Autonomous robotic systems for ultrasound examinations

Abstract

Autonomous robot systems for ultrasound examinations are provided. A robot system includes a robotic arm having an end effector for attaching an ultrasound tool. The arm is attached to a base housing compute and control components configured to process input from vision modules, to direct the robotic arm to position the tool to perform an ultrasound procedure on a patient. The end effector may include a load cell for measuring force / torque experienced by the tool. A haptic device may be used to control articulation of the robotic arm to position the tool and provide force feedback to an operator. The robot system may be configured to generate a 3D model of a patient and receive an input of a landmark region and direct the robotic arm to position the tool to perform an ultrasound of the landmark region. Various cleaning apparatuses for cleaning the ultrasound tool are described.

Description

AUTONOMOUS ROBOTIC SYSTEMS FOR ULTRASOUND EXAMINATIONSTechnical Field[1] The embodiments disclosed herein relate to autonomous robotics for healthcare applications, and, in particular to autonomous robotic systems for ultrasound examinations.Introduction[2] Completing an ultrasound includes multiple aspects to deliver a holistic experience to the patient. It requires both the refined biomechanical skills from an expert to perform the exam as well as the emotional / communication aspect of the experience. Robotics systems today lack the comprehensive technology stack needed to deliver an ultrasound procedure autonomously.[3] The combination of advanced sensors, artificial intelligence, and advanced robotic technologies will transform the operations of healthcare systems for medical imaging and empowering facilities to see and reach more patients. However, existing systems do not have a seamlessly integrated solution for both tool attachment for the end effector of the robotic system or compute units that are used for communication with the robotic system.[4] Accordingly, there is a need for new autonomous robotic systems for ultrasound examinations.Summary[5] According to some embodiments, there is an autonomous robot system for ultrasound procedures. The system includes an articulated robotic arm having an end effector. The end effector comprises a mounting interface for removably attaching an ultrasound tool having a connector interface complimentary to the mounting interface. A first vision module in the end effector is configured to sense operation of the ultrasound tool and an area in proximity to the tool.[6] According to an embodiment, the end effector includes a load cell configured to measure force and torque experienced by the ultrasound tool. The robot system may include a haptic device configured to control articulation of the robotic arm to position the ultrasound tool by manual input of an operator manipulating the haptic device. The haptic device is further configured to provide force feedback of the forces and torque experienced by the ultrasound tool, to the operator.[7] According to an embodiment, the end effector includes a projector configured to project text, images and video onto a surface. The vision modules may be configured to sense user interaction with a user interface protected by the projector.[8] The system includes a base attached to the robotic arm. The base includes a second vision module configured to sense an environment around the robot system and compute and control components configured to process input from the vision modules and direct the robotic arm to position the ultrasound tool to perform an ultrasound procedure on a patient while avoiding collisions with objects in the environment.[9] The robotic system is configured to generate a 3D model of the patient from the input from the vision modules and output the 3D model to a display. The robotic system is further configured to receive an input of a landmark region on the 3D model and direct the robotic arm to position the ultrasound tool to perform an ultrasound of the landmark region. The input may be an audible command, a visible gesture or an input from an input device.

[0010] According to some embodiments, the system includes a second robotic arm attached to the base. The second robotic arm includes a second end effect, a second tool attached to the second end effector and a third vision module configured to sense operation of the second tool and an area in proximity to the second tool. In two arm embodiments, the compute and control components are further configured to process input from the second and third vision modules and direct the second robotic arm to position the second tool to perform a procedure on a patient while avoiding collisions with the objects in the environment.

[0011] The system may further include a mount attached to the base, the mount having a display for displaying ultrasound data captured by the ultrasound tool. The system may further 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 energy generated by the solar panel system. According to various embodiments, the system may be deployed in a vehicle.

[0012] The system may further include a cleaning apparatus. Various cleaning apparatuses for cleaning the ultrasound tool are described.

[0013] Other aspects and features will become apparent, to those ordinarily skilled in the art, upon review of the following description of some exemplary embodiments.Brief Description of the Drawings

[0014] The drawings included herewith are for illustrating various examples of articles, methods, and apparatuses of the present specification. In the drawings:

[0015] FIGS. 1A-1 B are front and back perspective views, respectively, of an autonomous robot system for ultrasound examinations, according to an embodiment;

[0016] FIG. 1C is a front view of a dual-arm autonomous robot system for ultrasound examinations, according to an embodiment;

[0017] FIG. 1 D is a perspective view of an autonomous robot system for ultrasound examinations, according to another embodiment;

[0018] FIGS. 2A-2B are plan and side views, respectively of an ultrasound tool attached to an end effector, according to an embodiment;

[0019] FIGS. 3A-3B are top and bottom plan views, respectively, of the ultrasound tool of FIGS. 2A-2B shown with a nozzle in a deployed position;

[0020] FIG. 4 is a bottom plan view of the ultrasound tool of FIGS. 2A-2B, shown with the bottom cover removed showing internal components;

[0021] FIGS. 5A-5B are plan and side views, respectively of the internal components shown in FIGS. 3A-3B;

[0022] FIG. 6A is a diagram of a double roller cleaning apparatus, according to an embodiment;

[0023] FIG. 6B is a diagram of a brush cleaning apparatus, according to an embodiment;

[0024] FIG. 6C is a diagram of a conveyor cleaning apparatus, according to an embodiment;

[0025] FIGS. 7A-7B are front and rear perspective views, respectively of an ultrasound probe holder, according to an embodiment, shown in relation to an ultrasound probe; and

[0026] FIGS. 7C-7D are side and bottom views, respectively, of the ultrasound probe holder of FIG. 7A.Detailed Description

[0027] Various apparatuses or processes will be described below to provide an example of each claimed embodiment. No embodiment described below limits any claimed embodiment and any claimed embodiment may cover processes or apparatuses that differ from those described below. The claimed embodiments are not limited to apparatuses or processes having all of the features of any one apparatus or process described below or to features common to multiple or all of the apparatuses described below.

[0028] One or more systems described herein may be implemented in computer programs executing on programmable computers, each comprising 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, the programmable computer may be a programmable logic unit, a mainframe computer, server, and personal computer, cloud based program or system, laptop, personal data assistance, cellular telephone, smartphone, or tablet device.

