Patent Publication Number: US-2020297308-A1

Title: Ultrasound automatic scanning system, ultrasound diagnosis apparatus, and ultrasound scanning support apparatus

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2019-050609, filed on Mar. 19, 2019, the entire contents of which are incorporated herein by reference. The entire contents of the prior Japanese Patent Application No. 2020-048967, filed on Mar. 19, 2020, are also incorporated herein by reference. 
     FIELD 
     Embodiments described herein relate generally to an ultrasound automatic scanning system, an ultrasound diagnosis apparatus, and an ultrasound scanning support apparatus. 
     BACKGROUND 
     Conventionally, ultrasound diagnosing processes are performed by obtaining information about a tissue structure, a blood flow, or the like from the inside a human body, as a result of a medical technologist or a medical doctor operating an ultrasound probe over the body surface of a subject. For example, in accordance with the diagnosed site or diagnosis specifics, the medical technologist or the medical doctor scans the inside of the subject with ultrasound waves, by operating, over the body surface, the ultrasound probe configured to transmit and receive ultrasound waves, to acquire an ultrasound image exhibiting the tissue structure or an ultrasound image exhibiting the information about the blood flow or the like. 
     For these ultrasound diagnosing processes, performing a scan by using a robot has been proposed in recent years. For example, a technique is known by which position information of the body surface of a subject is obtained from a photo of the subject taken by a camera, so as to generate a scan path indicating a moving trajectory of an ultrasound probe from the obtained position information, so that a robot moves the ultrasound probe along the generated scan path. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram illustrating an exemplary configuration of an ultrasound diagnosis apparatus according to a first embodiment; 
         FIG. 2  is a drawing of an external appearance illustrating an example of a mechanical mechanism according to the first embodiment; 
         FIG. 3  is a drawing for explaining an example of a table for a scan target site according to the first embodiment; 
         FIG. 4A  is a drawing illustrating an example of an arm rest according to the first embodiment; 
         FIG. 4B  is a drawing illustrating another example of the arm rest according to the first embodiment; 
         FIG. 5  is a drawing for explaining an example of an automatic scan performed by the ultrasound diagnosis apparatus according to the first embodiment; 
         FIG. 6  is a flowchart for explaining a procedure in a process performed by the ultrasound diagnosis apparatus according to the first embodiment; 
         FIG. 7  is a drawing for explaining an example of an automatic scan performed by an ultrasound diagnosis apparatus according to a second embodiment; 
         FIG. 8  is a drawing for explaining an example of a process performed by a detecting function according to the second embodiment; 
         FIG. 9  is a flowchart for explaining a procedure in a process performed by the ultrasound diagnosis apparatus according to the second embodiment; 
         FIG. 10  is a drawing for explaining an example of an ultrasound probe according to a third embodiment; and 
         FIG. 11  is a drawing for explaining another example of the ultrasound probe according to the third embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     An ultrasound automatic scanning system according to an embodiment includes at least one ultrasound probe, a mechanical mechanism, and processing circuitry. The one or more ultrasound probes are each configured to transmit and receive an ultrasound wave. The mechanical mechanism is configured to hold the ultrasound probe and to move the ultrasound probe while an ultrasound wave transmission-reception surface of the ultrasound probe is directed toward a subject. The processing circuitry is configured to detect, on a basis of the ultrasound wave transmitted and received by the ultrasound probe, distance information between a body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe, with respect to a first scan position and a second scan position set along the body surface of the subject. The processing circuitry is configured to control the mechanical mechanism so as to move the ultrasound probe on a basis of the distance information. The processing circuitry is configured to control ultrasound scans performed in the first scan position and in the second scan position on the subject by the ultrasound probe moved by the mechanical mechanism. The processing circuitry is further configured to control the mechanical mechanism so as to move the ultrasound probe to the second scan position after the distance information detection and the ultrasound scan in the first scan position are performed. 
     Exemplary embodiments of an ultrasound automatic scanning system, an ultrasound diagnosis apparatus, and an ultrasound scanning support apparatus of the present disclosure will be explained in detail, with reference to the accompanying drawings. Possible embodiments of the ultrasound automatic scanning system, the ultrasound diagnosis apparatus, and the ultrasound scanning support apparatus of the present disclosure are not limited to the embodiments described below. Further, some of the constituent elements in the explanations below that are the same as one another will be referred to by using the same reference characters, and duplicate explanations thereof will be omitted. 
     First Embodiment 
     To begin with, an ultrasound diagnosis apparatus according to a first embodiment will be explained.  FIG. 1  is a block diagram illustrating an exemplary configuration of an ultrasound diagnosis apparatus  1  according to the first embodiment. As illustrated in  FIG. 1 , the ultrasound diagnosis apparatus  1  according to the present embodiment includes an ultrasound probe  2 , a display  3 , an input interface  4 , and an apparatus main body  5 . The ultrasound probe  2 , the display  3 , and the input interface  4  are communicably connected to the apparatus main body  5 . Further, in the ultrasound diagnosis apparatus  1  according to the present embodiment, a mechanical mechanism  6  is communicably connected to the apparatus main body  5 . A structure including the ultrasound diagnosis apparatus  1  and the mechanical mechanism  6  serves as an example of the ultrasound automatic scanning system of the present disclosure. 
     The ultrasound probe  2  is connected to transmission and reception circuitry  51  included in the apparatus main body  5 . For example, the ultrasound probe  2  has a plurality of piezoelectric transducer elements in the probe main body. Each of the plurality of piezoelectric transducer elements is configured to generate an ultrasound wave on the basis of a drive signal supplied thereto from the transmission and reception circuitry  51 . Further, the ultrasound probe  2  is configured to receive reflected waves from a subject P and convert the reflected waves into electrical signals. Further, in the probe main body, the ultrasound probe  2  includes a matching layer provided for the piezoelectric transducer elements, as well as a backing member or the like that prevents the ultrasound waves from propagating rearward from the piezoelectric transducer elements. In this situation, the ultrasound probe  2  is detachably connected to the apparatus main body  5 . For example, the ultrasound probe  2  is an ultrasound probe of a sector type, a linear type, or a convex type. 
     When an ultrasound wave is transmitted from the ultrasound probe  2  to the subject P, the transmitted ultrasound wave is repeatedly reflected on a surface of discontinuity of acoustic impedances at a tissue in the body of the subject P and is received as a reflected-wave signal by each of the plurality of piezoelectric transducer elements included in the ultrasound probe  2 . The amplitude of the received reflected-wave signal is dependent on the difference between the acoustic impedances on the surface of discontinuity on which the ultrasound wave is reflected. When a transmitted ultrasound pulse is reflected on the surface of a moving blood flow, a cardiac wall, or the like, the reflected-wave signal is, due to the Doppler effect, subject to a frequency shift, depending on a velocity component of the moving members with respect to the ultrasound wave transmission direction. 
