Medical imaging systems using robotic actuators and related methods

An imaging system configured to generate imaging of a body, the imaging system comprising:

• a robotic actuator configured to position a contact imaging probe;
• and
• a controller coupled with the robotic actuator, wherein the controller is configured to,
• control the robotic actuator to position the contact imaging probe at a first location on a surface of the body such that the contact imaging probe is in a first radial alignment with an imaging isocenter, and
• control the robotic actuator to position the contact imaging probe at a second location on the surface of the body such that the contact imaging probe is in a second radial alignment with the imaging isocenter, wherein the first and second radial alignments are different,
• wherein the contact imaging probe has a first tracking array and a second tracking array is rigidly attached to the body,
• wherein an initial distance between the contact imaging probe and the imaging isocenter is determined using optical tracking of optical markers on the first tracking array and the second tracking array,
• wherein controlling the robotic actuator to position the contact imaging probe at the first location comprises providing contact at the first location based on at least one of capacitive measurement feedback, temperature measurement feedback, conductivity measurement feedback, and/or optical feedback, and/or wherein controlling the robotic actuator to position the contact imaging probe at the second location comprises providing contact at the second location based on at least one of capacitive measurement feedback, temperature measurement feedback, conductivity measurement feedback, and/or optical feedback,
• wherein a first definition of the imaging isocenter is determined by a user manually touching at least three points on the surface of the body using a digitizing probe and a processor defining a circle based on the at least three points, and
• wherein the first definition of the imaging isocenter is a center of the circle.

A method of operating an imaging system using a contact imaging probe to generate imaging of a body, the method comprising:

• controlling a robotic actuator to position the contact imaging probe at a first location on a surface of the body such that the contact imaging probe is in a first radial alignment with an imaging isocenter;
• and
• controlling the robotic actuator to position the contact imaging probe at a second location on the surface of the body such that the contact imaging probe is in a second radial alignment with the imaging isocenter, wherein the first and second radial alignments are different,
• wherein the contact imaging probe has a first tracking array and a second tracking array is rigidly attached to the body,
• wherein an initial distance between the contact imaging probe and the imaging isocenter is determined using optical tracking of optical markers on the first tracking array and the second tracking array
• wherein controlling the robotic actuator to position the contact imaging probe at the first location comprises providing contact at the first location based on at least one of capacitive measurement feedback, temperature measurement feedback, conductivity measurement feedback,
• wherein a first definition of the imaging isocenter is determined by a user manually touching at least three points on the surface of the body using a digitizing probe and a processor defining a circle based on the at least three points, and
• wherein the first definition of the imaging isocenter is a center of the circle.