STABILIZED DEVICE FOR REMOTE PALPATION OF TISSUE

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 a tissue using a palpation element, the palpation element carried by a handheld or hand operated device and movable with respect to the handheld or hand operated device. The method includes actively stabilizing the handheld or hand operated device during the palpating the tissue. The method includes characterizing a reaction of the tissue to the palpating. 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 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 range of travel relative to the body structure along a longitudinal axis, and (ii) a body structure range of travel relative to the handle structure at least substantially parallel to the longitudinal axis; a palpation linear actuator coupling the body structure and the palpation element, and configured to reversibly move the palpation element relative to the body structure linearly over at least a portion of the palpation element range of travel; a stabilization linear actuator coupling the body structure and the handle structure, and configured to reversibly move the body structure relative to the handle structure linearly over at least a portion of the body structure range of travel; a sensor configured to detect an acceleration of the body structure along the longitudinal axis; a stabilization controller configured to stabilize the body structure by activating the stabilization linear actuator in a direction counteracting the detected acceleration of the body structure; a local communication module configured to communicate with a remote communication module; an examination controller configured to palpate the tissue using the palpation element by activating the palpation linear 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.