     The present embodiment is applicable to the situation where the subject P is two-dimensionally scanned by using the ultrasound probe  2  represented by a one-dimensional ultrasound probe in which the plurality of piezoelectric transducer elements are arranged in a row and to the situation where the subject P is three-dimensionally scanned by using the ultrasound probe  2  configured to mechanically swing the plurality of piezoelectric transducer elements of a one-dimensional ultrasound probe or the ultrasound probe  2  represented by a two-dimensional ultrasound probe in which the plurality of piezoelectric transducer elements are two-dimensionally arranged in a grid formation. 
     In the present example, as for the ultrasound probe  2 , the probe main body is held by the mechanical mechanism  6 , and the ultrasound probe  2  is moved while the ultrasound wave transmission-reception surface thereof is directed toward the subject. Details will be explained later. 
     The display  3  is configured to display a Graphical User Interface (GUI) used by an operator of the ultrasound diagnosis apparatus  1  for inputting various types of setting requests via the input interface  4  and to display an ultrasound image generated by the apparatus main body  5 , and the like. Further, the display  3  is configured to display various types of messages and display information to notify the operator of processing statuses and processing results of the apparatus main body  5 . Further, the display  3  has a speaker and is also capable of outputting audio. 
     The input interface  4  is realized with a trackball, a switch button, a mouse, and a keyboard used for setting a predetermined position (e.g., a region of interest) or the like, a touchpad on which input operations can be performed by touching the operation surface thereof, a touch monitor in which a display screen and a touchpad are integrally formed, a contactless input circuit using an optical sensor, an audio input circuit, and/or the like. The input interface  4  is connected to processing circuitry  55  (explained later) and is configured to convert an input operation received from the operator into an electrical signal and to output the electrical signal to the processing circuitry  55 . The input interface  4  of the present disclosure does not necessarily have to include one or more physical operation component parts such as a mouse and a keyboard. For instance, possible examples of the input interface include an electrical signal processing circuit configured to receive an electrical signal corresponding to an input operation from an external input device provided separately from the apparatus and to output the electrical signal to the processing circuitry  55 . 
     The mechanical mechanism  6  includes: a holding unit  61  configured to hold the probe main body of the ultrasound probe  2 ; and a mechanism unit  62  configured to move the ultrasound probe  2  to a desired position on the body surface of the subject. In other words, the mechanical mechanism  6  is configured to move the ultrasound probe  2  held by the holding unit  61  to the desired position with movement of the mechanism unit  62 . For example, in accordance with control exercised by the apparatus main body  5 , the mechanical mechanism  6  moves the ultrasound probe  2 . An example of the mechanical mechanism  6  will be explained below, with reference to  FIG. 2 . The mechanical mechanism  6  illustrated in  FIG. 2  is merely an example, and possible embodiments are not limited to this example. 
       FIG. 2  is a drawing of an external appearance illustrating the example of the mechanical mechanism  6  according to the first embodiment. As illustrated in  FIG. 2 , the mechanical mechanism  6  includes: the holding unit  61  having a first holding unit  611 , a second holding unit  612 , a third holding unit  613 , and a fourth holding unit  614 ; and the mechanism unit  62  having a first mechanism unit  621 , a second mechanism unit  622 , and a third mechanism unit  623 . The holding unit  61  is cast by using aluminum or the like and has an adjoining unit configured to adjoin any of the holding units together, an engagement unit configured to be engaged with the mechanism unit  62 , a probe holder configured to hold the ultrasound probe  2 , and the like. Further, the mechanism unit  62  has a driving unit realized with a motor, an actuator or the like, and an engagement unit configured to be engaged with the holding units or the like. 
     For example, one end of the first holding unit  611  in terms of the longitudinal direction is adjoined with a basal part (not illustrated) supporting the entirety of the mechanical mechanism  6 , whereas the other end is adjoined with the second holding unit  612 . As a result, the first holding unit  611  supports all the members that are directly or indirectly held by the second holding unit  612 . One end of the second holding unit  612  in terms of the longitudinal direction is adjoined with the first holding unit  611 , while the second holding unit  612  is engaged with the first mechanism unit  621  so that the first mechanism unit  621  is slidable along the longitudinal direction. For example, the second holding unit  612  has, along the longitudinal direction, a rail engaged with the first mechanism unit  621 , to hold the first mechanism unit  621  on the rail so as to be slidable. 
     In the present example, as illustrated in  FIG. 2 , as a result of the second holding unit  612  being adjoined with the first holding unit  611  while the longitudinal direction of the second holding unit  612  corresponds to the horizontal direction, the first mechanism unit  621  moves by sliding in the horizontal direction indicated with the arrow a 1 . The first mechanism unit  621  is engaged with and held by the second holding unit  612  and moves along the longitudinal direction of the second holding unit  612  due to the drive force of a driving unit such as a motor or an actuator. For example, the first mechanism unit  621  is engaged with the rail of the second holding unit  612  and configured move by sliding on the rail due to the drive force of the driving unit under control of the apparatus main body  5 . Further, the first mechanism unit  621  is adjoined with the second mechanism unit  622 . 
     As a result of being adjoined with the first mechanism unit  621 , the second mechanism unit  622  is held by the second holding unit  612 . Further, the second mechanism unit  622  is engaged with the third holding unit  613  and holds the third holding unit  613 , so that the third holding unit  613  is slidable. In other words, the second mechanism unit  622  is configured to move along the longitudinal direction of the second holding unit  612  in conjunction with the sliding movement of the first mechanism unit  621  and is also configured to cause the third holding unit  613  to slide. In this situation, the second mechanism unit  622  causes the third holding unit  613  to slide in a direction orthogonal to the moving direction of the first mechanism unit  621 . For example, the second mechanism unit  622  causes the third holding unit  613  to slide in the vertical direction indicated with the arrow a 2 , by using the drive force of a driving unit based on the control of the apparatus main body  5 . 
     One end of the third holding unit  613  in terms of the longitudinal direction is engaged with the second mechanism unit  622 , so that the third holding unit  613  slides on the second mechanism unit  622 . For example, the third holding unit  613  has, along the longitudinal direction, a rail engaged with the second mechanism unit  622  and is configured to slide on the second mechanism unit  622  in the vertical direction indicated with the arrow a 2 . Further, the other end of the third holding unit  613  is engaged with the third mechanism unit  623 . In this situation, the third holding unit  613  holds the third mechanism unit  623  so that the third mechanism unit  623  is able to make a rotational movement while using the longitudinal direction of the second holding unit  612  as the axis. For example, the third holding unit  613  holds the third mechanism unit  623  so that the third mechanism unit  623  is able to make the rotational movement in the direction indicated with the arrow a 3 . 
     The third mechanism unit  623  is held by the third holding unit  613  as being engaged with the third holding unit  613 . Further, the third mechanism unit  623  is adjoined with the fourth holding unit  614 . For example, the third mechanism unit  623  makes a rotational movement in the direction indicated with the arrow a 3 , while holding the fourth holding unit  614  (while the orientation of the fourth holding unit  614  is maintained) with the drive force of a driving unit based on the control of the apparatus main body  5 . As a result, the third mechanism unit  623  is able to change the angle of the ultrasound probe  2  held by the fourth holding unit  614 . 
