212. After the cleaning procedure is complete, sensors in the vision module determine the cleanliness and dryness of tool 208.

[0055] Human technicians can periodically change the cleaning solution 204 in the washing tank 202 and replace the microfiber rollers 210 and 212 when they wear out. According to some embodiments, the robotic device itself is configured to change the cleaning solution 204 and replace the microfiber rollers 210 and 212 at predetermined intervals or after a certain number of cleaning cycles.

[0056] Reference Figure 6B The figure shows a brush-type cleaning device 220 according to one embodiment. Device 220 includes a plunger tank 222 containing a disinfectant / cleaning solution, and a first flat sponge 224 connected to the plunger tank 222 via a conduit 226. The conduit 226 is spring-driven, such that when the first sponge 224 is pressed down, a certain amount of disinfectant / cleaning solution is drawn into the flat sponge 224 through the conduit 226. Device 220 also includes a second corrugated sponge 228 connected to a motor 230 or a rotary actuator, which is mounted directly above the first sponge 224. Device 220 can be mounted in a housing (not shown). Device 220 can be placed on a trolley or support structure (e.g., base 110).

[0057] To clean tool 208, after the ultrasonic procedure, the robot system's vision module and trained artificial intelligence position the transducer 209 of tool 208 between sponges 224 and 228 (the robot system / arm connected to tool 208 is not shown for illustration). The robot then moves tool 208 downwards until transducer 209 contacts and presses down on the flat sponge 224, thereby distributing the disinfectant / cleaning solution to the first side of transducer 209. The robot then rotates tool 208 180 degrees so that the first side of transducer 209 faces the wavy sponge 228 and raises tool 208 until transducer 209 contacts sponge 228. Sponge 228 is then rotated by motor 230 to clean the first side of transducer 209. The robot then lowers tool 208 until the second side of transducer 209 contacts and presses down on the flat sponge 224, thereby distributing the disinfectant / cleaning solution to the second side of transducer 209. The robot then rotates tool 208 180 degrees so that the second side of transducer 209 faces the wavy sponge 228, and raises tool 208 until transducer 209 contacts sponge 228. Sponge 228 is then driven to rotate by motor 230 to clean the second side of transducer 209.

[0058] This process can be repeated multiple times until transducer 209 is deemed clean. After each cleaning cycle, sensors in the robot's vision module are used to assess the cleanliness of transducer 209. Human technicians can periodically refill the cleaning fluid in plunger tank 222 and replace sponges 224 and 228 when they wear out.

[0059] Reference Figure 6CThe figure shows a conveyor belt cleaning device 240 according to one embodiment. Device 240 includes a plunger tank 222 containing a disinfectant / cleaning solution and connected to a flat sponge 224. Device 240 also includes a first roller 242 for loading new tissues and a second roller 244 for loading used tissues. A motor (not shown) is connected to the second roller 244 to rotate the second roller 244, causing tissues 248 to move from the first roller 242 onto the second roller 244 in a conveyor belt manner. A gel support pad 246 is disposed between the rollers 242 and 244. Device 240 can be mounted in a housing (not shown). Device 240 can be placed on a trolley or support structure (e.g., base 110).

[0060] To clean tool 208, using the robot system's vision module and trained artificial intelligence, the transducer 209 of tool 208 is positioned between rollers 242 and 244 and above paper towel 246 (the robot system / arm connected to tool 208 is not shown for illustration). The robot then lowers the transducer 209 onto the paper towel surface on the gel pad 246. A motor activates, pulling the paper towel from the first roller 242 onto the second roller 244, thereby wiping away residue from the transducer 209. The robot then moves tool 208, positioning the transducer 209 above the sponge 224. Tool 208 then moves to contact and press down on the flat sponge 224, dispensing disinfectant / cleaning solution onto the transducer 209. The robot then moves the tool back between rollers 242 and 224 to contact the paper towel 248 on the support pad 246 and activates the motor to wipe the transducer 209.

[0061] This process can be repeated multiple times until the robot's vision module deems the transducer 209 clean. According to some implementations, after disinfectant is applied to the transducer 209, the robot's moving tool 208 dries the transducer 209. Human technicians can periodically replace the paper towels on the first roller 242 with new ones and discard the used paper towels on the second roller 244.