[0029] Each program is preferably implemented in a high level procedural or object oriented programming and / or scripting language to communicate with a computer system. However, the programs can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Each such computer program is preferably stored on a storage media or a device readable by a general or special purpose programmable computer for configuring and operating the computer when the storage media or device is read by the computer to perform the procedures described herein.

[0030] A description of an embodiment with several components in communication with each other does not imply that all such components are required. On the contrary a variety of optional components are described to illustrate the wide variety of possible embodiments of the present invention.

[0031] Further, although process steps, method steps, algorithms or the like may be described (in the disclosure and I or in the claims) in a sequential order, such processes, methods and algorithms may be configured to work in alternate orders. In other words, any sequence or order of steps that may be described does not necessarily indicate a requirement that the steps be performed in that order. The steps of processes described herein may be performed in any order that is practical. Further, some steps may be performed simultaneously.

[0032] When a single device or article is described herein, it will be readily apparent that more than one device I article (whether or not they cooperate) may be used in place of a single device I article. Similarly, where more than one device or article is described herein (whether or not they cooperate), it will be readily apparent that a single device I article may be used in place of the more than one device or article.

[0033] Herein, “robot system,” “robotic system” and “robot” are used interchangeably to refer to an autonomous robot system for ultrasound examinations, unless otherwise specified. The robot system generally includes a robotic arm connected to an ultrasound tool and mounted to a cart or other support structure.

[0034] Herein, “Al” or “Als” mean artificial intelligence (e.g., trained neural networks), machine learning processes, algorithms and / or natural language models that are programmed into the robot systems described herein.

[0035] Referring to FIGS. 1A-1 B, shown therein is an autonomous robotic system 100 for ultrasound examinations, according to an embodiment. The robotic system 100 includes a robot body comprising at least one articulated arm 102 and a base 104, an end effector 106 on a terminal limb section for connecting an ultrasound transducer tool 108, and a mount 110.

[0036] The arm 102 comprises a plurality of articulable limb segments or linkages, providing the arm 102 with up to seven degrees of freedom. The arm 102 includes a plurality of proximity sensors arranged in a proximity sensing skin for sensing the surrounding environment for autonomous control of the articulated arm 102 during operations. The arm 102 also contains fluid lines running from the base 104 through the limb segments to the end effector 106. The arm 102 may be the articulated arm disclosed in International Patent Publication No. WO2022241550.

[0037] The base 104 includes compute and control components as well as input and output components such as microphones, speakers and lights (e.g., LEDs) positioned around the base 104 for 360 degree input sensing and output. Compute and control components include one or more processors for executing artificial intelligence or other instructions for performing autonomous tasks including ultrasound procedures of various organs and body parts. The base may further include I / O connectors (e.g., USB, HDMI, USB-C ports) for connecting to peripherals (e.g., the display 112), input devices (e.g., a mouse) or VR / AR components to control and / or interact with the robot 100. The base may include wireless communication components (e.g., Bluetooth™ and / or Wifi antennas, receivers or transceivers) for connecting the robot 100 to communication networks, as well as tools 108, input devices and VR / AR components with wireless connectivity.

[0038] The base 104 includes a vision module 115 having two RGB cameras with global shutter, and proximity sensors (time-of-flight sensors) and a thermopile sensor for viewing / sensing the surrounding environment and users (operators, patients) for autonomous control of the robot system during operations. The vision module 115 is mounted on a gimbal system having three degrees of freedom (pitch, yaw, roll) to point the cameras / sensors in different directions to view the environment around the robot system 100. The base 104 may further include two additional RGB cameras in addition to those in the vision module 115. The base rotates 360 degrees along with the vison module 115 andadditional two cameras. The base 104 may be the base disclosed in International Patent Publication No. WO2022241550.

[0039] The robot body is attached to a mount / support structure 110 at the base 104. According to various embodiments, the mount 110 may be a desk / table / stand, a manual push cart or an autonomous mobile robot cart. The mount 110 includes a touchscreen display 112 for receiving user input and displaying instructions / information. For example, the display 112 may be connected to the ultrasound tool 108 through the base 104 and robotic arm 102, to display ultrasound data (e.g., sonogram images) captured by the tool 108 and other information related to the procedure. The mount 110 further includes a nest 114 for storing tools to be picked up (attached) or dropped of (detached) from the end effector 106 on the arm. The mount 110 includes one or more lifting columns for adjusting (raising / lowering) the top surface of the mount 100 to which the base 104 is attached. The mount 110 includes an emergency stop button on the lifting column. If the mount 110 is an autonomous mobile robot cart, emergency stop buttons are included on the lifting column and on a base of the cart.

[0040] The mount 110 may further include reservoirs for storing various fluids (liquid or gas). The reservoirs are in fluidic connection with the fluid lines passing from the base, through the robotic arm 102 and the end effector 106.

[0041] The end effector 106 includes a vision module 116 have a plurality of cameras and sensors for viewing / sensing the surrounding environment, the user, and the ultrasound tool. The cameras / sensors include 2 stereoscopic cameras with global shutter, a time of flight sensor, a thermal pile sensor and an inertial measurement unit. The vision module 116 also includes a projector for projecting text, images or video onto a surface.

[0042] The end effector 106 further comprises a tool mounting interface for mechanically and electrically connecting the robot arm 102 to an ultrasound tool 108. Generally, the mounting interface of the end effector 106 is complimentary to the connector interface of the tool 108. The mounting interface includes electrical connectors (e.g., pogo pins and / or USB ) for electrically connecting the end effector 106 (and the rest of the robotic system 100) to the ultrasound tool 108. The electrical connection between the end effector 106 and the tool 108 provides power to the tool 106 and may further transmit data between the tool 106 and the rest of the robotic system 100. The mounting interface further includes a locking mechanism (e.g., locking lugs or grooves, a helical collar, or the like), for mechanically attaching the ultrasound tool 108 to the end effector 106 (and the robotic arm 102). The end effector 106 further comprises a multi-axis load cell configured for measuring force andtoque experienced by the tool 108 for haptic feedback and control. The end effector 106 may be the end effector disclosed in International Patent Application No. PCT / CA2024 / 050803, to the same applicant.

[0043] According to various embodiments, the cameras and sensors on the robotic system 100 may be configured in a haptic system with force feedback for tele-operation. The robotic system may also be integrated or connected with haptic control devices, for example, the haptic device disclosed in International Patent Application No. PCT / CA2024 / 050803, for manual control by a user.

