公开(公告)号：US20210000445A1

公开(公告)日：2021-01-07

申请号：US16458487

申请日：2019-07-01

Applicant: General Electric Company

Inventor： Huan Tan ,  Bo Wang ,  Heather Chan ,  David Martin Mills ,  Aaron Mark Dentinger ,  David Andrew Shoudy ,  Steven Robert Gray ,  John Robert Hoare

IPC: A61B8/00 ,  G01S7/52 ,  G01S15/89 ,  A61B8/08

Abstract: A robotic body scanning system includes a robotic manipulator, a force sensor, a probe, a surface sensing system, and a computing device. The probe is attached to the robotic manipulator and configured to scan the portion of the human body. The surface sensing system is configured to detect a surface of the portion of the human body and generate data representing the portion of the human body. The computing device is configured to receive data representing the portion of the human body from said surface sensing system and generate two or three-dimensional representations of the portion of the human body. The computing device includes a trajectory generation module configured to generate an adapted trajectory for the probe to follow based on the two or three-dimensional representations. The robotic manipulator is configured to move the probe along the adapted trajectory along the portion of the human body.