Two-way haptic sensing for robotic ultrasound scanning

A system, comprising:

• an ultrasound device comprising an ultrasound probe;
• a robot comprising an arm configured to couple to the ultrasound probe;
• and
• a control system comprising a processing system and memory, wherein the control system is configured to:
• receive input from a user, via a user interface, to begin an ultrasound scan of a subject utilizing the robot to move the ultrasound probe along an acquisition surface of the subject, wherein the user is located at a location remote from both the ultrasound device and the robot;
• utilize machine learning to provide control signals to the robot to move the ultrasound probe along the acquisition surface during the ultrasound scan to acquire ultrasound scan data free of interaction from the user;
• and
• utilize machine learning to analyze image quality of images acquired during the ultrasound scan and to provide the control signals, when the image quality is below a predetermined image quality threshold, to the robot to move or to apply more pressure to the ultrasound probe to create full ultrasound probe contact with the acquisition surface.

A method for performing a remote ultrasound exam, comprising:

• receiving, at a control system having a processing system and memory, input from a user, via a user interface, to begin an ultrasound scan of a subject utilizing a robot having an arm coupled to an ultrasound probe of an ultrasound device to move the ultrasound probe along an acquisition surface of the subject, wherein the user is located at a location remote from both the ultrasound device and the robot;
• providing, via the control system, control signals to the robot to move the ultrasound probe along the acquisition surface during the ultrasound scan to acquire ultrasound scan data in response to manipulation of a reverse collaborative robot by the user, wherein the reverse collaborative robot is located at the location remote from both the ultrasound device and the robot, and wherein the reverse collaborative robot comprises actuators configured to provide haptic feedback to the user;
• and
• utilizing, via the control system, machine learning to analyze image quality of images acquired during the ultrasound scan and to provide feedback signals, when the image quality is below a predetermined image quality threshold, to the reverse collaborative robot that cause the actuators to provide an alert to the user to move or to apply more pressure to the ultrasound probe, via the reverse collaborative robot, to create full ultrasound probe contact with the acquisition surface.