[0044] According to various embodiments, the robotic system 100 may include one or two arms 102. In a two-arm configuration, both arms are connected to the base 104 and the arms 102 are substantially similar except for the attached tool.

[0045] A two-arm configuration, provides more operational flexibility and independence when completing tasks. For example, in an embodiment, a first arm holds ultrasound gel to be applied to a user, and a second arm is attached with an ultrasound tool or probe. In another embodiment, a first arm attached with the ultrasound tool completes the ultrasound exam, while a second arm projects instructions, images, lights, via the vision module 116, to the user to influence the ambience and mood. In yet another embodiment, a first arm cleans / wipes down the user, while a second arm cleans the ultrasound probe.

[0046] Referring to FIGS. 2A-3B, shown therein are views of an ultrasound transducer tool 108 attached to the end effector 106. The ultrasound tool 108 includes an ultrasound transducer / probe 118 configured to transmit and receive ultrasound waves. The ultrasound tool 108 includes an applicator nozzle 120 for dispensing ultrasound gel and other liquids. The nozzle 120 can extend from the tool housing or remain internal to the tool 108 and dispense through a surface of the tool 108.

[0047] The ultrasound tool 108 includes a connector interface 130 for mechanically and electrically connecting the tool 108 to the mounting interface on the end effector 106. The connector interface 130 includes at least electrical connectors (e.g., pogo pins and / or USB ports) for connecting to complimentary pogo pins and / or USB connectors / ports on the end effector 106 to electrically connect the ultrasound tool 108 to the end effector 106 (and the robot 100) to provide power to the tool 108. The connector interface 130 includes a locking mechanism, (e.g., locking lugs or grooves, a helical collar, or the like), for mechanically attaching the ultrasound tool 108 to the end effector 106 (and the robotic arm 102). According to some embodiments, the ultrasound tool 108 is configured to wirelessly connectto the robot 100 for wireless ultrasound data transmission between the tool 108 and the robot 100.

[0048] Referring to FIGS. 3A-3B, the applicator nozzle 120 is deployed / extended from a storage position by an actuator such as a linear, electromechanical, piezoelectric or magnetostrictive actuator. The ultrasound tool 108 includes a bottom cover 119 that may be removable to provide access to the applicator nozzle 120, the actuator and other internal components. The ultrasound tool 108 may further include a sleeve covering the outer surfaces of the ultrasound tool 108 to prevent fluids (e.g., ultrasound gel) from entering grooves in the outer surface.

[0049] Referring to FIGS. 4, 5A and 5B, shown therein is the ultrasound tool 108 with the bottom cover 119 removed, The ultrasound tool 108 includes one or more fluid conduits 122, 124, 126 for connecting to the fluid lines passing through the robot arm and the end effector to direct one or more fluids to the nozzle 120. The same fluid conduits 122, 124, 126 and fluid lines may be used to direct different fluids for different purposes. For example, cleaning / sanitation fluids 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.

[0050] Referring again to FIGS. 1A-1 B the robotic system 100 is configured to be integrated with a plurality of commercially available wireless ultrasound tools 108 that use Bluetooth Low Energy Communication, Wi-Fi and / or NFC to transfer data. Example of compatible ultrasound probes include those marketed by Clarius™ (C3HD3, L20HD3, L15HD3) GE™ (VScan Air) and Siemens™ (Acuson Freestyle)._The compute unit of the robot along with connectivity capabilities is housed in the base of the robot offering a seamlessly integrated system. Alternatively, wireless communication can be enabled via external peripheral devices such as a WiFi dongle connected to the base 104 or the mount 110.

[0051] Wired handheld ultrasound probes can also be connected to the robotic system via the mounting interface on the end effector 106 and transmit data through the pogo pins for power and data transfer. Examples of such probes include, but are not limited to, ultrasound probes marketed by Butterfly™ (IQ), Phillips™ (Lumify), EchoNous™ (Kosmos) and Exo™ (Iris). Data is transferred via serial digital signals including, but not limited to, USB 2, USB 3 and serial peripheral interface (SPI) protocols.

[0052] Still referring to FIGS. 1A-1 B, during operation of the robotic system 100, the compliance / stiffness of the arm 102 (and attached tool 108) can be adjusted during autonomous operation, manual tele-operation or manual in-person operation in a gravitycompliant mode. By use of the vision modules 115, 116 and programmed artificial intelligence to autonomously determine the location of organs, based on that region, the stiffness / compliance of the robotic arm 102 can adapt and / or be dynamic to pre-defined settings that can be overwritten. During tele-operation, when the operator moves the robotic arm 102 to a particular region on the body, the compliance will be catered / adaptive to the individual regions with the option to increase / decrease the amount of compliance. The compliance of the robotic arm 102 is based on an individual or combination of different control systems not limited to reactance and reluctance control systems. Compliance of the robot system 100 is further described below with reference to FIGS. 7A-7D.

[0053] Using the vision modules’ 115, 116 cameras and sensors and Als configured for, but not limited to, pose estimation, point cloud, depth sensing, allows for several tasks to be performed autonomously.

[0054] According to an embodiment, during patient setup, using the stereoscopic cameras on the vision modules115, 116 and the Al mentioned above with the addition of Natural Language Processing Als, the robot system 100 is configured to instruct the patient, for example using onboard speakers in the base 104, on the orientation they need to lay on the patient bed, an overview of the ultrasound exam taking place, lifting up their shirt, orienting their body, amongst other instructional tasks needed during the setup, examination, and post-examination process. The robot system 100 may implement a feedback loop using the sensors in the vision modules 115, 116 to observe whether the patient is following instructions and repeat or vary instructions if needed.

[0055] According to various embodiments, depending on the organ of interest for the ultrasound exam, the robot 100 will implement the vision modules 1155, 116 and Al to find the region of interest to dispense an appropriate amount of ultrasound gel relative to the dimensions of the patient from a 3D model created by the time of flight sensors and Als used. The amount of gel dispensed is dependent on the surface area of the patient and their region of interest where the target organ is located. According to some embodiments, the fluid applied is not limited to ultrasound gel. For example, the robot 100 may dispense sanitation / disinfection / cleaning fluid or compressed air.