     The fourth holding unit  614  is adjoined with the third mechanism unit  623  and is configured to hold the ultrasound probe  2 . For example, as illustrated in  FIG. 2 , the fourth holding unit  614  holds the ultrasound probe  2 , so that the direction of the plane of the ultrasound wave transmission-reception surface of the ultrasound probe  2  is orthogonal to the longitudinal direction of the third holding unit  613 . 
     As explained above, the mechanical mechanism  6  is able to move the ultrasound probe  2  held by the fourth holding unit  614  in the directions indicated with the arrows a 1 , a 2 , and a 3 , with the movements realized by the first mechanism unit  621 , the second mechanism unit  622 , and the third mechanism unit  623 . In other words, the mechanical mechanism  6  is able to move the ultrasound probe  2  in the horizontal directions and the vertical directions and to change the angle of the ultrasound probe  2 . Further, the mechanical mechanism  6  illustrated in  FIG. 2  is merely an example of mechanical mechanisms, and possible configurations of mechanical mechanisms are not limited to the one illustrated in the drawing. For instance, the mechanical mechanism  6  may include a mechanism unit that moves the ultrasound probe  2  in the direction that is orthogonal to the arrow a 1  and is also orthogonal to the arrow a 2 . 
     Returning to the description of  FIG. 1 , the apparatus main body  5  includes the transmission and reception circuitry  51 , B-mode processing circuitry  52 , Doppler processing circuitry  53 , a memory  54 , and the processing circuitry  55 . In the ultrasound diagnosis apparatus  1  illustrated in  FIG. 1 , processing functions are stored in the memory  54 , in the form of computer-executable programs. The transmission and reception circuitry  51 , the B-mode processing circuitry  52 , the Doppler processing circuitry  53 , and the processing circuitry  55  are processors configured to realize the functions corresponding to the programs, by reading and executing the programs from the memory  54 . In other words, the circuits that have read the programs have the functions corresponding to the read programs. 
     The transmission and reception circuitry  51  includes a pulse generator, a transmission delay circuit, a pulser, and the like and is configured to supply the drive signal to the ultrasound probe  2 . The pulse generator is configured to repeatedly generate a rate pulse for forming a transmission ultrasound wave at a predetermined rate frequency. Further, the transmission delay circuit is configured to apply a delay time period that is required to converge the ultrasound waves generated by the ultrasound probe  2  into the form of a beam and to determine transmission directionality and that corresponds to each of the piezoelectric transducer elements, to each of the rate pulses generated by the pulse generator. Further, the pulser is configured to apply the drive signal (a drive pulse) to the ultrasound probe  2  with timing based on the rate pulses. In other words, by varying the delay time periods applied to the rate pulses, the transmission delay circuit is able to arbitrarily adjust the transmission directions of the ultrasound waves transmitted from the surfaces of the piezoelectric transducer elements. 
     The transmission and reception circuitry  51  has a function that is able to instantly change transmission frequencies, transmission drive voltage, and the like, for the purpose of executing a predetermined scan sequence on the basis of an instruction from the processing circuitry  55  (explained later). In particular, the function to change the transmission drive voltage is realized by using a linear-amplifier-type transmission circuit of which the value can be instantly switched or by using a mechanism configured to electrically switch between a plurality of power source units. 
     Further, the transmission and reception circuitry  51  includes a pre-amplifier, an Analog-to-Digital (A/D) converter, a reception delay circuit, an adder, and the like and is configured to generate reflected-wave data by performing various types of processes on the reflected-wave signals received by the ultrasound probe  2 . The pre-amplifier is configured to amplify the reflected-wave signal for each of the channels. The A/D converter is configured to perform an A/D conversion on the amplified reflected-wave signals. The reception delay circuit is configured to apply a delay time period required to determine reception directionality. The adder is configured to generate the reflected-wave data by performing an adding process on the reflected-wave signals processed by the reception delay circuit. As a result of the adding process performed by the adder, reflected components of the reflected-wave signals that are from the direction corresponding to the reception directionality are emphasized, so that a comprehensive beam used in the ultrasound wave transmission and reception is formed on the basis of the reception directionality and the transmission directionality. 
     The B-mode processing circuitry  52  is configured to generate data (B-mode data) in which the signal intensity is expressed by a degree of brightness, by receiving the reflected-wave data from the transmission and reception circuitry  51  and performing a logarithmic amplification, an envelope detecting process, and/or the like thereon. 
     The Doppler processing circuitry  53  is configured to generate data (Doppler data) obtained by extracting moving member information such as velocity, dispersion, power, and the like with respect to multiple points, by performing a frequency analysis to obtain velocity information from the reflected-wave data received from the transmission and reception circuitry  51  and extracting a blood flow, a tissue, and a contrast agent echo component subject to the Doppler effect. For example, the moving members are fluids such as blood flowing in blood vessels, lymph flowing in lymphatic ducts, and the like. 
     The B-mode processing circuitry  52  and the Doppler processing circuitry  53  are each capable of processing both two-dimensional reflected-wave data and three-dimensional reflected-wave data. In other words, the B-mode processing circuitry  52  is configured to generate two-dimensional B-mode data from two-dimensional reflected-wave data and to generate three-dimensional B-mode data from three-dimensional reflected-wave data. Further, the Doppler processing circuitry  53  is configured to generate two-dimensional Doppler data from two-dimensional reflected-wave data and to generate three-dimensional Doppler data from three-dimensional reflected-wave data. The three-dimensional B-mode data is data in which a brightness value is assigned in correspondence with the intensity of reflection from a reflection source positioned at each of a plurality of points (sampling points) set on scanning lines within a three-dimensional scanned range. Further, the three-dimensional Doppler data is data in which a brightness value is assigned in correspondence with a value of blood flow information (velocity, dispersion, and power) to each of a plurality of points (sampling points) set on the scanning lines within the three-dimensional scanned range. 
     The memory  54  is configured to store therein display-purpose image data generated by the processing circuitry  55 . Further, the memory  54  is also capable of storing therein any of the data generated by the B-mode processing circuitry  52  and the Doppler processing circuitry  53 . Further, the memory  54  is also configured to store therein control programs for performing the ultrasound wave transmission and reception, image processing processes, and display processes, as well as various types of data such as diagnosis information (e.g., patients&#39; IDs, medical doctors&#39; observations), diagnosis protocols, various types of body marks, and the like. 
     The processing circuitry  55  is configured to control the entirety of processes performed by the ultrasound diagnosis apparatus  1 . More specifically, the processing circuitry  55  performs various types of processes by reading and executing programs corresponding to a controlling function  551 , an image generating function  552 , a detecting function  553 , and a mechanism controlling function  554  illustrated in  FIG. 1 , from the memory  54 . In this situation, the controlling function  551  is an example of a scan controlling unit. The detecting function  553  is an example of a detecting unit. The mechanism controlling function  554  is an example of a controlling unit. 