[0062] Refer again Figure 1A-1B According to various embodiments, the robotic system 100 is configured to perform ultrasound-guided needle-related tasks in a single-arm configuration, with and / or without human assistance. Such needle-related tasks include, but are not limited to, ablation therapy, blood draw, needle biopsy, intravenous catheter injection, fine-needle aspiration for removing masses or lumps (e.g., cysts, tumors, abscesses), and bio-cosmetic enhancements (e.g., Botox™, lip fillers, buttock augmentation). To achieve such a wide range of tasks, according to various embodiments, the robot 100 is configured to insert needles into specific layers of skin, tissues, or organs, including but not limited to: intradermal (top layer of skin), subcutaneous (adipose tissue beneath the skin), intravenous (veins), intramuscular (muscle tissue), and organs.

[0063] According to some implementation schemes, the robot system 100 described above is configured as follows: Figure 1C The diagram shows a dual-arm robot 150 for diagnostic and therapeutic applications. In a dual-arm embodiment, one arm 102a is connected to an ultrasound tool 108 to acquire continuous or discontinuous ultrasound imaging data for navigation and / or needle insertion. The other arm 102b is equipped with a needle (depending on the application) and / or a navigation insertion tool for a human operator to insert the needle. A single-arm configuration may also be equipped with a needle insertion navigation guide or needle for insertion by a human operator. These tools can use devices from different sources and utilize different types of radiation (gamma rays, ultrasound, X-rays, etc.) for therapeutic applications. Radiation tools can be attached to either the single-arm or dual-arm configuration of the robotic system 100.

[0064] Reference Figure 1D The figure shows a robotic system 160 used for autonomous ultrasound procedures. Robotic system 160 and... Figure 1A-1B The robotic system 100 is substantially similar to the one described above, including a robotic arm 102, a base 104, a base 110, and an end effector 106 for connecting ultrasound tools (not shown). The robotic system 160 is modified for deployment in remote / rural areas lacking the communication and energy infrastructure of developed metropolitan areas. The robotic system 160 also includes a satellite communication system 162 configured to receive and transmit data. The satellite communication system 162 may include a modem, transceiver, and advanced encryption and security protocols for securely transmitting patient data. The robotic system 160 may also include a solar panel system 164 to generate electricity when weather conditions permit. The solar panel system 164 includes solar panels and one or more batteries located within the base 110, providing independent energy storage power for the robot 160.

[0065] According to one implementation, after the ultrasound procedure, the robot system 100 is configured to navigate to a resting position via its autonomously moving trolley base 110, and return to a preset height using a lifting column, and return the arm position before the next examination.

[0066] According to some implementations, lighting settings and / or music can be altered to match the patient's mood / facial expression, based on facial expressions and the type of procedure being performed. This is achieved through speakers and lights in the base station 104, or through external lights and speakers connected to the robotic system 100 in the environment.

[0067] According to various implementation schemes, leveraging the multiple sensors built into the robot system 100, rich data acquisition can be used to train the autonomous and semi-autonomous capabilities of the robot system 100 and provide operators with enhanced augmented reality (VR / AR) experiences. This data can also be used to train image analysis and image acquisition artificial intelligence. The acquired data is not limited to environmental scenes, visual and auditory human-computer interaction, ultrasound data, robot system telemetry data, human physical attributes, etc. These data points can be acquired individually or in combination.

[0068] According to one implementation, during remote operation, the robotic system 100 is controlled by an operator using a haptic control system. The complete hand motion / orientation of the haptic system is used to translate the motion of the robotic arm 102, thereby generating data (position coordinates, posture data, velocity and acceleration of motion, force applied to the patient, torque, strain and stress data associated with the robotic joints), which can be stored and used to train an AI model.

[0069] According to one implementation, ultrasound images and videos (including Doppler data) captured by ultrasound tool 108 are used to control and / or optimize the settings of tool 108 (depth, gain, image mode, etc.). Ultrasound imaging data can be used for image analysis, image acquisition, and training of autonomous ultrasound operation artificial intelligence. For example, during an ultrasound examination, robot 100 can utilize previously stored data on how to acquire ultrasound images to learn how to better capture ultrasound images in real-time operation.