[0056] The robotic system 100 is configured to generate a 3D model of the patient using the various sensors in the vision modules 115, 116 and programmed Als for point cloud, pose estimation, depth sensing, etc. The robotic system 100 is further configured to use of both vision modules 115, 116 to determine the relative position of the tool 108 attached to the arm 102 and the patient, the robot 100 can determine the region of interest / organ (e.g.,heart, liver, kidney, etc.) and navigate there autonomously. The robotic system 100 can also be instructed via voice commands and visual cues such as hand gestures to navigate to a desired region or target location.

[0057] An operator using a screen / display 112 connected to the robot 100 can highlight landmarks on the 3D representation of a patient’s body using an input device such as a mouse, to create landmarks the robot 100 will navigate to. The robot 100 will then either autonomously perform the ultrasound exam or hover above the cued landmark for the operator to take over and perform the exam, for example, with a haptic device or other input device to manipulate the robot 100. The landmarks may include the xyz coordinates for the robot 100 to position itself based on the landmarks set by the operator.

[0058] The robot 100 will have a nest 114 of tools either located on the mount 110 it is mounted on or at a location within proximity of the robotic arm 102. The tools include different ultrasound probes and other accessory medical instruments that be may used depending on the type of ultrasound exam. Using the vision modules 115, 116, and programmed Ais for object recognition / detection, and the universal tool connector interface on the end effector protector 106, the robotic system 100 can autonomously locate the tools and articulate the arm 102 to attach / detach the appropriate tool needed.

[0059] By use of the vision modules 115, 116, based on the region / organ of interest, the robot 100 can set a work area boundary to limit the movement of the robotic arm 102 to the contained area of the target region of interest / organ. Based on this workspace boundary, the amount of force applied can be limited and adaptive. As previously mentioned, the robot 100 during operation will be in a compliant control mode with the stiffness of the robotic arm 102 being dynamically adjusted based on the region / organ of interest.

[0060] According to some embodiments, post ultrasound procedure, the robotic system 100 is configured to autonomously perform a procedure to clean the ultrasound probe, removing any residues (e.g., ultrasound gel) on the probe. This functionality extends to attaching the appropriate tools to clean the patient bed as well. The robotic system 100 may be further configured to use the vision modules 115, 116 to verify cleanliness of the tools and / or the patient bed.

[0061] Various embodiments of cleaning processes and apparatuses are described below. The cleaning apparatuses can be provided as accessories for the robotic system 100 that can be attached to the mount 110 (e.g., a push cart, an autonomous robot cart) or on a flat surface (e.g., a table or countertop) in proximity to the robotic system 100. According to various embodiments, the robotic system 100 is configured to set up the cleaningapparatuses and / or replace consumable materials (e.g., sponges, rollers, disinfectant fluids, etc.). In some embodiments, a human user will set up the cleaning apparatus and replace consumable materials.

[0062] Referring to FIG. 6A, shown there is a double roller cleaning apparatus 200, according to an embodiment. The apparatus 200 includes a basin 202 for containing disinfection / cleaning solution 204 (e.g., CaviCide™). The apparatus 200 includes a pair of microfiber rollers 210, 212 for cleaning an ultrasound transducer tool 208 (for ease of illustration, the robotic system / arm connected to the tool 208 is not shown). A fixed roller 210 is disposed within the basin 202 such that a top of the fixed roller extends through an opening 206 in the top of the basin 202. A moveable roller 212 is mounted on a pivotable spring-biased arm 214 above the fixed roller 210. The -spring-biased arm 214 is biased downward to press the movable roller 212 against the fixed roller 210. The movable roller 212 is vertically movable, by the arm 214, to raise the spring-loaded roller 212 relative to the fixed roller 210. This simple design requires no additional motor or electrical components in the apparatus 200 since the robot system provides all necessary movement to clean the tool 208 as described below. The apparatus 200 may be mounted in a housing (not shown). The apparatus 200 may be housed on a cart or a support structure (e.g., mount 110).

[0063] To clean the tool 208, after an ultrasound procedure, the robot system’s vision modules and trained Al are used to insert a transducer 209 of the tool 208 between the rollers 210, 212, and retract the transducer 209 therefrom, repeatedly. Inserting the transducer 209 between the rollers 210, 212 causes the spring-biased roller to pivot upward on the arm 214. When the transducer is retracted, the spring bias causes the roller 210 to move downward. The robot then rotates the tool 208 180-degrees and repeats the insertion and retraction of the tool 208 from the rollers 210, 212. The sensors in the vision module are used to determine cleanliness and dryness of the tool 208, after the cleaning procedure.

[0064] A human technician may periodically decant the cleaning fluid 204 in the basin 202 and replace the microfiber rollers 210, 212 when worn out. According to some embodiments, the robot apparatus itself is configured to decant the cleaning fluid 204 and replace the microfiber rollers 210, 212 at predetermined intervals or after a certain number of cleaning cycles.

[0065] Referring to FIG. 6B, shown therein is a brush cleaning apparatus 220, according to an embodiment. The apparatus 220 includes, a plunger can 222 containing disinfectant / cleaning solution, a first flat sponge 224 connected to the plunger can 222 by a conduit 226. The conduit 226 is spring activatable, such than when the first sponge 224 isdepressed, an amount of disinfectant / cleaning solution is drawn through the conduit 226 and into the flat sponge 224. The apparatus 220 further includes a second contoured sponge 228 connected to a motor 230 or rotary actuator and mounted directly above the first sponge 224. The apparatus 220 may be mounted in a housing (not shown). The apparatus 220 may be housed on a cart or a support structure (e.g., mount 110).

[0066] To clean the tool 208, after an ultrasound procedure, the robot system’s vision modules and trained Al are used to position the transducer 209 of the tool 208 between the sponges 224, 228 (for ease of illustration, the robotic system / arm connected to the tool 208 is not shown). The robot then moves the tool 208 downward until the transducer 209 contacts and depresses the flat sponge 224 to dispense the disinfectant / cleaning solution onto a first side of the transducer 209. The robot then rotates the tool 208 180-degrees such that the first side of the transducer 209 is facing the contoured sponge 228 and raises the tool 208 until the transducer 209 contacts the sponge 228. The sponge 228 is then rotated by the motor 230 to clean the first side of the transducer 209. The robot then lowers the tool208 until a second side of the transducer 209 contacts and depresses the flat sponge 224 to dispense the disinfectant / cleaning solution onto the second side of the transducer 209. The robot then rotates the tool 208 180-degrees such that the second side of the transducer209 is facing the contoured sponge 228 and raises the tool 208 until the transducer 209 contacts the sponge 228. The sponge 228 is then rotated by the motor 230 to clean the second side of the transducer 209.

