NL2024591B1 - Scanning device for making echo scans of a person - Google Patents
Scanning device for making echo scans of a person Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0883—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the heart
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/40—Positioning of patients, e.g. means for holding or immobilising parts of the patient's body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
- A61B8/429—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by determining or monitoring the contact between the transducer and the tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4477—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device using several separate ultrasound transducers or probes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
- A61B8/4263—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors not mounted on the probe, e.g. mounted on an external reference frame
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
- A61B8/4281—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by sound-transmitting media or devices for coupling the transducer to the tissue
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
- A61B8/467—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient characterised by special input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/486—Diagnostic techniques involving arbitrary m-mode
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/488—Diagnostic techniques involving Doppler signals
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- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
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- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
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Abstract
A scanning device 31 has an ultrasonic transducer 9 being in an opening 35 in a mattress 33 and displacement means for translating and rotating the ultrasound transducer. These displacement means cornprise translation means 37 and angular rotation means 39 and an arm 65. The arm 65 is with an end rotatably connected to the translation means 37 and with the other end to the ultrasonic transducer 9. A constant force spring 69 is present between the arm 65 and translation means 37 and exerts a force of constant magnitude on the arm 65 in a direction forcing the second end of the arm moving upwards. The constant force spring ensures that the ultrasound transducer under all conditions is pushed with the sane force to the body of the person and that there don’t have to be means for adjusting the vertical position of the ultrasound transducer during operation.
Description
Scanning device for making echo scans of a person DESCRIPTION: Technical field of the invention The invention relates to a scanning device for making ultrasound scans of a person, comprising: - at least one ultrasound transducer provided with a scanning window, - a mattress with a bottom with which it can be placed on a mattress support, a top on which a user is present during use, and an opening that extends from the bottom to the top and is located at a location where a user's body part to be examined is present during use, - displacement means for translating and rotating the ultrasonic transducer, and - operating means for remote control of the displacing means.
Health care workers are becoming more and more scarce as need for health care exceeds availability. Moreover, in certain parts of the world, even basic health care facilities and health care workers are lacking. This is not only a shortage of means, but also a shortage of educated personnel. There is thereby a necessity to develop ways to add easy, readily available diagnostics, for remote care. These developments are needed on a global scale, and global initiatives are rapidly developing.
Echo especially requires skilled workers to take views. Not only is personnel scarce, but also suboptimal echoes are a result. Especially cardiac echoes require skills and high volume operators. Suboptimal echoes can be echoes hard to judge, but also missed or misinterpreted pathology. After hours echoes by people who are not extensively trained, or with low echo numbers per year can be causes for this. This is a growing problem as more and more echoes are requested, for more occasions, not only at dedicated echo labs with skilled high volume personnel.
Background of the invention A scanning device for making ultrasound scans of a person as described in the preamble of claim 1 is known from EP2277449A. This known device comprises at least one transducer connected to a movable support disposed under an opening in a mattress against which the person is superficially supported, said support being movable at least parallel to said mattress, an opening is provided in the mattress and is completely filled with an acoustic gel, so that said gel ensures an acoustic guide free of any air gap on a ultrasound channel between the transducer and the person on superficial bearing part of the mattress.
Summary of the invention It is an object of the present invention to provide a scanning device which is easier to use and with which better results can be obtained, without the need of qualified personnel.
To this end the scanning device according to the invention is characterized in that the displacement means: - comprise an am which is rotatably connected with a first end about an axis of rotation, parallel to the top of the mattress, to a subpart of the displacement means and connected with a second end to the ultrasonic transducer, and - a constant force spring connected at one end to the am and at the other end to said subpart of the displacement means, which constant force spring exerts a force of constant magnitude on the am in a direction rotating the arm about the axis of rotation with the second end of the am moving upwards.