     For example, the processing circuitry  55  is configured to control processes performed by the transmission and reception circuitry  51 , the B-mode processing circuitry  52 , and the Doppler processing circuitry  53 , on the basis of the various types of setting requests input from the operator via the input interface  4 , as well as various types of control programs and various types of data read from the memory  54 . Further, the processing circuitry  55  is configured to exercise control so that the display  3  displays the display-purpose ultrasound image data (which hereinafter may be referred to as ultrasound images) stored in the memory  54 . Further, the processing circuitry  55  is configured to exercise control so that the display  3  displays processing results. For example, the processing circuitry  55  controls the entirety of the apparatus and controls the processes described above, by reading and executing the programs corresponding to the controlling function  551 . 
     The image generating function  552  is configured to generate the ultrasound image data from the data generated by the B-mode processing circuitry  52  and the Doppler processing circuitry  53 . In other words, the image generating function  552  is configured to generate B-mode image data in which the intensities of the reflected waves are expressed as brightness levels, from the two-dimensional B-mode data generated by the B-mode processing circuitry  52 . The B-mode image data is data rendering the shape of a tissue in the region subject to an ultrasound scan. Further, the image generating function  552  is configured to generate Doppler image data indicating the moving member information, from the two-dimensional Doppler data generated by the Doppler processing circuitry  53 . The Doppler image data is velocity image data, dispersion image data, power image data, or image data combining together any of these types of image data. The Doppler image data is data indicating fluid information related to the fluid flowing through the region subject to an ultrasound scan. 
     In this situation, generally speaking, the image generating function  552  converts (by performing a scan convert process) a scanning line signal sequence from an ultrasound scan into a scanning line signal sequence in a video format used by, for example, television and generates the display-purpose ultrasound image data. More specifically, the image generating function  552  generates the display-purpose ultrasound image data by performing a coordinate transformation process compliant with the ultrasound scanning mode used by the ultrasound probe  2 . Further, as various types of image processing processes besides the scan convert process, the image generating function  552  performs, for example, an image processing process (a smoothing process) to re-generate an average brightness value image, an image processing process (an edge enhancement process) that uses a differential filter inside an image, or the like, by using a plurality of image frames resulting from the scan convert process. Also, the image generating function  552  combines text information of various types of parameters, scale graduations, body marks, and the like with the ultrasound image data. 
     In other words, the B-mode data and the Doppler data are each ultrasound image data before the scan convert process. The data generated by the image generating function  552  is the display-purpose ultrasound image data after the scan convert process. The B-mode data and the Doppler data may be referred to as raw data. 
     Further, the image generating function  552  is configured to generate three-dimensional B-mode image data by performing a coordinate transformation process on the three-dimensional B-mode data generated by the B-mode processing circuitry  52 . Further, the image generating function  552  is configured to generate three-dimensional Doppler image data by performing a coordinate transformation process on the three-dimensional Doppler data generated by the Doppler processing circuitry  53 . The three-dimensional B-mode data and the three-dimensional Doppler data are each volume data before the scan convert process. In other words, the image generating function  552  generates “the three-dimensional B-mode image data and the three-dimensional Doppler image data” as “volume data represented by three-dimensional ultrasound image data”. 
     Further, the image generating function  552  is also capable of performing a rendering process on the volume data, for the purpose of generating various types of two-dimensional image data used for displaying the volume data on the display  3 . The detecting function  553  is configured to detect distance information between the ultrasound wave transmission-reception surface of the ultrasound probe  2  and the body surface of the subject. The mechanism controlling function  554  is configured to control the mechanical mechanism  6 . Details of the processes performed by the detecting function  553  and the mechanism controlling function  554  will be explained later. 
     An overall configuration of the ultrasound diagnosis apparatus  1  according to the first embodiment has thus been explained. The ultrasound diagnosis apparatus  1  according to the first embodiment structured as described above makes it possible to improve efficiency of the scans using a robot. More specifically, the ultrasound diagnosis apparatus  1  according to the first embodiment makes it possible to improve efficiency of the scans using a robot without generating a scan path, by performing a probe position determining process and an ultrasound image acquiring process while moving the ultrasound probe  2 . 
     As explained above, for ultrasound diagnosing processes, a technique has been proposed in recent years by which a scan path used by a robot to move an ultrasound probe is generated, so as to perform a scan by moving the ultrasound probe along the generated scan path. According to this technique, however, because the scan path is generated at first, it takes time and there is a certain limitation to the improvement of the efficiency. Further, because it takes time, it is not possible to perform the scan with an optimal scan path when the subject happens to move during the scan, and the quality of the image may be degraded. To cope with these circumstances, the ultrasound diagnosis apparatus  1  according to the first embodiment makes it possible to improve efficiency of the scans using the robot without the need to generate a scan path, by performing the probe position determining process and the ultrasound image acquiring process while moving the ultrasound probe  2 . 
     Next, details of the ultrasound diagnosis apparatus  1  according to the first embodiment will be explained. The detecting function  553  is configured to detect distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe, on the basis of an ultrasound wave transmitted and received by the ultrasound probe  2 . More specifically, the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception of the ultrasound probe  2 , on the basis of reflected-wave data acquired by moving the ultrasound probe  2  kept out of contact with the subject. In other words, the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface, on the basis of the reflected-wave data obtained as a result of the ultrasound wave transmitted from the ultrasound probe  2  kept out of contact with the subject being reflected on the body surface of the subject. 
     The mechanism controlling function  554  is configured to control movements of the mechanism unit  62 , by transmitting control signals to driving units included in the mechanism unit  62  of the mechanical mechanism  6 . For example, by transmitting a control signal to the first mechanism unit  621 , the mechanism controlling function  554  controls the driving unit of the first mechanism unit  621  to control the sliding movement of the first mechanism unit  621  in the direction indicated with the arrow a 1 . Further, for example, by transmitting a control signal to the second mechanism unit  622 , the mechanism controlling function  554  controls the driving unit of the second mechanism unit  622  to control the sliding movement of the third holding unit  613  in the direction indicated with the arrow a 2 . Also, for example, by transmitting a control signal to the third mechanism unit  623 , the mechanism controlling function  554  controls the driving unit of the third mechanism unit  623  to control the rotational movement of the third mechanism unit  623  in the direction indicated with the arrow a 3 . Further, the mechanism controlling function  554  transmits control information to the detecting function  553 . 
     In this situation, in the ultrasound diagnosis apparatus  1  according to the first embodiment, as described above, while the mechanical mechanism  6  is moving the ultrasound probe  2  kept out of contact with the subject, the reflected-wave data of the site subject to the scan (hereinafter, “scan target site”) is acquired. Accordingly, in the first embodiment, water is used as an acoustic medium so that it is possible to transmit and receive ultrasound waves even while the ultrasound probe  2  is kept out of contact with the body surface of the subject.  FIG. 3  is a drawing for explaining an example of a table  7  for a scan target site according to the first embodiment.  FIG. 3  illustrates the example of the table used when the scan target site is a section from the antebrachial region to the hand. 
