Ergonomic control strategies for a handheld force-controlled ultrasound probe

An ergonomic, handheld, force-controlled ultrasound probe has been developed for medical imaging applications. The device, which consists of an ultrasound probe mounted to a backlash-free ball screw actuator and driven by a compact servo motor, maintains a prescribed contact force between the ultrasound probe and patient's body. A control system which combines both a position and a force controller enables ergonomic operation by keeping the actuator centered within its range of motion and permits the repeated making and breaking of probe-patient contact. By controlling ultrasound probe contact force and consequently the amount of tissue deformation, the system enhances the repeatability, usability, and diagnostic capabilities of ultrasound imaging.