[0067] This process may be repeated several times until the transducer 209 is deemed to be clean. The sensors in the robot’s vision module are used to assess the cleanliness of the transducer 209, after each round of the cleaning procedure. A human technician is may periodically refill the cleaning fluid in the can plunger can 222 and replace the sponges 224, 228 when worn out.

[0068] Referring to FIG. 6C, shown there is a conveyor cleaning apparatus 240, according to an embodiment. The apparatus 240 includes the plunger can 222 containing disinfectant / cleaning solution and connected to the flat sponge 224. The apparatus 240 further includes, a first roller 242 for fresh paper towel and a second roller 244 for used paper towel. A motor (not shown) is connected to the second roller 244 to rotate the second roller 244 such that paper towel 248 moves from the first roller 242 onto the second roller 244 in the manner of a conveyor belt. A gel support pad 246 is positioned between the rolls 242, 244. The apparatus 240 may be mounted in a housing (not shown). The apparatus 240 may be housed on a cart or a support structure (e.g., mount 110).

[0069] To clean the tool 208, the robot system’s vision modules and trained Al are used to position the transducer 209 of the tool 208 between the rolls 242, 244 and above the paper towel 246 (for ease of illustration, the robotic system / arm connected to the tool 208 is not shown). The robot then lowers the transducer 209 onto the surface of the paper towel on the gel pad 246. The motor is switched on to draw the paper towel from the first roller 242 onto the second roller 244 thereby wiping residue from the transducer 209. The robot then moves the tool 208, to position the transducer 209 above the sponge 224. The tool 208 is then moved to contact and depresses the flat sponge 224 to dispense the disinfectant / cleaning solution onto the transducer 209. The robot then moves the tool back between the rollers 242, 224 to contact the paper towel 248 on the support pad 246 and the motor is switched on to wipe the transducer 209.

[0070] This process can be repeated several times until the transducer 209 is deemed to be clean by the vision modules on the robot. According to some embodiments, after dispensing disinfectant on the transducer 209, the robot moves to tool 208 to air dry the transducer 209. A human technician may periodically replace fresh paper towel on the first roller 242 and discard the used paper towel from the second roller 244.

[0071] Referring again to FIGS. 1 A-1 B, according to various embodiments, the robot system 100 is configured for ultrasound-guided needle-related tasks in a single-arm configuration with and / or without a human assistant. Such needle-related tasks are not limited to ablation therapy, blood draws, needle biopsies, IV catheter injections, fine needle aspirations to remove lumps or masses (e.g., cysts, tumours, abscesses) and bioplasty augmentation (e.g., Botox™, lip fillers, buttock enhancement). To achieve such a wide range of tasks, according to the various embodiments, the robot 100 is configured to insert the needle into the particular layer of skin, tissue or organs, not limited to: intradermal (top layer of skin), subcutaneous (fatty tissue beneath the skin), intravenous (veins), intramuscular (muscle tissue) and organs.

[0072] According to some embodiments, the robotic system 100 as previously described is configured as a dual-arm robot 150 for the purposes of diagnostic and therapeutic applications as shown in FIG. 1C. In the dual-arm embodiments, one arm 102a is attached to an ultrasound tool 108 to gather ultrasound imaging data whether it be continuous or discontinuous for navigation and / or insertion of a needle tool. The other arm 102b is equipped with either the needle tool (dependent on application) and / or a navigation insertion tool for a human operator to insert the needle tool. The single-arm configuration can also be equipped with a needle insertion navigation guidance tool or needle tool for insertion by a human operator. These tools mentioned can use different sources of equipment withdifferent types of radiations for therapeutic applications (gamma, ultrasound, xray, etc.). The radiation tools can be attached to both a single and dual arm configuration of the robotic system 100.

[0073] Referring to FIG. 1 D, shown therein is a robot system 160 for autonomous ultrasound procedures. The robot system 160 is substantially similar to the robot system 100 in FIGS. 1A-1 B and includes the robot arm 102, the base 104, the mount 110 and the end effector 106 for connecting an ultrasound tool (not shown). The robot system 160 is adapted to be deployed in remote / rural areas lacking communication and energy infrastructure of developed metropolitan areas. The robot system 160 further includes a satellite communication system 162 configured to receive and transmit data. The satellite communication system 162 may include a modem, a transceiver, and a high level of encryption and security protocols to transmit patient data securely. The robot system 160 may further include a solar panel system 164 to generate power when weather conditions permit. The solar panel system 164 includes solar panels, and one or more batteries within the mount 110 providing an independent energy storage source for the robot 160.

[0074] According to an embodiment, post ultrasound procedure, the robot system 100 is configured to navigate to a resting location with its autonomous mobile cart mount 110, revert back to a pre-set height using the lifting columns, and arm position prior to the next examination.

[0075] According to some embodiments, based on facial expressions and the type of procedure being performed, light settings and / or music can be changed to cater to the mood / facial expression of the patient. This is done using the speakers and lights in the base 104 or by external lights and speakers in the environment that are connected to the robot system 100.

[0076] According to various embodiments, with multiple sensors built-in to the robot system 100, rich data capturing can be used to train the robot system 100 for both autonomous and semi-autonomous capabilities, as well as enhanced augmented experiences for the operator (VR / AR). This data can be used to train image analysis and image acquisition Als as well. The data captured is not limited to environmental scenery, visual and audible human-robot interaction, ultrasound data, robotics system telemetry data, physical human attributes, etc. The data points mentioned can be captured individually or a combination of 2 or data points.

[0077] -According to an embodiment, during tele-operation, the robot system 100 is controlled by an operator with a haptic control system, the full hand movement / orientationsof the haptics system being used to translate the motion of the robotic arm 102 to create data (positional coordinates; orientation data; velocity and acceleration of movement; force applied on the patient; torque, strain and stress data related to the joints of the robot) which can be stored and used to train Al models.

[0078] According to an embodiment, ultrasound images and videos captured by the ultrasound tool 108, including Doppler data are used to control and / or optimize settings of the tool 108 (depth, gain, images modes, etc.). Ultrasound imaging data can be used for image analysis, image acquisition, and training autonomous ultrasound operations Als. For example, during an ultrasound exam, the robot 100 can use past stored data on how an ultrasound image was acquired to learn how to better capture an ultrasound image during a live session.