     For example, as illustrated in  FIG. 3 , the table  7  has a water tank  71  and an arm rest  72 . The water tank  71  contains water. The arm rest  72  has an elbow rest part and a slope part that gradually slopes downward from the elbow rest part. In this situation, as illustrated in  FIG. 3 , the table  7  is configured with the water tank  71  containing water so that when the arm is placed on the arm rest  72 , the section from the antebrachial region to the hand is submerged in the water. Further, the mechanical mechanism  6  is arranged so that the ultrasound probe  2  is movable in the direction indicated with the arrow in  FIG. 3  with respect to the arm placed on the table  7 . For example, the mechanical mechanism  6  is arranged so that the longitudinal direction of the second holding unit  612  illustrated in  FIG. 2  is parallel to the longitudinal direction of the antebrachial region placed on the table  7  and so that the scan target site is scanned by ultrasound waves transmitted from the ultrasound probe  2  held by the fourth holding unit  614 . 
     Further, to scan the scan target site, the ultrasound probe  2  is put into the water in the water tank  71  and the ultrasound wave is transmitted and received while the ultrasound probe  2  is kept out of contact with the body surface of the scan target site. For example, the third holding unit  613  is caused to slide in the vertical direction by the driving of the second mechanism unit  622 , so that the ultrasound probe  2  is in the water of the water tank  71  while the ultrasound probe  2  is kept out of contact with the body surface. In the following sections, as illustrated in  FIG. 3 , the moving direction of the ultrasound probe  2  may be referred to as an X-direction, while the direction orthogonal and parallel to the X-direction may be referred to as a Y-direction, and the direction orthogonal to the X-direction and to the Y-direction may be referred to as a Z-direction. 
     In this situation, to stabilize the placement of the scan target site, the table  7  may be provided with a recess or a projection in the arm rest  72 . In other words, the arm rest  72  may be provided with the recess or the projection for fixing the scan target site so that, when subjects place the scan target sites on the table  7 , the scan target sites are always arranged in substantially the same position with respect to the table  7 . 
       FIGS. 4A and 4B  are drawings illustrating examples of the arm rest  72  according to the first embodiment. For example, as illustrated in  FIG. 4A , the arm rest  72  has: a recess part  721  which extends from an elbow rest part to the slope part and on which the section of the arm from the elbow to the antebrachial region is placed; and a projection part  722  that supports the hand. By using the arm rest  72  structured in this manner, for example, subjects are always able to place their arms substantially in the same position, by placing the section of the arm from the elbow to the antebrachial region in the recess part  721  and lightly gripping the projection part  722 . 
     In another example, as illustrated in  FIG. 4B , the arm rest  72  may have a recess part  723  which extends from the elbow rest part to the slope part and on which the section of the arm from the elbow to the hand is placed. In this situation, the recess part  723  is recessed in the shape of the human hand so that, for example, subjects are always able to place their arms substantially in the same position by placing the section of their arms from the elbow to the hand in the recess part  723 . 
     In the first embodiment, while having the arm placed on the table  7  structured as described above, the mechanical mechanism  6  performs the scan in a contactless manner. More specifically, the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 , with respect to at least one scan position set along the direction in which the ultrasound probe  2  is moved by the mechanical mechanism  6 . Every time distance information is detected by the detecting function  553 , the mechanism controlling function  554  is configured to control the mechanical mechanism  6  so as to move the ultrasound probe  2  to a probe position corresponding to at least one scan position derived on the basis of the detected distance information. Further, the controlling function  551  is configured to exercise control so that an ultrasound image is acquired in the probe position. 
     For example, in the first embodiment, the subject at first places the scan target site on the table. In this situation, when the scan target site is an arm, the subject places the arm on the table  7  described above. Further, the mechanism controlling function  554  controls the mechanism unit  62  of the mechanical mechanism  6 , so as to move the ultrasound probe  2  to an initial position. In this situation, for example, the initial position may be determined by a user such as the operator or may be determined in advance for each table. 
     For example, when the initial position is determined by the user, the operator has the ultrasound probe  2  moved to the initial position, by causing the mechanism controlling function  554  to control movements of the ultrasound probe  2  via the input interface  4 . In another example, when the initial position is determined in advance for each table, the mechanism controlling function  554  identifies the initial position of the currently-used table on the basis of information indicating a correspondence relationship between tables and initial positions and further controls the mechanism unit  62  of the mechanical mechanism  6  so as to move the ultrasound probe  2  to the identified initial position. In this situation, the information indicating the correspondence relationship between tables and initial positions has, for example, the initial positions set in correspondence with the tables while taking into consideration the sizes and the shapes of the tables, and the information is stored in the memory  54  in advance. 
     In this situation, the initial position is such a position where the ultrasound probe  2  is in the water of the water tank  71 , while the ultrasound probe  2  is kept out of contact with the body surface. For example, the initial position is such a position where the ultrasound probe  2  is in the water on the elbow rest side of the arm rest  72 , while the ultrasound probe  2  is kept out of contact with the body surface. 
     Further, when the ultrasound probe  2  has been arranged in the initial position, the controlling function  551 , the detecting function  553 , and the mechanism controlling function  554  move the position of the ultrasound probe  2  while measuring the distance between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2  and exercise control so that ultrasound images are acquired in scan positions set along the moving direction. 
     More specifically, on the basis of the ultrasound wave transmitted and received by the ultrasound probe  2 , the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe, with respect to a first scan position and a second scan position set along the body surface of the subject. In other words, on the basis of an ultrasound wave transmitted and received after the ultrasound probe  2  is moved by the mechanism controlling function  554  to a scan position set along the moving direction, the detecting function  553  detects, with respect to the scan position, the distance between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 . Further, every time the distance is detected by the detecting function  553 , the mechanism controlling function  554  moves the ultrasound probe  2  to a probe position (the position of the ultrasound probe  2  with respect to the body surface of the subject) based on the distance information. In the first scan position and the second scan position, the controlling function  551  controls the ultrasound scans performed on the subject by the ultrasound probe moved to the probe position by the mechanical mechanism  6 . After the ultrasound image is acquired in the probe position, the mechanism controlling function  554  moves the ultrasound probe  2  to another scan position set along the moving direction. In other words, after the distance information detection and the ultrasound scan are performed in the first scan position, the mechanism controlling function  554  further controls the mechanical mechanism  6  so as to move the ultrasound probe  2  to the second scan position. In this situation, the probe position derived on the basis of the distance information is, for example, a position where the focal point of the ultrasound wave falls within a region of interest. Further, for example, the region of interest is set in advance on the basis of the distance from the body surface or the like. 
     In other words, in the ultrasound diagnosis apparatus  1  according to the first embodiment, it is possible to cause the robot to perform the scan in the optimal probe position without generating a scan path, by repeatedly performing the following processes: moving the ultrasound probe  2  to a scan position set along the moving direction of the ultrasound probe  2 ; measuring the distance between the ultrasound wave transmission-reception surface of the ultrasound probe  2  and the body surface; moving the ultrasound probe  2  to the probe position derived on the basis of the result of measuring the distance; and acquiring an ultrasound image in the probe position. 
