Two way point contactless ultrasound system

A system comprising of:

• a) two photoacoustic laser excitation sources working simultaneously and in synchronization with the same wavelength to direct ultrasonic waves into a desired area of tissue at the speed of sound;
• b) two optical interferometers working simultaneously and in synchronization to detect surface vibrations on the area of interest;
• c) two photoacoustic laser excitation sources working simultaneously, in conjunction with one another, and in synchronization with minimal wavelength displacement in order to form laser stereometry images;
• d) a data acquisition system configured to process data originating from the backscattering of ultrasonic waveform sources on the surface of the tissue;
• e) a processor system configured to detect ultrasonic waveform sources to assess an internal structure of organs and tissues;
• f) a robotic platform configured to include the two laser sources working simultaneously and in synchronization, two optical interferometers working simultaneously and in synchronization, the GPS, the color camera, the black and white camera and the stepping motors used for translation and roto-translation;
• g) a 3-axis IMUs mounted on each laser, optical interferometer, GPS, color camera, black and white camera and the stepping motors used for translation and roto-translation;
• h) and a roto-translation apparatus that translates and rotates around the patient.

A system comprising of:

• a) two photoacoustic laser excitation sources working simultaneously, in conjunction with one another, and in synchronization with wavelength difference in order to form laser stereometry images at different depth at the same time and in synchronization to direct ultrasonic waves into a desired area of tissue distributing acoustic energy into the tissue at the speed of sound;
• b) two optical interferometers working simultaneously and in synchronization to detect surface vibrations on the area of interest;
• c) a data acquisition system configured to process data originating from the backscattering of ultrasonic waveform sources on the surface of the tissue;
• d) a processor system configured to detect ultrasonic waveform sources to assess an internal structure of organs and tissues;
• e) a robotic platform configured to include the two laser sources working simultaneously and in synchronization, two optical interferometers working simultaneously and in synchronization, the GPS, the color camera, the black and white camera and the stepping motors used for translation and roto-translation;
• f) a 3-axis IMUs mounted on each laser, optical interferometer, GPS, color camera, black and white camera;
• g) and two focused compensation lenses for directing the photoacoustic excitation laser sources into the tissue or the area of interest.

A system comprising of:

• h) two photoacoustic laser excitation sources working simultaneously, in conjunction with one another, and in synchronization with wavelength difference in order to form laser stereometry images at different depth at the same time and in synchronization to direct ultrasonic waves into a desired area of tissue distributing acoustic energy into the tissue at the speed of sound;
• i) two optical interferometers working simultaneously and in synchronization to detect surface vibrations on the area of interest;
• j) a data acquisition system configured to process data originating from the backscattering of ultrasonic waveform sources on the surface of the tissue;
• k) a processor system configured to detect ultrasonic waveform sources to assess an internal structure of organs and tissues;
• l) a robotic platform configured to include the two laser sources working simultaneously and in synchronization, two optical interferometers working simultaneously and in synchronization, the GPS, the color camera, the black and white camera and the stepping motors used for translation and roto-translation;
• m) a 3-axis IMUs mounted on each laser, optical interferometer, GPS, color camera, black and white camera and the stepping motors used for translation and roto-translation;
• n) and a roto-translation apparatus that translates and rotates around the patient.

A method for generating real-time laser ultrasound 2D-3D images of a subject comprised of:

• a) drawing specific points on the skin of the patient with a highlighter and connect them allowing the external color camera and black and white camera to feature-detect those points and establish a specific search area box;
• b) two photoacoustics excitation sources working simultaneously, in conjunction with one another and in synchronization with minimal wavelength displacement range emitting ultrasonic waves into a tissue within the search area box determined by the doctor;
• c) using two optical interferometers working simultaneously and in synchronization to detect the maximum vibrational points on the surface of the tissue within the search area box determined by the doctor by assigning xyz coordinates to every point;
• d) extracting the maximum vibrational intensity for every detected surface point;
• e) assigning the cartesian coordinates to each vibrational intensity point detected;
• f) combining all the vibrational coordinate points together to create a heat grid map at a specific depth according to the penetration power of the two photoacoustic excitation sources;
• g) interpolating the different layers to form a completely contactless 3D image;
• h) applying particle filtering techniques to predict a 2D/3D image at another specific depth;
• i) visualizing the 2D-3D reconstructed images into a proper visualization processor system;
• and
• j) saving sensor data positions, orientation, displacement, velocities and vibrational points to a data logger.

A method for generating post-processing laser ultrasound 2D-3D images of a subject comprised of:

• a) accessing the Ultrasound Laser System Scanning Session Data that contains all the sensors information obtained from a real-time session previously performed;
• b) opening on a Robotic Platform the Ultrasound Laser System Scanning Session Data;
• c) preparing the proper local reference frames of the external sensors in the Robotic Platform;
• d) preparing the proper absolute reference frames of the external gps sensor in the Robotic Platform;
• e) combining all local and absolute reference frame of the external sensors and gps to obtain precise location in the Robotic Platform;
• f) playing all the time stamped sensors information from where they started working at the beginning of the real-time session to where they stopped working during the real-time session;
• g) interpolating the different information from the optical interferometers to obtain a completely contactless 3D image;
• h) applying particle filtering techniques to predict a 2D/3D image from the data present in the Ultrasound Laser System Scanning Session Data;
• i) visualizing the 2D/3D reconstructed images into a proper visualization processor system;
• j) and saving sensor data positions, orientation, displacement, velocities and vibrational points predicted to a data logger.