The mattress can be of any size and shape. It can for example be a large mattress on which the complete body including legs of a person can be present or a small mattress like a cushion on which the person is only lying with his/her chest. The scanning device according to the invention makes it possible to make scans of a person in prone position. The operating means can be a joystick so that it will be easier to perform an echo scan. Echo- cardiologists look at places in patients in supine position, lying on back face up or on side. This however, makes the contact-area with the heart and the front wall of the chest smaller, than lying in prone position (gravity). Echo will therefore benefit, lying in prone position; more contact area of heart with chest wall, creating larger windows to take echoes from. This is because echo is jeopardized by air of lungs between sensor and heart. So in prone position, it is likely that better images can be obtained. This is valuable, up to 20% of echo images are of suboptimal quality, due to interference of ribs or lungs in supine echoes, and lying on left side as is customary for some views like apical recordings. Performing echo with better echo windows due to a prone position will increase quality of images.
The constant force spring ensures that the ultrasound transducer under all conditions is pushed with the sare force to the body of the person and that there don’t have to be means for adjusting the vertical position of the ultrasound transducer during operation. This reduces the complexity of the displacement means significantly and also that of the operating means.
An advantageous lay out of the displacement means is characterized in that they comprise translation means of which said subpart forms part, as well as angular rotation means which are present between the second end of the am and the ultrasonic transducer.
The angular rotation means preferably comprise three mutually connected gimbals which are mutually rotatably connected to each other about three perpendicular axes of rotation, such that the ultrasonic transducer is rotatable about the three axes of rotation, and the angular rotation means further comprise three motors which can rotate the gimbals relative to each other about the three rotation axes.
ft is at four major distinct locations (with minor variations between people, within 10 on at most) that an ultrasound transducer can view the heart. An embodiment of the scanning device according to the invention with which echo scans can be made at different locations is characterized in that it comprises at least one further ultrasound transducer provided with a scanning window that is present near the upper side of the mattress, the ultrasound transducers being located in the mattress at distance from each other.
Due to the four echo positions, the twisting of the transducer in each position (record nultiple planes) is a time-
consuming procedure, preferably perfomed by high skilled, thus expensive, and scarce personnel. A further embodiment of the scanning device according to the invention with which a number of echo scans at different locations can be made in a relatively short time is characterized in that the scanning device further comprises image processing means connected to the ultrasound transducers, and a control unit which is connected to the image processing means and the operating means for controlling the displacing means such that the ultrasound transducers make the best possible scans. Perfoming echo with better echo windows due to a prone position, as well as automation of the procedure would fulfil multiple needs, like time, personnel and quality of images. With the scanning device according to the invention echo scans can be made half or full automated without need, or with reduced need for dedicated personnel. This can be automated to record multiple planes like, but not confined to, mmode, doppler, colour doppler, strain rate, 2D and 3D. The ultrasound transducers can be placed in any orientation in regard to the person.
Three dimensional visualization by multiple techniques is requested and available in CT and used in MR, but not widespread available for most imaging techniques like echo, auscultation and EGG. With the device according to the invention three dimensional visualisation will be possible with echo techniques.
Preferably, gel is present on the scanning window to improve contact between the ultrasound transducer and the body of the person. The mattress or other transducer embedded embodiment can be filled with gel or only a closed bag around the ultrasound transducer can be filled with gel.
Yet a further embodiment of the scanning device according to the invention is characterized in that at least one marking is present on the mattress with respect to which the person can be positioned so that the displacing means only have to be designed to displace the ultrasound transducers over short distances.