       FIG. 5  is a drawing for explaining an example of the automatic scan performed by the ultrasound diagnosis apparatus  1  according to the first embodiment. In  FIG. 5 , the horizontal direction expresses the moving direction of the ultrasound probe  2  (the X-direction), whereas the vertical direction expresses the direction of the distance between the ultrasound probe  2  and the subject (the Z-direction). Further, for the sake of convenience in the explanation,  FIG. 5  illustrates cross-sectional ultrasound images of the scan target site (the arm) along the moving direction of the ultrasound probe  2 ; however, in actuality, the ultrasound images of the scan target site have not yet been acquired. 
     For example, after the ultrasound probe  2  is moved to the initial position indicated in  FIG. 5 , the mechanism controlling function  554  controls the mechanical mechanism  6  so as to move the ultrasound probe  2  to a scan position P 1  (the first scan position). In one example, by exercising control so that only the driving unit of the first mechanism unit  621  is driven, the mechanism controlling function  554  controls the ultrasound probe  2  to slide in the horizontal direction, without changing the position of the ultrasound probe  2  in the vertical direction. In other words, the mechanism controlling function  554  causes the ultrasound probe  2  to slide along the direction from the antebrachial region to the hand. 
     In this situation, the scan position is determined on the basis of a scan interval set in advance. In other words, for the scan performed by the robot, the distance from the initial position to the scan position P 1  is determined on the basis of the scan interval along the moving direction of the ultrasound probe  2  set in advance. The mechanism controlling function  554  drives the driving unit of the first mechanism unit  621 , so that the ultrasound probe  2  moves in the X-direction by the determined distance. In this situation, when spatial resolutions are taken into consideration, it is desirable to arrange the scan interval (the interval distances between the plurality of scan positions set along the body surface of the subject) to be 2 mm or shorter. 
     When the scan position P 1  is reached, the controlling function  551  controls the transmission and reception circuitry  51  so that an ultrasound wave is transmitted from the ultrasound probe  2 , and a reflected wave is received. Further, on the basis of the reflected-wave data generated by the transmission and reception circuitry  51 , the image generating function  552  generates ultrasound image data. Further, the image generating function  552  transmits the generated ultrasound image data to the detecting function  553 . 
     By using the ultrasound image data received from the image generating function  552 , the detecting function  553  calculates the distance between the body surface of the scan target site and the ultrasound wave transmission-reception surface of the ultrasound probe  2 . For example, the detecting function  553  detects the body surface from the ultrasound image data taken in the scan position P 1  and further calculates the distance from the detected body surface to the ultrasound wave transmission-reception surface. In this situation, the process of detecting the body surface from the ultrasound image data is performed by using an arbitrary existing method. Further, the example was explained above in which the body surface is detected from the ultrasound image data so that the distance is calculated from the detected body surface to the ultrasound wave transmission-reception surface; however, possible embodiments are not limited to this example. For instance, it is also acceptable to calculate a distance, on the basis of the time between the transmission of the ultrasound wave and the reception of the reflected wave, together with the speed of the ultrasound wave in the water. 
     As explained above, when the distance between the ultrasound probe  2  and the body surface has been detected, the mechanism controlling function  554  controls the mechanical mechanism  6 , so as to move the ultrasound probe  2  to a probe position derived on the basis of the detected distance information. In other words, the mechanism controlling function  554  moves the ultrasound probe  2  so that the distance between the body surface of the subject and the ultrasound wave transmission-reception surface with respect to the scan position is equal to the distance based on the distance information. In this situation, the probe position derived on the basis of the distance information is set, as explained above, as a position where the focal point of the ultrasound wave falls within the region of interest. In one example, when a region with a depth of 1 cm from the body surface is set as the region of interest, the probe position is determined to be a position where the focal point of the ultrasound wave falls within the region with the depth of 1 cm from the body surface. 
     In other words, on the basis of the focal point distance of the ultrasound probe  2  and the distance information detected by the detecting function  553 , the mechanism controlling function  554  identifies the position of the focal point at the current point in time in the Z-direction. Further, the mechanism controlling function  554  calculates the moving distance of the ultrasound probe  2  in the Z-direction that allows the identified focal point position to fall within the region of interest and further controls the mechanical mechanism  6  so as to move the ultrasound probe  2  by the calculated moving distance. 
     For example, on the basis of the focal point distance of the ultrasound probe  2  and the distance information corresponding to the scan position P 1  indicated in  FIG. 5 , the mechanism controlling function  554  calculates the moving distance indicated with the arrow a 4  and further controls the mechanical mechanism  6  so as to move the ultrasound probe  2  by the moving distance indicated with the arrow a 4 . In one example, by exercising control so that only the driving unit of the second mechanism unit  622  is driven, the mechanism controlling function  554  moves the ultrasound probe  2  to the probe position, by causing the ultrasound probe  2  to slide in the Z-direction without changing the position of the ultrasound probe  2  in the X-direction. 
     When the ultrasound probe  2  has been moved to the probe position, the controlling function  551  controls the transmission and reception circuitry  51  so that an ultrasound wave is transmitted from the ultrasound probe  2 , and a reflected wave is received. Further, on the basis of the reflected-wave data generated by the transmission and reception circuitry  51 , the image generating function  552  generates ultrasound image data. The image generating function  552  stores the generated ultrasound image data into the memory  54 . In this situation, as position information of the ultrasound image data, the image generating function  552  is also capable of storing a driving amount of the mechanical mechanism  6  (e.g., a driving amount for the first mechanism unit  621 ) so as to be kept in correspondence. 
     When the controlling function  551  has acquired the ultrasound image data in the scan position P 1 , the mechanism controlling function  554  controls the mechanical mechanism  6  so as to move the ultrasound probe  2  to a scan position P 2  (the second scan position). In this situation, the distance to the scan position P 2  is determined on the basis of the scan interval, as explained above. 
     Further, similarly to the process performed with respect to the scan position P 1 , the controlling function  551  acquires reflected-wave data, and the detecting function  553  detects distance information with respect to the scan position P 2 . Further, the mechanism controlling function  554  calculates a moving distance indicated with the arrow a 5  and moves the ultrasound probe  2  to the probe position, so that the controlling function  551  acquires ultrasound image data in the scan position P 2 . 
     By using the ultrasound diagnosis apparatus  1  according to the first embodiment, it is possible, as explained above, to perform the automatic scan in the optimal scan position (e.g., the position where the focal point of the ultrasound wave falls within the region of interest) without generating a scan path, by successively performing the processes of: detecting the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 ; moving the ultrasound probe  2  to the probe position; and acquiring the ultrasound image data. 
     Next, a process performed by the ultrasound diagnosis apparatus  1  according to the first embodiment will be explained, with reference to  FIG. 6 .  FIG. 6  is a flowchart for explaining a procedure in the process performed by the ultrasound diagnosis apparatus  1  according to the first embodiment. In the present example, steps S 101  through S 103 , S 105 , and S 106  in  FIG. 6  are steps executed as a result of the processing circuitry  55  reading the program corresponding to the mechanism controlling function  554  from the memory  54 . Step S 104  is a step executed as a result of the processing circuitry  55  reading the programs corresponding to the controlling function  551  and the detecting function  553  from the memory  54 . Steps S 107  and S 108  are steps executed as a result of the processing circuitry  55  reading the program corresponding to the controlling function  551  from the memory  54 . 