[0070] According to some implementation schemes, facial data acquired by cameras in vision modules 115 and 116 is anonymized using an avatar. During patient examination, multiple data points can be acquired to control or adjust the operation of the robotic system 100. For example, a user's facial expressions may reflect different responses to the temperature of the applied ultrasound coupling agent, the speed / stroke of the ultrasound probe, the magnitude of the applied force, etc. This data can be used to teach the robot 100 the optimal values ​​to use with the patient when performing different tasks in the program.

[0071] Body measurements and the creation of 3D patient models using vision modules 115 and 116 and artificial intelligence are used to locate the positions of relevant organs relative to the patient's body size / height. This can be used to further improve autonomous navigation of relevant areas for each patient. According to one implementation, when robot 100 applies forces to the patient's body surface, it collects force and torque data and maps it to the stiffness / elasticity of different areas / organs of the patient's body.

[0072] According to one implementation, using the cameras / sensors in vision modules 115 and 116 and the patient's relative position, positional data can be captured to create a model, thereby autonomously adjusting the position / angle of the base / cart 110 so that the robot 100 can optimally perform ultrasound procedures. This includes the ability to identify static objects, dynamic objects, and obstacles while navigating to different locations.

[0073] According to various implementation schemes, during the operation of robot 100, data from its internal components (such as torque, angle of connectors / joints, position relative to the patient), sensor data from vision modules 115 and 116 (such as RGB, ToF, thermopile, sensor data, etc.), force and torque data from load sensors, audio data, motor temperature, and other data from internal components are captured and stored for artificial intelligence reinforcement learning and autonomous ultrasound training.

[0074] Depending on the implementation scheme, the system captures audio and visual data of robot-patient interactions, patient-environment interactions, and interactions between the operator / ultrasound physician / clinical staff and the patient. This data can be used for artificial intelligence training, enabling robot 100 to adapt to environmental changes and patient body movements. The data can also be used to train various artificial intelligences related to human-robot-environment interactions.

[0075] It provides a variety of hardware and software mechanisms to enhance the ultrasound experience for both patients and operators.

[0076] According to one embodiment, the end effector 106 includes a Peltier device (thermoelectric device) for controlling (heating or cooling) the temperature of a fluid (e.g., an ultrasonic coupling agent) passing through the end effector 106 and entering the tool 108. When fluid is dispensed from the ultrasonic tool 108, the fluid temperature can be measured using a thermopile sensor in the vision module 116 on the end effector 106, thereby allowing the temperature control to be regulated by the Peltier device.

[0077] According to one implementation, for long-term continuous monitoring of a specific organ, robot 100 is configured to continuously apply pressure to and maintain contact with the target area to continuously acquire ultrasound imaging data. Robot 100 is configured to autonomously adjust the probe's orientation, angle, and tool settings, as well as other physical and software parameters, thereby continuously collecting accurate and useful ultrasound data for monitoring, diagnosis, and treatment purposes. Autonomous adjustment is achieved through various data sources captured by robot 100 and data processed by various artificial intelligences to maintain constant monitoring and closed-loop feedback. This data includes, but is not limited to: the magnitude of applied pressure measured by pressure sensors, visual cues and body movements such as breathing recognized by vision modules 115 and 116, and applications of artificial intelligence such as posture estimation.

[0078] The robot's continuous monitoring capabilities enable navigation for needle insertion-related tasks, such as avoiding artifacts, critical blood vessels and nerves in diagnostic and therapeutic applications, and identifying and locating target tissues / organs and / or relevant areas. Continuous monitoring also enables real-time assessment of: detecting internal bleeding, accidental insertion / puncture, and bypassing artifacts to reach the intended target; determining the amount of fluid loss and / or drainage; and monitoring the amount of tissue collected.