Brief description of the drawings
The invention will be further elucidated below on the basis of drawings. These drawings show embodiments of the scanning device according to the present invention. In the drawings: 5 Figure 1 is a schematically representation of a first embodiment of the scanning device during use with a person lying in prone position; Figure 2 is a schematic representation of the scanning device of figure 1 illustrating processing of the scan data of the transducer to a 2D representation of the organ; Figure 3 is a schematically representation of a second embodiment of the scanning device during use with a person lying in prone position; Figure 4 is a schematic representation of the scanning device of figure 3 illustrating processing of the scan data of the transducers to a 3D representation of the organ scanned from different angles and at different locations; Figure 5 is a photographic representation of third embodiment of the scanning device 31 of the invention; Figures 6 is a view from below of the scanning device of figure 5; Figures 7 is a side view of the scanning device of figure 5; and Figure 8 is an enlarged view of the angular rotation means of the displacement means of the scanning device of figure
5. Detailed description of the drawings Figure 1 shows a schematically representation of a first embodiment of the scanning device 1 according to the invention during use with a person 2 lying in prone position. The scanning device 1 has a mattress 3 with a bottom 5 for placing on a mattress support 8 and an upper side 7 on which the person 2 lies with the chest facing down. The scanning device 1 further has an ultrasound transducer 9 located in the mattress 3. The ultrasound transducer 9 is provided with a scanning window 11 that is present near the upper side 7 of the mattress.
The ultrasound transducer 9 is connected to displacing means 13 for translating and rotating the ultrasound transducer
9. The scanning device 1 further has operating means 15 for remotely controlling the displacing means. These operation means can be a joystick so that a scan can be made while the person lies with the chest downward. In order to automate the scanning process image processing means 17 are connected to the ultrasound transducer 9 and a control unit 19 is connected to the image processing means 17 and the operating means 15 for controlling the displacing means such that the ultrasound transducer makes the best possible scan. Gel 21 is present on the scanning window 11 in order to be able to make good contact with the body of the person 2 and at least one marking 23 is present on the mattress to position the person 2 on the mattress so that the displacing means only have to be able to move the ultrasound transducer over a relatively short distance. Figure 2 illustrates the processing of the scan data of the ultrasound transducer of the organ scanned. The data produced by the ultrasound transducer is visualized in 2D on a screen 25. Figure 3 shows a schematically representation of a second embodiment of the scanning device according to the invention. The sare reference signs are used for the parts that are the same as in the first embodiment. In this embodiment the scanning device 1 has a number of ultrasound transducers 9 that are located in the mattress 3 at distance from each other. Each of these ultrasound transducers 9 being provided with a scanning window 11 that is present near the upper side 7 of the mattress. The ultrasound transducers 9 are connected to displacing means 13 for translating and rotating the ultrasound transducers 9. The scanning device 1 further has operating means 15 for remotely controlling the displacing means. Image processing means 17 are connected to the ultrasound transducers 9 and a control unit 19 is connected to the image processing means 17 and the operating means 15 for controlling the displacing means such that the ultrasound transducers make the best possible scans.
Figure 4 is a schematic representation illustrating the processing of the scan data of the ultrasound transducers to a 3D representation of the organ scanned from different angles and at different locations.
Figure 5 is a photographic representation of third embodiment of the scanning device 31 of the invention. In this embodiment the mattress 33 is a large sized mattress provided with an opening 35 in which the ultrasonic transducer 9 can be moved. The displacement means comprise translation means 37 and angular rotation means 39. The translation means 37 conprise two fongitudinal guide bars 41 extending in lengthwise direction of the mattress 33. Along these guide bars a first slide 43 is movable comprising two transversal guide bars 45. Along these transversal guide bars a second slide 47 is movable supporting two vertical guide bars 49 along which a third slide 51 is movable. The first slide 43 is connected to two belts 53 which are driven by two motors 55. The second slide 47 is connected to a further belt 57 which are driven by a further motor 59. To this second slide a spindle 61 is connected which is driven by a motor 63 to move the third slide 51 along the vertical guide bars 49.
The displacement means further comprise an am 65 which is rotatably connected with a first end about an axis of rotation 67 supported on the third slide 51. This axis of rotation 67 is parallel to the mattress 33. The other, second end of this am 65 carries the ultrasonic transducer 9. The third slide 51 supports a constant force spring 69 that is connected to the am 65. This constant force spring exerts a force of constant magnitude on the am in a direction rotating the arm about the axis of rotation 67 with the second end of the am moving upwards. The angular rotation means 39 are present between the second end of the arm 65 and the ultrasonic transducer 9.
