PORTABLE REMOTE ULTRASOUND SCANNING SYSTEMS AND COMPLIANCE CONTROL METHODS FOR SAFE ULTRASOUND SCANNING
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United States of America Patent
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Issued Date -
May 23, 2024
app pub date -
Jan 29, 2024
filing date -
Oct 14, 2021
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Abstract
A portable remote ultrasound scanning system is disclosed. A master device includes a handheld device and a master computer. A slave device includes a slave scanning robot, a slave ultrasound device, a slave environment sensing unit, and a data transceiver unit. The handheld device is configured to send velocity information of a movement of the handheld device, angular velocity information of a rotation of the handheld device, and a pressing force to a controller of the slave scanning robot through the master computer and the data transceiver unit. The controller is configured to control a movement of the robotic arm in a horizontal plane, an orientation movement of the robotic arm in space, and a movement of the robotic arm along a normal direction of a scanning surface. The master computer displays an ultrasound scanning image. An entire movement process of the robotic arm is performed through a compliance control.
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