     In the ultrasound diagnosis apparatus  1  according to the first embodiment, the processing circuitry  55  moves the ultrasound probe  2  to the initial position (step S 101 ). Further, the processing circuitry  55  moves the ultrasound probe  2  in the X-direction while keeping the ultrasound probe  2  out of contact with the subject (step S 102 ) and judges whether or not the ultrasound probe  2  has reached a scan position (step S 103 ). 
     When the ultrasound probe  2  has reached a scan position (step S 103 : Yes), the processing circuitry  55  obtains the coordinates of the ultrasound wave reflection point with respect to the scan position (step S 104 ). In other words, the processing circuitry  55  detects distance information between the ultrasound probe  2  and the body surface of the subject, with respect to the scan position. In this situation, until the scan position is reached (step S 103 : No), the processing circuitry  55  moves the ultrasound probe  2  in the X-direction. 
     Subsequently, the processing circuitry  55  calculates the moving distance in the Z-direction with respect to the scan position (step S 105 ) and moves the ultrasound probe  2  in the Z-direction (step S 106 ) to arrange the ultrasound probe  2  in a probe position. After that, the processing circuitry  55  acquires an ultrasound image in the scan position (step S 107 ) and judges whether or not the scan has been finished (step S 108 ). 
     When the scan has not been finished, the processing circuitry  55  returns to step S 102  and continues the process. On the contrary, when the scan has been finished, the process ends. The judgment as to whether or not the scan has been finished, for example, may be made on the basis of an operation performed by the user via the input interface  4  or may be made on the basis of distance information detected by the detecting function  553 . When the judgment is made on the basis of the distance information, for example, the processing circuitry  55  may determine that the position of the ultrasound probe  2  is outside of the scan target site when the difference between the distance information detected with respect to the post-move scan position and the distance information detected with respect to the immediately-preceding scan position becomes equal to or larger than a threshold value and may thus determine that the scan has been finished. 
     As explained above, according to the first embodiment, the ultrasound probe  2  is configured to transmit and receive the ultrasound wave. The mechanical mechanism  6  is configured to hold the ultrasound probe  2  and to move the ultrasound probe  2  while the ultrasound wave transmission-reception surface of the ultrasound probe  2  is directed toward the subject. On the basis of the ultrasound wave transmitted and received by the ultrasound probe  2 , the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 . The mechanism controlling function  554  is configured to control the mechanical mechanism  6  so as to move the ultrasound probe  2  to the probe position based on the distance information. The process performed by the detecting function  553  to detect the distance information and the process performed by the mechanism controlling function  554  to control the mechanical mechanism  6  are successively performed. Consequently, the ultrasound diagnosis apparatus  1  according to the first embodiment is able to perform the automatic scan without generating a scan path and makes it possible to improve efficiency of the scan using the robot by shortening the time period required by the scan. 
     In other words, on the basis of the ultrasound wave transmitted and received by the ultrasound probe  2 , the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 , with respect to the first scan position and the second scan position set along the body surface of the subject. The mechanism controlling function  554  is configured to control the mechanical mechanism  6  so as to move the ultrasound probe  2  on the basis of the distance information. In the first scan position and the second scan position, the controlling function  551  is configured to control the ultrasound scans performed on the subject by the ultrasound probe  2  moved by the mechanical mechanism  6 . After the distance information detection and the ultrasound scan are performed in the first scan position, the mechanism controlling function  554  is configured to further control the mechanical mechanism  6  so as to move the ultrasound probe  2  to the second scan position. In this manner, by sequentially performing the distance measuring process and the ultrasound scan for each of the scan positions, the ultrasound diagnosis apparatus  1  according to the first embodiment is able to perform the automatic scan adaptively, even when the position of the subject changes due to body movements, for example. 
     Further, according to the first embodiment, the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 , with respect to at least one scan position set along the moving direction of the ultrasound probe  2  by the mechanical mechanism  6 . Every time distance information is detected by the detecting function  553 , the mechanism controlling function  554  is configured to control the mechanical mechanism  6  so as to move the ultrasound probe  2  to the probe position corresponding to at least one scan position derived on the basis of the detected distance information. Consequently, the ultrasound diagnosis apparatus  1  according to the first embodiment makes it possible to perform the automatic scan without generating a scan path. 
     Further, according to the first embodiment, on the basis of the ultrasound wave transmitted and received after the ultrasound probe  2  is moved by the mechanism controlling function  554  to the scan position set along the moving direction, the detecting function  553  is configured to detect, with respect to the scan position, the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 . Every time distance information is detected by the detecting function  553 , the mechanism controlling function  554  moves the ultrasound probe  2  to a probe position based on the distance information and, after an ultrasound image is acquired in the probe position, moves the ultrasound probe  2  to a scan position set along the moving direction. In other words, the mechanism controlling function  554  is configured to move the ultrasound probe  2  so that the distance between the body surface of the subject and the ultrasound wave transmission-reception surface with respect to the scan position is equal to the distance based on the distance information. Further, after the ultrasound scan is performed by the controlling function  551 , the mechanism controlling function  554  moves the ultrasound probe  2  to the next scan position set along the body surface of the subject. Consequently, the ultrasound diagnosis apparatus  1  according to the first embodiment makes it possible to successively perform the following processes: detecting the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 ; moving the ultrasound probe  2  to a probe position; and acquiring ultrasound image data. 
     Further, according to the first embodiment, the probe position is derived from the distance information so as to be a position where the focal point of the ultrasound wave falls within the region of interest. Consequently, the ultrasound diagnosis apparatus  1  according to the first embodiment makes it possible to perform the automatic scan in the optimal position. 
     Further, according to the first embodiment, the controlling function  551  is configured to exercise control so that the ultrasound image is acquired in the probe position. Consequently, the ultrasound diagnosis apparatus  1  according to the first embodiment makes it possible to acquire the ultrasound image having excellent image quality in the region of interest. 
     Also, according to the first embodiment, the interval distances between the plurality of scan positions set along the body surface of the subject are each equal to or shorter than 2 mm. Consequently, the ultrasound diagnosis apparatus  1  according to the first embodiment makes it possible to acquire ultrasound images having high spatial resolutions. 
     Second Embodiment 
     In the first embodiment, the example was explained in which the distance information is detected for each of the scan positions. In a second embodiment, an example will be explained in which pieces of distance information are simultaneously detected with respect to a plurality of scan positions. Compared to the first embodiment, the ultrasound diagnosis apparatus  1  according to the second embodiment is different in the processes performed by the controlling function  551 , the detecting function  553 , and the mechanism controlling function  554 . In the following sections, the second embodiment will be explained while a focus is placed on the differences. 
     When transmitting and receiving the ultrasound wave to detect the distance information, the controlling function  551  according to the second embodiment is configured to transmit and receive the ultrasound wave while varying the direction thereof. More specifically, the controlling function  551  is configured to scan the body surface in positions from the first scan position to the third scan position, by performing a deflection scan in which the ultrasound wave transmission and reception direction is varied. 