In figures 6 and 7 the scanning device 31 is schematically shown from below and in side view. The mattress 33 has an upper side 33a and a bottom side 33b. During operation a person lies on the upper side 33a of the mattress with a part of the body above the opening 35 at the same level as the upper side 33a of the mattress. The scanning window of the ultrasound transducer 9 will be in contact with that part of the body of the person to be scanned.
In figure 8 the angular rotation means 39 are shown in an enlarged view. The angular rotation means 39 comprise three mutually connected gimbals 71, 73 and 75 which are mutually rotatably connected to each other about three perpendicular axes of rotation 77, 79 and 81, such that the ultrasonic transducer 9 is rotatable about the three axes of rotation. The angular rotation means 39 further comprise three motors 83, 85 and 87 nwhich can rotate the gimbals relative to each other about the three rotation axes.
In a method to perform robotic echo analyses a stepwise approach is used in which the ultrasound transducer is advanced towards the subject (the thorax in echocardiography) in a patient lying on belly. Lying on the belly on a mattress the ultrasound transducers are positioned using classical landmarks on the body. These are for example bone/soft tissue interfaces like the intercostal spaces. The curvature in the sternum, the angulations of ribs mid abdominal and other landmarks are determined for example (for example spina iliaca superior anterior for echoes of other body parts). These landmarks can be detemined with making an echo from within a gel mattress looking at the body above (lying on belly for example). These landmarks too can be determined with other sensor technology, enabling recognition (for example tremors or percussion or resistance to being pressed upon).
Predefined spots on the thorax (or other) for the echo (or other) will be found with sensor technology, using landmarks like angulations of the sternum, the bony boundaries of the ribs/sternum and other. A gel or other echo lucent material is used. An automated algorithm is used to position the ultrasound transducer (spiral shape movements, or movements in a 2D grid) with the ultrasound transducer moving over the focus area. When the focus area is found (a good to best place where the ultrasound transducer touches the body), the tail of the echo is making automated movements to enable good to best positioning of the echo bean (not only look at the heart for example, but in the right coupes through the heart) and the different angles from each viewpoint are automated. In echocardiography this means that long and short axes and others are taken from each position of the echo. The ultrasound transducer takes samples, adjusting gain and depth and width and mHz and doppler, color doppler and the other frequencies and methods used in echo (for example, echo techniques like, but not confined to, mmode, 2d and 3dimensional echo, tissue doppler/second hamonics etc) for each relevant position. At a distance the ultrasound transducers can be fine tuned for better imaging. An array of piezo electric crystals can be used to cover the focus area and around, where the best placed crystals are used, and other data is discarded. With pattern recognition techniques, place of echo and gain and depth and width and mHz and doppler, color doppler and the other frequencies and methods is adjusted to the views seen (so it makes focus views of valves or tumors/thrombus/infections). This with different ultrasound transducers from different locations. This can be automated or on request. The echo images can be put in any output, glasses, hologram, layover, for example to guide surgery at same or different manent.
A 3D reconstruction can be created by knowledge of the position of the ultrasound transducers, but can also be reconstructed with use of multiple automated or human-selected landmarks in or on the body, like a (part of a) cardiac valve or a bony structure or a vessel. This integrating of info from different ultrasound transducers will enable higher spatial resolution of measurements. Overlap of cross sections of images from different positions of ultrasound transducers can be used for imaging, enabling enhancement of resolution. In an embodiment the area of interest of multi transducer echo is the overlap of cross sections of images from different positions of transducers. This focus area comprised of one area that is imaged from multiple transducer positions simultaneously, can be shifted automated or with remote control, to image a larger area. This can be the course of a coronary artery. One could compare this to theatre with multiple stage lights following one moving actress.