[0079] According to some embodiments, facial data collected by the cameras in the vision modules 115, 116 is anonymized with an avatar. Several data points can be captured during the examination of the patient to control or adjust operations of the robotic system 100. For example facial expressions of the user may indicate different reactions to the temperature of the ultrasound gel being applied, the speed / stroke of the ultrasound probe, the amount of force being applied, etc. This data can be used to teach the robot 100 the best values to be used on patients when performing different tasks during the procedure.

[0080] Body measurements and the creation of the 3D model of the patient using the vision modules 115, 116 and Als are used to locate the position of the organ of interest relative to the patient build / height can be used to better improve the autonomous navigation to the region of interest for each patient. According to an embodiment, when force is applied by the robot 100 onto the surface of the patient body, force and torque data is collected and mapped on the stiffness / elasticity of the different region / organ of the patient body.

[0081] According to an embodiment, using the cameras / sensors in the vision modules 115, 116 and relative position of the patient, the positional data can be captured to create models that can autonomously position / angle the mount / cart 110 for the robot 100 to best perform the ultrasound procedure. This includes the ability to recognize static objects, dynamic objects, and obstacles when navigating to different positions.

[0082] According to various embodiments, during the operation of the robot 100, data from its internal components such as the torque, angle of linkages / joints, position relative to the patient, sensor data from the vision modules 115, 116 (e.g., RGB, ToF, thermalpile, sensor data, etc.), force and torque data from the load cell, audio data, temperature of the motors,amongst other data from internal components are capture and stored for Al reinforcement learning, and autonomous ultrasound training.

[0083] According to various embodiments, audio and visual data from robot-patient interaction, patient-environment, and operator / sonographer / clinical-patient interaction are captured and can be used for Al training to allow the robot 100 adapt to environmental and patient bodily movement changes. This data can also be used to train various Als related to human-robot-environmental interaction.

[0084] Several mechanisms for both hardware and software are provided to enhance the ultrasound experience for both the patient and operator.

[0085] According to an embodiment, the end effector 106 includes a Peltier device (thermoelectric) for temperature control (heating or cooling) of fluids (e.g., ultrasound gel) passing through the end effector 106 through to the tool 108. When the fluid is dispensed from the ultrasound tool 108, the temperature of the fluid can be measured using the thermopile sensor in the vision module 116 on the end effector 106 to adjust temperature control by the Peltier device.

[0086] According to an embodiment, for constant monitoring of specific organs for a prolong period of time, the robot 100 is configured to continuously apply pressure and contact a target region to continuously obtain ultrasound imaging data. The robot 100 is configured to autonomously adjust the orientation of the probe, angle, and tool settings amongst other physical and software to continuously gather accurate and useful ultrasound data for monitoring, diagnostic and therapeutic purposes. The autonomous adjustments are enabled through the various sources of data being captured by the robot 100 and the data being processed by various Als to maintain constant monitoring and a closed feedback loop. This data is not limited to the amount of pressure applied as measured by a force sensor, visual cues and bodily movements from actions such as breathing that is recognized by the vision modules 115, 116, and the use of Als such as pose estimation.

[0087] Continuous monitoring by the robot enables navigation of needle insertion-related tasks such as: avoidance of artifacts, critical vessels, and nerves during diagnostic and therapeutic applications and identifying and locating a target tissue / organ and / or a region of interest. Continuous monitoring also provides for real time evaluation of: detecting internal bleeding, unintended insertions / punctures, and navigation around artifacts to reach intended target; determining an amount of fluid lost and / or drained; and monitoring amount of tissue collected.

[0088] According to various embodiments, the robot system 100 is configured to implement a combination of Als for external data and internal data to autonomously adjust and adapt to the changing conditions that may preclude a desired viewing of the target or region of interest. In an embodiment, the robot is configured with environmental Al to process data captured from the vision modules 115, 116 of the patient's bodily movement and the operational environment. This could include but is not limited to foot traffic near the area of operation, moving objects, and / or other machinery and robots. In another embodiment, the robot 100 is configured with internal Al to process data captured during an ultrasound exam. Statistical analysis or other forms of analysis is used to adjust the settings of the ultrasound probe and telemetry of the probe to get the desired view.

[0089] According to an embodiment, the robot system 100 is configured to determine if therapeutic application is successful for the treated area / tissues and determining if there are any complications. This may include verifying of any internal bodily leakages, free flowing fluids, or left behind foreign objects.

[0090] According to an embodiment, with the autonomous mobile robot cart 110 configuration of the robotic system 100, the robot system 100 is configured to autonomously navigate to each patient room on the same or different floors for routine ultrasound checkups and complete scheduled ultrasounds exams autonomously and analyze the imaging data to determine if the patient care needs to be escalated and notify a medical professional.

[0091] According to another embodiment, the robot 100 is configured to interact with the patient in the waiting room and guide them to the patient room for the ultrasound examination. Interactions may include, but are not limited to, friendly greetings, an overview of the procedure, and instructions to get set up for the exam. The robot with its smart sensing skin, and combined 2 VMs can avoid obstacles to prevent collisions.

[0092] According to an embodiment, when entering the patient room, the robot is configured to use it’s vision modules 115, 116 and programmed Als to determine if the patient condition has improved or deteriorated from the previous checkup based on, for example, by assessing skin colouration, facial imaging, and body temperature.

[0093] According to various embodiments, the robot system 100 is configured to be integrated with AR / VR equipment including a headset for remote or tele-operation. For example, operators have the ability of wearing a VR headset to see the view(s) captured by one or more of the vision modules 115, 116. According to an embodiment, a VR headset displays the view captured by the vision module 116 in the end effector 106 for closer examination of a region of interest, tools to be attached, and gathering finer details. The endeffector 106 can move by tracking on the head motion of the operator wearing the VR headset. According to other embodiments, the VR headset displays the view of the vision module 115 in the base 104 of the robot 100 to translate head movement of the operator to the 360 gimbal system for a full environmental view.

[0094] According to an embodiment, the robot system 100 is configured to use the time of flight sensors embedded in the skin of the robot and the vision module 115 in the base 104 of the robot 100, for 3D reconstruction of the surrounding room / environment for indirect VR viewing or 3D environment software modelling. The sensory data captured by the vision module 116 in the end effector 106 can be used to update and reconstruct the modelled environment.