[0079] According to various embodiments, the robotic system 100 is configured to operate a combination of artificial intelligence (AI) targeting both external and internal data to autonomously adjust to and adapt to changing conditions that may hinder the desired observation of a target or relevant area. In one embodiment, the robot is configured with environmental AI to process data acquired from vision modules 115, 116 regarding patient movement and the operating environment. This may include, but is not limited to, pedestrian traffic, moving objects, and / or other machinery and robots near the operating area. In another embodiment, the robot 100 is configured with internal AI to process data captured during ultrasound examination. The ultrasound probe settings and telemetry parameters are adjusted through statistical analysis or other forms of analysis to obtain the desired view.

[0080] According to one implementation, the robotic system 100 is configured to determine whether the therapeutic application was successful on the treated area / tissue and to determine if any complications exist. This may include verifying the absence of any internal leaks, free fluids, or residual foreign bodies.

[0081] According to one implementation scheme, with the robot system 100 configured to use an autonomous mobile robot cart 110, the robot system 100 is configured to autonomously navigate to various wards on the same or different floors to perform routine ultrasound examinations, autonomously complete the scheduled ultrasound examinations, analyze imaging data to determine whether patient care needs to be upgraded, and notify medical professionals.

[0082] In another implementation, robot 100 is configured to interact with patients in the waiting room and guide them to their ward for ultrasound examinations. The interaction includes, but is not limited to, a friendly greeting, a procedure overview, and instructions to prepare for the examination. The robot, with its intelligent skin-sensing capabilities and a combination of two vision modules (VMs), can avoid obstacles to prevent collisions.

[0083] According to one implementation, upon entering a ward, the robot is configured to use its vision modules 115, 116 and programmed artificial intelligence to determine whether the patient's condition has improved or worsened since the last examination, based on assessments such as skin coloration, facial images, and body temperature.

[0084] According to various embodiments, the robot system 100 is configured to integrate with AR / VR devices, including a headset, for remote operation. For example, an operator can wear a VR headset to view a view captured by one or more vision modules 115, 116. According to one embodiment, the VR headset displays a view captured by vision module 116 in end effector 106 for closer inspection of relevant areas, viewing tools to be connected, and acquiring finer details. End effector 106 can move by tracking the head movements of the operator wearing the VR headset. According to other embodiments, the VR headset displays a view from vision module 115 in base 104 of robot 100, thereby translating the operator's head movements into motions of a 360-degree gimbal system to obtain a complete view of the environment.

[0085] According to one implementation, the robot system 100 is configured to perform 3D reconstruction of the surrounding room / environment using time-of-flight sensors embedded in the robot's skin and a vision module 115 in the robot's base 104 for indirect VR observation or 3D environment software modeling. Sensor data captured by the vision module 116 in the end effector 106 can be used to update and reconstruct the modeled environment.

[0086] According to various implementation schemes, natural language processing (NLP) artificial intelligence is combined with 360-degree microphones and speakers on base station 104 to allow human-computer interaction in multiple languages, including but not limited to: operation instructions, feedback, instructions, progress updates, and adjustments to custom settings.

[0087] Using operating commands, patients can instruct robot 100, for example, to stop / resume operation, or temporarily create space / distance between themselves and robot 100. Operating commands can also instruct the robot to send specific data electronically to a recipient, such as sending a screenshot of a specific moment in an ultrasound procedure to the patient's email address.

[0088] Patients can provide voice or gesture feedback to let the robot know, for example, whether the applied pressure is too high or whether the temperature of the ultrasound coupling agent is causing discomfort (i.e., too hot / too cold). The robot system 100 will adjust based on the feedback. Voice commands can also be used to adjust custom settings of the robot 100, such as speaker volume or brightness of the touchscreen display 112.

[0089] Robot 100 can provide instructions to patients in multiple languages ​​and explain what patients can expect during the procedure. Robot 100 can also communicate progress updates, such as the stage of the procedure, approximate remaining time, and solicit feedback after the procedure in the form of a post-examination survey and questions (e.g., “What aspects of the examination process do you think could be improved?”).

