Repeatable Ultrasound Imaging With Robotic Positioning and Water Coupling
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Solution Overview
Problem
Conventional ultrasound systems are unsuitable for generating consistent ultrasound images across serial examinations, leading to poor patient care and potential permanent joint damage due to operator dependency and inconsistent imaging results, particularly in conditions like rheumatoid arthritis.
Innovation Solution
An ultrasound system incorporating a robotic manipulator and adaptive-registration system to hold and orient the scanner based on patient anatomy position and orientation, using sensors and a fixture generator to support consistent imaging across examinations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a gel pad is used for ultrasound examination, then coupling between scanner and patient anatomy is improved, but compression of synovium or swollen joint lining occurs skewing imaging results
Solution Approach 1:
A water bath is introduced as an intermediary medium between the ultrasound scanner and the patient's joint anatomy. The water bath provides acoustic coupling without direct contact, eliminating the compression problem while maintaining imaging quality. The scanner floats in the water bath, transmitting ultrasound waves through the water to the joint without mechanical compression.
Solution Approach 2:
The system uses a water-based hydraulic medium (water bath) to provide acoustic coupling. The water serves as the coupling agent, transmitting ultrasound waves effectively while allowing the scanner to float without direct contact with the patient's anatomy, thus avoiding compression of soft tissues like synovium.
2Object-affected harmful factors
If coupling gel is used instead of gel pad, then compression of synovium is avoided, but extensive training and experience are required to float scanner at constant height
Solution Approach 1:
The water bath serves as a mediator that simplifies scanner positioning. Instead of requiring the operator to manually float the scanner at a constant height in gel, the water bath provides a buoyant medium where the scanner naturally floats at a stable height, reducing the skill requirement while maintaining consistent positioning.
Solution Approach 2:
The water bath creates an equipotential environment for scanner positioning through buoyancy. The scanner naturally finds its equilibrium position in the water, eliminating the need for precise manual adjustment of height. This equalizes the positioning difficulty across different operators, making the system easier to operate consistently.
3Object-affected harmful factors
If water bath is used for ultrasound examination, then coupling between scanner and anatomy is improved without compression, but motion of water introduces noise artifacts and scanner movement is inconsistent
Solution Approach 1:
The system incorporates sensors to detect the position and orientation of the patient's anatomy in real-time. This feedback information is used by the robotic manipulator to automatically adjust and maintain consistent scanner positioning, compensating for any water motion or operator variations and ensuring reliable, repeatable imaging across serial examinations.
Solution Approach 2:
The manual mechanical positioning process is replaced with an automated robotic manipulator system. The robotic manipulator uses sensor feedback to control scanner movement, replacing the inconsistent manual floating and positioning actions with precise, repeatable automated movements that maintain consistent imaging geometry.
4Ease of operation
If conventional ultrasound systems are used, then ease of operation is maintained, but operator dependency prevents consistent image views across serial examinations
Solution Approach 1:
The manual mechanical positioning performed by the operator is replaced with an automated robotic manipulator system. The robot uses sensor feedback to control scanner movement, replacing the inconsistent manual actions with precise, repeatable automated movements that maintain consistent imaging geometry across serial examinations.
Solution Approach 2:
Sensors detect the position and orientation of the patient's anatomy and provide feedback to the robotic manipulator. This closed-loop feedback system automatically adjusts scanner positioning to maintain consistent image views, eliminating operator dependency while preserving ease of operation through automated control.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables consistent ultrasound image generation across serial examinations, reducing operator dependency and ensuring accurate assessment and treatment of medical conditions like rheumatoid arthritis.
Implementation Method 1
Ultrasound systems can generate ultrasound images by transmitting sound waves at frequencies above the audible spectrum into a body, receiving echo signals caused by the sound waves reflecting from internal body parts
Implementation Method 2
receiving echo signals caused by the sound waves reflecting from internal body parts
Data Source
AI summary
Systems and methods for repeatable ultrasound are disclosed. These systems and methods enable generation of consistent ultrasound images across serial ultrasound examinations, which are suitable for the early detection and management of one or more medical conditions, including rheumatoid arthritis. These systems can include a robotic manipulator that holds and operates an ultrasound scanner for scanning a patient's anatomy. Additionally, sensors are used to detect position and orientation of the patient anatomy to enable the robotic manipulator to consistently hold and orient the ultrasound scanner based on the position and orientation of the patient anatomy during an ultrasound examination. In aspects, an anatomy fixture can be generated to support the patient anatomy in the same position and orientation across the serial ultrasound examinations.