[0095] According to various embodiments, the combination of Natural Language Processing (NLP) Als and the 360 degrees mic and speakers on the base 104 allow for robot-patient interactions in multiple languages, not limited to the following: operation commands, feedback, instructions, progress updates and adjusting customizable settings.

[0096] Using operational commands, patients can instruct the robot 100, for example, to stop / resume operations or temporarily create space / separation between the patient and the robot 100. Operational commands may also direct the robot to send specific data electronically to a recipient, for example, sending screenshots of specific moments during an ultrasound procedure to the patient’s email.

[0097] Patients can provide audible or gesture feedback to let the robot know, for example, if the amount of force being applied is too much or if the temperature of the ultrasound gel is discomforting (i.e., too hot / too cold). The robotic system 100 will adjust based on the feedback. Voice commands can also be used to adjust customizable settings of the robot 100 such as volume of the speakers or brightness of the touchscreen display 112.

[0098] The robot 100 may provide instructions to the patient in multiple languages and explain what the patient can expect during the procedure. The robot 100 may also communicate progress updates, for example, the stage of the procedure, approximate time remaining, as well as asking for feedback post-procedure in the form of post-exam surveys and questions (e.g., “What moment during the exam did you feel can be improved?”).

[0099] According to some embodiments, operators can remotely take over operation of the robotic system 100 using a haptic control system. The haptic control system is used to control the robot 100, including the arm 102, end effector 106 and the tool 108 attached thereto, and stream the video feeds from the vision modules 115, 116 to see the environment of the patient site. The force being applied on the patient by the robot / tool ismeasured by the 6-axis load cell in the end effector 106 and relayed back to the operator’s haptic system providing real force feedback. According to an embodiment, based on the 3D model created of the patient's body using the robotic systems vision modules 115, 116 and various Als, the robot 100 can apply corrective adjustments to apply more or less pressure / force depending on the patient’s body size during tele-operation with a haptics control system. During autonomous ultrasound operation, this adjustment is automatically made based on the patient size I mass index.

[0100] According to an embodiment, the robot 100 is configured to run ultrasound image processing and analysis software or is programmed with Al to give patients real-time results and analysis during ultrasound procedures. For example, the Al may be configured to provide an obstetric exam letting the patient know if the baby is a boy or girl.

[0101] According to some embodiments, for patients with auditory disabilities and for clearer instructions without a human operator present, the robot can make use of a projector in the vision module 116 in the end effector 106 to give visual cues and instructions. For example, projecting an arrow on which direction to lay down, a symbol on the patient body to indicate where the region / organ of interest is for the ultrasound procedure, etc.

[0102] According to an embodiment, when a sonographer / clinician asks the patient “where it hurts” or the area to be examined, the patient can point to a location or multiple locations on their body and the robot 100 is configured to use its vision modules 115, 116 and combination of Als to create landmarks on a 3D model of the patient that can then be viewed on a screen 112 or AR / VR headset by the clinician. Using the projector on the vision module 116, the robot 100 can retrace and / or outline the location / regions outlined by the patient. With vocal and visual cues, the robot 100 can adjust the landmarks and / or tracing done by the robot 100 with the projector.

[0103] According to an embodiment, using the projector in the vision module 116 in the end effector 106, the robot 100 can project a user interface or images onto a flat surface for a user to interact with. The projector can also be used to project an interactive game (e.g., tic tac toe) to help the patient feel more at ease during the ultrasound examination if the patient appears upset based on facial recognition.

[0104] According to some embodiments, the smart skin of the robot, along with the vision module 115 in the base 104 of the robot 100 will allow the system 100 to avoid hitting any objects or persons that may not be within the direct field of view of the vision module 116 in the end effector 106. Should the patient decide to push against the robot 100 or make a gesture towards the robot 100, the robot will move away from the patient.

[0105] According to various embodiments, throughout an ultrasound examination or procedure, the patient may use hand gestures that will solicit different response by the robotic system 100. The robot system 100 is configured to implement Als such as CNNs (Convolutional Neural Networks), RNNs (Recurrent Neural Networks), and TCNs (Temporal Convolutional Networks) trained to recognize various hand gestures. For example, showing the user’s palm can signify for the robot to stop. According to an embodiment, the robot is configured to create a 3D model of the patient’s body using the vision modules 115, 116 and various Als. A human with their finger / hand and / or other means of visual cues can outline on the 3D model of the patient's body the path they want the robot to autonomously conduct an ultrasound exam, or navigate to set landmarks and / or positions prior to commencing the exam. After tracing the path planning on and / or above the patient's body, the robot 100 with its projector will retrace and project the path the human outlined for confirmation of the path planning to conduct an ultrasound exam.

[0106] Referring to FIGS. 7A-7D, shown therein are an ultrasound probe holder 300, according to an embodiment, shown in relation to an ultrasound probe 302. The ultrasound probe holder 300 with the ultrasound probe 320 are shown as the ultrasound tool 108 in FIGS. 1-5. The probe holder 300 includes a connector interface 330 for attaching to the end effector mounting interface of the robot system. The probe holder 300 includes two halves 304, 306 that enclose the ultrasound probe 302 therebetween. The two halves 304, 306 are held together by fasteners (e.g., screws) that can be adjusted according to the size of the ultrasound probe 302. The probe holder 300 includes a handle 310 to allow an operator to manually orient the probe (and the robot arm) to a desired position. The probe holder 300 includes at least one programmable button 312, 314, indicator LEDs 316, and at least one display 318 for viewing data and information. The buttons 312, 314 may be programmed to start / stop acquisition of ultrasound images.

[0107] As previously described, through the use of the vision modules and a combination of Als configured for pose estimation, point cloud analysis, and semantic segmentation, the robot will be able to create a 3D model of the patient and calculate / approximate the different organ regions. From the 3D model, an operator can select a target area of the patient's body they want the ultrasound probe to make contact. The operator can manually move the probe to the target area or instruct the robot to reposition the robot probe to the target area in the 3D model via verbal commands, visual cues and hand gestures (e.g., pointing to a location, rotating clockwise / counterclockwise motion, angling motion, etc.).

[0108] The operator can use the handle 310 to manually orient the probe and robot arm to the desired position to make contact with the target area. To aid in manual movement of theprobe, according to an embodiment, the robot projects an outline of the target area onto the patient’s body. According to an embodiment, the robot projects a laser to where the probe is being directed to assist the operator to move the probe to the target area.