The ultrasound transducers can be fit in a modular element of which a mattress is constructed, or it can be integrated with multiple ultrasound transducers in one big mattress, To find predetemined spots, for example the sternum and the angulations as in the sternum, another sensor or echo can be used. This is deeper in the gel/to create better overview of thorax. When the specific area of interest is identified (by determining soft/bony tissue interface for exanple) the ultrasound transducer is positioned. When sinking in mattress, ultrasound transducers aligns with body to optimize contact with intercostal and sub- and parasternal space. These ultrasound transducers can be further positioned by a help-echo that identifies the sub- or intracostal space for example and a motorized option. Camera/sensor check to calculate positions of sensors in respect to body/each other Finding angulations in sternum and from there the intercostal spaces 2, 3 and so on. So standard ultrasound transducer positions can be detemined.
When a predetemined place is found, ultrasound transducer is moved to that place (robot am) and then the whole ultrasound transducer is moved in predetemined pattern to find best spot (can sometimes be on a rib instead of in between.). Once a predetemined place is found the data of the echo are used to further position the ultrasound transducer in detail to fit the heart in the visible window and to use 3d and rotating adjustments. Remote fine tuning alone or as add on to automated fine tuning, can be perfomed too, if it cannot be optimized in automated fashion or at operator discretion. Once in place, ultrasound transducer is rotated/twisted/turned to produce best images in standardized orientations (like views perpendicular or with other predetermined angles to each other from sare location as in standard echo cardiography and other echo).
With NFC technology or other the distance between ultrasound transducers/piezo electric crystals is detemined to enable enhanced 3-dimensional images and better spatial resolution of measurements and other echo findings. Echo can be integrated from different ultrasound transducers, from different angles or combined with other imaging data (CT-, electrocardiography and so on). 3-dimensional reconstruction can be made using data from multiple ultrasound transducers that sample at the same time.
Although the present invention is elucidated above on the basis of the given drawings, it should be noted that this invention is not limited whatsoever to the embodiments shown in the drawings. The invention also extends to all embodiments deviating from the embodiments shown in the drawings within the context defined by the claims.
Claims (7)
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Citations (5)
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JP2007111386A (en) * | 2005-10-21 | 2007-05-10 | Tokyo Univ Of Agriculture & Technology | Medical bed, and diagnosis/treatment system |
EP2277449A1 (en) | 2009-07-23 | 2011-01-26 | Siemens Schweiz AG | Device for positioning an ultrasonic probe |
US20180092626A1 (en) * | 2015-06-10 | 2018-04-05 | Koninklijke Philips N.V. | Ultrasound imaging apparatus |
EP3342352A1 (en) * | 2015-08-25 | 2018-07-04 | Softprobe Medical Systems, Inc | Fully-automated ultrasound scanner and scan detection method |
WO2019091971A1 (en) * | 2017-11-13 | 2019-05-16 | Koninklijke Philips N.V. | System and method for guiding ultrasound probe |
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2019
- 2019-12-30 NL NL2024591A patent/NL2024591B1/en active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007111386A (en) * | 2005-10-21 | 2007-05-10 | Tokyo Univ Of Agriculture & Technology | Medical bed, and diagnosis/treatment system |
EP2277449A1 (en) | 2009-07-23 | 2011-01-26 | Siemens Schweiz AG | Device for positioning an ultrasonic probe |
US20180092626A1 (en) * | 2015-06-10 | 2018-04-05 | Koninklijke Philips N.V. | Ultrasound imaging apparatus |
EP3342352A1 (en) * | 2015-08-25 | 2018-07-04 | Softprobe Medical Systems, Inc | Fully-automated ultrasound scanner and scan detection method |
WO2019091971A1 (en) * | 2017-11-13 | 2019-05-16 | Koninklijke Philips N.V. | System and method for guiding ultrasound probe |
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