[0090] According to some implementations, an operator can remotely take over the operation of the robotic system 100 using a haptic control system. The haptic control system controls the robot 100, including the arm 102, end effector 106, and its connected tool 108, and streams video content from vision modules 115, 116 to view the patient's environment. Forces applied to the patient by the robot / tool ​​are measured by a six-axis load sensor in the end effector 106 and transmitted back to the operator's haptic system, providing realistic force feedback. According to one implementation, based on a 3D model of the patient's body created using the robot system's vision modules 115, 116 and various artificial intelligences, the robot 100 can make adjustments based on the patient's body shape during remote operation using the haptic control system to apply greater or less pressure / force. During autonomous ultrasound operation, this adjustment is performed automatically based on the patient's body size / mass index.

[0091] According to one implementation, robot 100 is configured to run ultrasound image processing and analysis software, or to be programmed with artificial intelligence, to provide patients with real-time results and analysis during ultrasound procedures. For example, the artificial intelligence could be configured to provide obstetric examinations and inform the patient whether the fetus is male or female.

[0092] According to some implementation schemes, for patients with hearing impairments, and to provide clearer instructions in the absence of a human operator, the robot can utilize a projector in the vision module 116 of the end effector 106 to provide visual cues and instructions. For example, projecting an arrow pointing in the direction of lying down, or projecting symbols onto the patient's body to indicate the location of relevant areas / organs for ultrasound procedures, etc.

[0093] According to one implementation, when an ultrasound physician / clinician asks a patient "where it hurts" or the area that needs examination, the patient can point to one or more locations on their body. Robot 100 is configured to create landmarks on a 3D model of the patient using its vision modules 115, 116, or a combination of artificial intelligence. The clinician can then view these landmarks on screen 112 or an AR / VR headset. Using a projector on vision module 116, robot 100 can re-track and / or delineate the locations / areas delineated by the patient. With the aid of voice and visual cues, robot 100 can adjust the landmarks and / or tracking performed by robot 100 using the projector.

[0094] According to one implementation, using a projector in the vision module 116 of the end effector 106, the robot 100 can project a user interface or image onto a plane for user interaction. If facial recognition indicates that the patient is showing signs of distress, the projector can also be used to project interactive games (such as tic-tac-toe) to help the patient feel more relaxed during an ultrasound examination.

[0095] According to some implementations, the robot's smart skin and the vision module 115 in the base 104 of the robot 100 will allow the system 100 to avoid any objects or people that may not be within the direct field of view of the vision module 116 in the end effector 106. If a patient decides to push the robot 100 or make a certain gesture towards the robot 100, the robot will move away from the patient.

[0096] According to various implementations, throughout the ultrasound examination or procedure, the patient can use gestures, which will guide the robotic system 100 to make different responses. The robotic system 100 is configured to run artificial intelligence trained to recognize various gestures, such as convolutional neural networks (CNNs), recurrent neural networks (RNNs), and temporal convolutional networks (TCNs). For example, showing the user's palm can indicate that the robot should stop. According to one implementation, the robot is configured to use vision modules 115, 116 and various artificial intelligences to create a 3D model of the patient's body. Personnel can use their fingers / hands and / or other visual cues to draw a path on the 3D model of the patient's body in which they wish the robot to perform the ultrasound autonomously, or to navigate to designated feature points and / or locations before starting the examination. After the path planning is completed on and / or above the patient's body, the robot 100 will use its projector to re-track and project the path drawn by the person to confirm the path planning for the ultrasound examination.

[0097] Reference Figures 7A-7DThe figure shows an ultrasound probe holder 300 according to one embodiment, and its relationship to an ultrasound probe 302. The ultrasound probe holder 300 with an ultrasound probe 320 is the ultrasound tool 108 in Figures 1-5. The probe holder 300 includes a connector interface 330 for connection to an end effector mounting interface of a robotic system. The probe holder 300 includes two half-shells 304, 306 that enclose the ultrasound probe 302. The two half-shells 304, 306 are secured together by fasteners (e.g., screws) that are adjustable according to the size of the ultrasound probe 302. The probe holder 300 includes a handle 310 that allows the operator to manually orient the probe (and the robotic arm) to the desired position. The probe holder 300 includes at least one programmable button 312, 314, an indicator LED 316, and at least one display 318 for viewing data and information. The buttons 312, 314 can be programmed to start / stop the acquisition of ultrasound images.