[0109] Once the desired position is reached, the operator can continue to use the handle 310 to move the probe and the buttons 312, 314 to acquire ultrasound images. Alternatively, the robot is configured to hold constant a position / view via the push of a button 312, 314, a voice command, gesture control, and / or have the robot autonomously conduct a scan of the target area.

[0110] According to an embodiment, the data gathered during the ultrasound examination or previous ultrasound examinations, and pre-op patient data such as CT, MRI, and X-Ray, are fused together to enhance the operator’s decision making for diagnostic and therapeutic applications, for educational purposes with assistive technology, and for enabling live collaboration.

[0111] For example, in diagnostic and therapeutic applications 3D model of the target organ or region of interest can be viewed in all orientations on a display from the continuous or discontinuous streaming of data captured by the robotic system. This 3D model can be used to create landmarks for the robot to navigate towards. In other embodiments, the operator uses an AR / VR headset for enhanced viewing experience of the target organ or region of interest internally as the robot orients the probe to different positions.

[0112] For educational purposes, a 3D reconstruction of the surgery can be stitched together from the continuous ultrasound data gathered.

[0113] For live collaboration, real-time continuous data captured during therapeutic application can be shared amongst multiple parties, whether by AR / VR means or a conventional display to get real-time consultations from peers to conduct the therapy. With the 3D model, peers can place landmarks or highlight regions within the 3D model.

[0114] According to various embodiments, the robot system 100, with or without the mount 100 may be deployed in various vehicles including ambulances, helicopters, ships, for providing on-route ultrasound diagnostics prior to arriving at a medical facility. Generally, in these embodiments, the vehicle is preferably parked or stationary when performing ultrasound procedures.

[0115] According to various embodiments, in addition to ultrasound examinations / procedures, the robot system 100 may be used for visual inspection of patient’s bodies using the sensors in the vision modules 115, 116. For example, the robotsystem 100 may be used to examine patients for skin conditions / diseases, skin topography, surgical site monitoring for signs of infection or inflammation, thermography examinations, etc. Physical examinations include wound assessments, joint analysic (arthritis), movement analysis (Parkinson’s), Thyroid function, diabetic foot examination, breast examination, etc.

[0116] While the above description provides examples of one or more apparatus, methods, or systems, it will be appreciated that other apparatus, methods, or systems may be within the scope of the claims as interpreted by one of skill in the art.

Claims

Claims:1 . An autonomous robot system for ultrasound procedures comprising: an articulated robotic arm having an end effector, the end effector comprising: a mounting interface for removably attaching an ultrasound tool having a connector interface complimentary to the mounting interface, the mounting interface comprising: a locking mechanism for mechanically attaching the ultrasound tool to the end effector; and electrical connectors for electrically connecting the end effector to the ultrasound tool; a first vision module configured to sense operation of the ultrasound tool and an area in proximity to the tool; a base attached to the robotic arm, the base comprising: a second vision module configured to sense an environment around the robot system; and compute and control components configured to process input from the vision modules and direct the robotic arm to position the ultrasound tool to autonomously perform an ultrasound procedure on a patient while avoiding collisions with objects in the environment.

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

3. The robot system of claim 1 , wherein the electrical connectors transmit at least power to the ultrasound tool.

4. The robot system of claim 3, wherein the electrical connectors transfer data between the ultrasound tool and the computer and control components in the base.

5. The robot system of claim 1 , wherein the end effector further comprises one or more fluid lines; andthe mounting interface comprises one or more pneumatic or hydraulic connectors in fluidic connection with the one or more fluid lines for connecting to one or more fluid conduits on the ultrasound tool.

6. The robot system of claim 5, wherein the end effector further comprises: a Peltier device for regulating temperature of the 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 video onto a surface.

9. The robot system of claim 8, wherein the vision modules are 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 cell configured to measure force and torque experienced by the ultrasound tool.

11. The robot system of claim 10, further comprising a haptic device configured to: control articulation of the robotic arm to position the ultrasound tool by manual input of an operator manipulating the haptic device; and provide force feedback of the forces and torque experienced by the ultrasound tool, to the operator.

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

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

14. The robotic system of claim 1 , wherein the robotic system is configured to generate a 3D model of the patient from the input from the vision modules 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 the ultrasound.

16. The robotic system of claim 14, wherein the robotic system is configured to receive an input of a landmark region on the 3D model and direct the robotic arm to position the ultrasound tool to perform an ultrasound of the landmark region.

17. The robotic system of claim 16, wherein the input is one of: an audible command, a visible gesture and an input from an input device.

18. The robotic system of claim 1 , further comprising: a second robotic arm attached to the base, the second robotic arm comprising: a second end effector; a second tool attached to the second end effector; a third vision module configured to sense operation of the second tool and an area in proximity to the second tool; wherein the compute and control components configured to process input from the second and third vision modules and direct the second robotic arm to position the second tool to perform a procedure on a patient while avoiding collisions with the 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 energy to power the robot system; and one or more batteries for storing energy generated by the solar panel system.

22. A holder for an ultrasound tool, the holder comprising:a handle for gripping by an operator; a digital display for relaying information and; at least one programmable button configurable for acquisition of ultrasound data by the ultrasound tool.

23. A cleaning apparatus comprising: a basin; a fixed roller disposed within the basin, wherein a top of the fixed rolled extends through an opening in the basin; and a vertically moveable roller mounted on a spring-biased pivotable arm, wherein the moveable roller is held above the fixed roller by the arm.

24. A cleaning apparatus comprising: a plunger can for containing a solution; a first sponge connected to the plunger can by a spring-activatable conduit, wherein depressing the first sponge causes a volume of the solution to be drawn through the conduit into the first sponge; a second sponge mounted above the first sponge, the second sponge connected to a motor for rotating the second sponge.

25. A cleaning apparatus comprising: a plunger can for containing a solution; a first sponge connected to the plunger can by a spring-activatable conduit, wherein depressing the first sponge causes a volume of the solution to be drawn through the conduit into the first sponge; a first roller and a second roller; a roll of paper towel wound over the rollers such that a length of paper towel is between the rollers; a motor configured to rotate the second roller such that the paper towel is conveyed from the first roller to the second roller when the second roller is rotated; and a support pad positioned between the rollers and below the length of paper towel.

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