STABILIZED DEVICE FOR REMOTE PALPATION OF TISSUE IN TWO NON-COLLINEAR DIRECTIONS

摘要

Described embodiments include a handheld or hand operated device and a method. The method includes contacting a skin surface of a patient and palpating tissue in two non-collinear directions using a tip of a palpation element carried by a handheld or hand operated device. The palpation tip is movable with respect to the handheld or hand operated device in the two non-collinear directions. The method includes actively stabilizing the handheld or hand operated device in the two non-collinear directions during the palpating the tissue. The method includes characterizing a reaction of the tissue to the palpating in the two non-collinear directions. The method includes transmitting the characterization of the tissue reaction to a remote communication module.

主权项

1. A handheld or hand operated device comprising:
a palpation element having a tip configured to contact a skin surface of a patient and palpate tissue underlying or proximate to the skin surface; a handle structure configured to be held or gripped by a user operating the device; a body structure configured to allow (i) a palpation element tip range of travel relative to the body structure in two non-collinear directions, and (ii) a body structure range of travel relative to the handle structure in the two non-collinear directions; a palpation actuator coupling the body structure and the palpation element, and configured to reversibly move the palpation element relative to the body structure in the two non-collinear directions; a stabilization actuator coupling the body structure and the handle structure, and configured to reversibly move the body structure relative to the handle structure in the two non-collinear directions; a sensor configured to detect an acceleration of the body structure in the two non-collinear directions; a stabilization controller configured to stabilize the body structure by activating the stabilization actuator in a direction counteracting the detected acceleration of the body structure in the two non-collinear directions; a local communication module configured to communicate with a remote communication module; an examination controller configured to palpate the tissue with the tip of the palpation element in the two non-collinear directions by activating the palpation actuator; and a reporting circuit configured to characterize a reaction of the tissue to the palpation, and to initiate a transmission of the characterization of the reaction by the local communication module to the remote communication module.