[0098] As previously mentioned, by using a vision module and configuring a combination of artificial intelligence for pose estimation, point cloud analysis, and semantic segmentation, the robot will be able to create a 3D model of the patient and calculate / estimate different organ regions. Using this 3D model, the operator can select the target area of ​​the patient's body that they wish the ultrasound probe to contact. The operator can manually move the probe to the target area or instruct the robot to reposition the probe to the target area in the 3D model via verbal commands, visual cues, and gestures (e.g., pointing to a location, clockwise / counterclockwise rotation, tilting, etc.).

[0099] The operator can manually orient the probe and robotic arm to the desired position using handle 310 to make contact with the target area. According to one embodiment, to assist manual movement of the probe, the robot projects the outline of the target area onto the patient's body. According to another embodiment, the robot projects a laser in the direction the probe is pointing to assist the operator in moving the probe to the target area.

[0100] Once the desired position is reached, the operator can continue to move the probe using handle 310 and acquire ultrasound images using buttons 312 and 314. Alternatively, the robot can be configured to maintain a constant position / view by pressing buttons 312 and 314, using voice commands, or by gesture control, and / or to allow the robot to autonomously scan the target area.

[0101] According to one implementation, data acquired during or before an ultrasound examination, along with preoperative patient data (such as CT, MRI, and X-rays), are integrated to enhance operator decision-making in diagnostic and therapeutic applications, for educational purposes related to assistive technologies, and to enable real-time collaboration.

[0102] For example, in diagnostic and therapeutic applications, a 3D model of a target organ or related region can be viewed on a display from all directions using continuous or discontinuous data streams captured by a robotic system. This 3D model can be used to create feature points for robot navigation. In other implementations, as the robot orients its probe to different locations, an operator uses an AR / VR headset to obtain an enhanced visual experience of the target organ or related internal regions.

[0103] For teaching purposes, the collected continuous ultrasound data can be combined to create 3D reconstructed images of the surgical procedure.

[0104] To enable real-time collaboration, continuous real-time data captured during therapeutic applications can be shared among multiple parties via AR / VR or conventional displays to facilitate real-time consultation with peers for therapeutic implementation. Using 3D models, peers can place feature points or highlight areas within the 3D model.

[0105] According to various implementation schemes, the robotic system 100, with or without a base 100, can be deployed in various vehicles, including ambulances, helicopters, and ships, to provide en route ultrasound diagnostics before reaching a medical facility. Typically, in these implementation schemes, the vehicle is preferably parked or stationary when performing the ultrasound procedure.

[0106] According to various implementation schemes, in addition to ultrasound examinations / procedures, the robotic system 100 can also perform visual examinations of the patient's body using sensors in vision modules 115 and 116. For example, the robotic system 100 can be used to examine the patient's skin condition / disease, skin topography, monitor signs of infection or inflammation at the surgical site, and perform thermal imaging examinations. Physical examinations include wound assessment, joint analysis (arthritis), motion analysis (Parkinson's disease), thyroid function tests, diabetic foot examinations, and breast examinations.

[0107] While the foregoing description provides examples of one or more apparatuses, methods, or systems, it should be understood that other apparatuses, methods, or systems may also exist within the scope of the claims as understood by those skilled in the art.

Claims

1. An autonomous robotic system for ultrasound procedures, comprising: An articulated robotic arm having an end effector, the end effector comprising: A mounting interface for detachably connecting an ultrasonic tool to a connector interface complementary to the mounting interface, the mounting interface comprising: A locking mechanism for mechanically connecting the ultrasonic tool to the end effector; and An electrical connector for electrically connecting the end effector to the ultrasonic tool; A first vision module is configured to sense the operation of the ultrasound tool and the area near the tool. A base platform connected to the robotic arm, the base platform comprising: A second vision module, configured to sense the environment surrounding the robot system; and A computing and control component is configured to process input from the vision module and control the robotic arm to position the ultrasound tool to autonomously perform ultrasound procedures on the patient while avoiding collisions with objects in the environment.

