Systems and methods for detecting neurological conditions
According to various embodiments, there is provided a device including a processor configured to control a robotic system to autonomously position a transducer at a plurality of locations adjacent a subject's skull and to autonomously locate a window on the subject's skull within which an artery can be located, from which artery a signal can be returned to the transducer, the signal having an energy level exceeding a predefined threshold.
1. A device comprising a processor configured to:
control a robotic system to autonomously position a transducer at a plurality of locations adjacent a subject's skull;
register a position of the transducer relative to the subject's skull; and
autonomously locate a window on the subject's skull within which an artery can be located, from which artery a signal can be returned to the transducer, the signal having an energy level exceeding a predefined threshold, wherein the processor autonomously locates the window by:
receiving the signaling at the plurality of locations starting from an initial location, wherein the initial location of the plurality of locations is a seed point selected from a plurality of seed points stored in a database accessible by the processor, the seed point represents a location of the transducer that has a high likelihood of locating a window;
determining a candidate location of the transducer based on the signal; and
maximizing signal strength with respect to the candidate location of the transducer by:
directing the transducer to insonate at multiple depths and angles at the candidate location, wherein the signal comprises a plurality of signals, each of the plurality of signals returned at each of the depths and each of the angles, and directing the transducer to insonate at multiple angles comprises re-orienting the transducer;
determining one of the plurality of depths and one of the plurality of angles by interpreting the plurality of signals; and
controlling the robotic system to position the transducer at the one of the plurality of depths and the one of the plurality of angles.
2. The device of claim 1 wherein the processor is further configured to: cause the robotic system to autonomously locate within the window the signal returned to the transducer representative of blood flow within the artery, the signal having an energy level exceeding the predefined threshold.
3. The device of claim 1 , wherein the processor is further configured to record in a database a plurality of locations of the transducer as the robotic system autonomously positions the transducer.
4. The device of claim 3 , wherein the processor is further configured to record in a database a plurality of energy levels of signals returned to the transducer as the robotic system autonomously positions the transducer.
5. The device of claim 3 , wherein the device further comprises a robotic mechanism configured to move the transducer in multiple axes, and the processor is further configured to control pan, tilt, and Z axis positions of the robotic mechanism.
6. The device of claim 1 , wherein the processor is further configured to execute a search algorithm stored on non-transitory computer readable media, wherein the search algorithm uses the signal returned to the transducer to position the transducer.
7. The device of claim 1 , further comprising a database of previously measured locations with respect to the subject's skull stored on non-transitory computer readable media accessible by the processor, which database of previously measured locations is used by the processor to position the transducer.
8. The device of claim 1 , wherein the processor is configured to execute a search algorithm, the search algorithm being configured to use dynamic dwell time at a plurality of locations searched to position the transducer.
9. The device of claim 1 , wherein the robotic system further comprises a five degree of freedom robotic mechanism.
10. The device of claim 1 , wherein the robotic system further comprises a five degree of freedom robotic mechanism configured to move the transducer in multiple axes simultaneously.
11. The device of claim 1 , further comprising a robotic headset within which the transducer is mounted.
12. The device of claim 1 , wherein the processor is further configured to cause the robotic system to build a vascular map of the brain inside the subject's skull.
13. The device of claim 1 , wherein said transducer comprises an ultrasound probe.
14. A robotic imaging device comprising:
a transducer;
a processor in communication with the transducer, the processor configured to receive and process data from the transducer;
a robotic mechanism controlled by the processor configured to move the transducer to scan for and locate a window in a skull of a subject; and
wherein the processor is configured to:
register a position of the transducer with respect to the skull of a subject; autonomously control the robotic mechanism to search for; and
locate a transcranial Doppler (TCD) signal within the window in the skull of the subject, said TCD signal having an energy level exceeding a predefined threshold, wherein the processor autonomously locates the window by:
receiving the TCD signal at the plurality of locations starting from an initial location, wherein the initial location of the plurality of locations is a seed point selected from a plurality of seed points stored in a database accessible by the processor, the seed point represents a location of the transducer that has a high likelihood of locating a window;
determining a candidate location based on the TCD signal of the transducer; and
maximizing TCD signal strength with respect to the candidate location of the transducer by:
directing the transducer to insonate at multiple depths and angles at the candidate location, wherein the TCD signal comprises a plurality of TCD signals, each of the plurality of TCD signals returned at each of the depths and each of the angles, and directing the transducer to insonate at multiple angles comprises re-orienting the transducer;
determining one of the plurality of depths and one of the plurality of angles by interpreting the plurality of TCD signals; and
controlling the robotic system to position the transducer at the one of the plurality of depths and the one of the plurality of angles.
15. The robotic imaging device of claim 14 , wherein the processor is further configured to execute a search algorithm stored on non-transitory computer readable media, wherein the search algorithm uses the TCD signal returned to the transducer to position the transducer.
16. The robotic imaging device of claim 14 wherein the processor is further configured to execute a search algorithm stored on non-transitory computer readable media, which search algorithm employs dynamic dwell time at a plurality of search locations to position the transducer.
17. The robotic imaging device of claim 14 further comprising a visual window guide, wherein the robotic mechanism is further configured to use the visual window guide for initial registration.
18. The robotic imaging device of claim 14 , wherein the robotic mechanism is further configured to move in at least two axes simultaneously.
19. The robotic imaging device of claim 14 , wherein the robotic mechanism is further configured to comprise a five degree of freedom robotic mechanism configured to move the transducer in multiple axes simultaneously.
20. The robotic imaging device of claim 14 , wherein the robotic mechanism is further configured to comprise a six degree of freedom robotic mechanism.
21. The robotic imaging device of claim 14 , wherein the robotic mechanism is further configured to comprise at least a four degree of freedom robotic mechanism.
22. The robotic imaging device of claim 14 , further comprising a feedback mechanism used to adjust the position of the transducer with respect to the skull of the subject due to subject movement.