2. The robot system of claim 1, further comprising: The ultrasonic tool connected to the end effector.

3. The robot system of claim 1, wherein the electrical connector transmits at least power to the ultrasonic tool.

4. The robot system of claim 3, wherein the electrical connector transmits data between the ultrasonic tool and the computing and control components in the base.

5. The robot system of claim 1, wherein the end effector further comprises one or more fluid lines; and The mounting interface includes one or more pneumatic or hydraulic connectors that are fluidly connected to the one or more fluid lines, the one or more pneumatic or hydraulic connectors being used to connect to one or more fluid conduits on the ultrasonic tool.

6. The robot system of claim 5, wherein the end effector further comprises: A Peltier device for regulating the temperature of one or more fluid lines.

7. The robot system of claim 6, wherein the first vision module includes a thermopile configured to sense temperature.

8. The robot system of claim 1, wherein the end effector further comprises: A projector configured to project text, images, and videos onto a surface.

9. The robot system of claim 8, wherein the vision module is further configured to sense user interaction with a user interface projected by the projector.

10. The robot system of claim 1, wherein the end effector further comprises: A load sensor configured to measure the force and torque exerted on the ultrasonic tool.

11. The robot system of claim 10, further comprising a tactile device configured to: control joint movements of the robot arm to position the ultrasonic tool via manual input from an operator manipulating the tactile device; and Provide the operator with force feedback on the forces and torques exerted by the ultrasonic tool.

12. The robot system of claim 1, further comprising: A base, connected to the platform, the base comprising: A graphical user interface for displaying ultrasound data and other digital information captured by the ultrasound tool.

13. The robot system of claim 1, further comprising a cleaning device for cleaning the ultrasonic tool.

14. The robotic system of claim 1, wherein the robotic system is configured to generate a 3D model of the patient based on input from the vision module and output the 3D model to a display.

15. The robotic system of claim 14, wherein the robotic system is configured to generate an internal 3D model of the patient using ultrasound.

16. The robot system of claim 14, wherein the robot system is configured to receive input of a feature region on the 3D model and control the robot arm to position the ultrasound tool to perform ultrasound on the feature region.

17. The robot system of claim 16, wherein the input is one of the following: voice commands, visual gestures, and input from an input device.

18. The robot system of claim 1, further comprising: A second robotic arm, connected to the base, the second robotic arm comprising: Second end effector; A second tool, which is connected to the second end effector; A third vision module is configured to sense the operation of the second tool and the area near the second tool; The computing and control components are configured to process inputs from the second vision module and the third vision module, and to control the second robotic arm to position the second tool to perform a procedure on the patient, while avoiding collisions with objects in the environment.

19. The robot system of claim 1, wherein the robot system is deployed in a vehicle.

20. The robot system of claim 1, further comprising a satellite communication system configured to transmit and receive data.

21. The robot system of claim 1, further comprising: A solar panel system for generating electricity to power the robot system; and One or more batteries for storing energy generated by the solar panel system.

22. A fixation device for an ultrasonic tool, the fixation device comprising: A handle for the operator to grip; A digital display used to convey information; and At least one programmable button configured for acquiring ultrasound data using the ultrasound tool.

23. A cleaning device, comprising: Washing tub; A fixed roller is disposed inside the washing tub, wherein the top of the fixed roller extends through an opening in the washing tub; and A vertically movable roller is mounted on a spring-biased pivotable arm, wherein the movable roller is held above the fixed roller by the arm.

24. A cleaning device, comprising: A plunger container for containing a solution; A first sponge is connected to the plunger container via a spring-operated conduit, wherein pressing the first sponge causes a volume of the solution to be drawn into the first sponge through the conduit; A second sponge is mounted above the first sponge and is connected to a motor for rotating the second sponge.

25. A cleaning device, comprising: A plunger container for containing a solution; A first sponge is connected to the plunger container via a spring-operated conduit, wherein pressing the first sponge causes a volume of the solution to be drawn into the first sponge through the conduit; First roller and second roller; A roll of tissue paper, the roll of tissue paper being wound around the rollers such that a section of tissue paper is located between the rollers; A motor configured to rotate the second roller, such that when the second roller rotates, the paper towel is fed from the first roller to the second roller; and A support pad is located between the rollers and below the section of tissue paper.

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