     Further, the detecting function  553  according to the second embodiment is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 , with respect to each of a plurality of scan positions set along the moving direction of the ultrasound probe  2 . More specifically, in the first scan position, the detecting function  553  detects the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2  with respect to the third scan position set along the body surface of the subject. For example, on the basis of an ultrasound wave obtained by performing a deflection scan, the detecting function  553  detects the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe with respect to the third scan position. 
     Further, every time distance information is detected by the detecting function  553 , the mechanism controlling function  554  sequentially moves the ultrasound probe  2  to a probe position corresponding to a scan position based on the distance information with respect to the scan position. More specifically, after the ultrasound scan in the first scan position is performed, the mechanism controlling function  554  moves the ultrasound probe  2  to the third scan position and also moves the ultrasound probe  2  so that the distance between the body surface of the subject and the ultrasound wave transmission-reception surface with respect to the third scan position is equal to a distance based on the distance information corresponding to the third scan position. 
     Further, the controlling function  551  according to the second embodiment is configured to exercise control so that an ultrasound scan is performed in each of the scan positions for which the distance information was detected. For example, the controlling function  551  controls an ultrasound scan performed in the third scan position. 
       FIG. 7  is a drawing for explaining an example of an automatic scan performed by the ultrasound diagnosis apparatus  1  according to the second embodiment. In  FIG. 7 , the horizontal direction expresses the moving direction of the ultrasound probe  2  (the X-direction), whereas the vertical direction expresses the direction of the distance between the ultrasound probe  2  and the subject (the Z-direction). Further, for the sake of convenience in the explanation,  FIG. 7  illustrates cross-sectional ultrasound images of the scan target site (the arm) along the moving direction of the ultrasound probe  2 ; however, in actuality, the ultrasound images of the scan target site have not yet been acquired. 
     According to the second embodiment, for example, after the ultrasound probe  2  is moved to the initial position indicated in  FIG. 7 , the controlling function  551  controls the transmission and reception circuitry  51  so that an ultrasound wave is transmitted from the ultrasound probe  2 , and a reflected wave is received. In this situation, in the second embodiment, by performing a deflection scan in which the ultrasound wave transmission and reception direction is varied, the controlling function  551  scans the body surface of the subject corresponding to a position that is ahead, in terms of the moving direction, of the current position of the ultrasound probe  2 . 
     For example, while the ultrasound probe  2  is arranged in the initial position indicated in  FIG. 7 , the controlling function  551  transmits and receives an ultrasound wave to and from the body surface corresponding to (that corresponds to the positions of) the scan positions P 1  to P 3  (the third scan position). On the basis of the reflected-wave data acquired by the controlling function  551 , the detecting function  553  is configured to detect the distance between the ultrasound probe  2  and the body surface corresponding to each of the scan positions and further calculates, on the basis of the detected distances, the distance from the ultrasound probe  2  to the body surface corresponding to the time when the ultrasound probe  2  is arranged in each of the scan positions. 
       FIG. 8  is a drawing for explaining an example of a process performed by the detecting function  553  according to the second embodiment.  FIG. 8  illustrates only the distance calculating processes with respect to the scan position P 1  and the scan position P 2 . For example, as illustrated in the top section of  FIG. 8 , when the controlling function  551  transmits an ultrasound wave from the ultrasound probe  2  toward the subject while varying the ultrasound wave transmission and reception direction, the detecting function  553  calculates the distance to the body surface of the subject at each of the angles, on the basis of the reflected-wave data from the angle. In other words, the detecting function  553  is configured to detect the position of the body surface of the subject at each of the angles. 
     Further, for example, as illustrated in the middle section of  FIG. 8 , the detecting function  553  detects the body surface corresponding to the scan position P 1  and to the scan position P 2  and further extracts the angle of the reflected-wave data reflected by the detected body surface. After that, by using the distance information corresponding to the extracted angles and the distance in the X-direction from the current position of the ultrasound probe  2  to each of the scan positions, the detecting function  553  calculates the distance between the ultrasound wave transmission-reception surface of the ultrasound probe  2  and the body surface corresponding to the time when the ultrasound probe  2  is arranged in each of the scan positions. 
     For example, as illustrated in the bottom section of FIG.  8 , by using the distance indicated by the arrow b 1  and a distance c, the detecting function  553  calculates the distance between the ultrasound wave transmission-reception surface of the ultrasound probe  2  and the body surface corresponding to the time when the ultrasound probe  2  is arranged in the scan position P 1 . In one example, on the basis of the Pythagorean theorem, the detecting function  553  calculates the distance between the ultrasound wave transmission-reception surface of the ultrasound probe  2  and the body surface corresponding to the time when the ultrasound probe  2  is arranged in the scan position P 1 . Similarly, by using the distance indicated by the arrow b 2  and a distance  2   c , the detecting function  553  calculates the distance between the ultrasound wave transmission-reception surface of the ultrasound probe  2  and the body surface corresponding to the time when the ultrasound probe  2  is arranged in the scan position P 2 . 
     In this manner, the detecting function  553  simultaneously detects the pieces of distance information with respect to the plurality of scan positions, on the basis of the reflected-wave data acquired through the deflection scan using the ultrasound wave and being performed by the controlling function  551 . For example, when the detecting function  553  has detected the distance information corresponding to the scan positions P 1  to P 3  in  FIG. 7 , the mechanism controlling function  554  derives the probe position corresponding to each of the scan positions P 1  to P 3  and further controls the mechanical mechanism  6  so as to move the ultrasound probe  2  to the probe positions. 
     For example, by driving the driving unit of the first mechanism unit  621  and the driving unit of the second mechanism unit  622 , the mechanism controlling function  554  moves the ultrasound probe  2  as indicated by the arrow a 6  in  FIG. 7 . When the ultrasound probe  2  has reached the scan position P 1 , the controlling function  551  controls the transmission and reception circuitry  51  so that an ultrasound wave is transmitted from the ultrasound probe  2 , and a reflected wave is received. After that, on the basis of the reflected-wave data generated by the transmission and reception circuitry  51 , the image generating function  552  generates ultrasound image data. The image generating function  552  stores the generated ultrasound image data into the memory  54 . In this situation, as position information of the ultrasound image data, the image generating function  552  is also capable of storing a driving amount of the mechanical mechanism  6  (e.g., the driving amount for the first mechanism unit  621 ) so as to be kept in correspondence. 
     When the ultrasound image acquisition in the scan position P 1  has been finished, the mechanism controlling function  554  moves the ultrasound probe  2  to a probe position corresponding to the scan position P 2 , as indicated by the arrow a 7  in  FIG. 7 , by driving the driving unit of the first mechanism unit  621  and the driving unit of the second mechanism unit  622 . After that, when the ultrasound image acquisition in the scan position P 2  has been finished, the mechanism controlling function  554  moves the ultrasound probe  2  to a probe position corresponding to the scan position P 3  as indicated by the arrow a 8  in  FIG. 7 , by driving the driving unit of the first mechanism unit  621  and the driving unit of the second mechanism unit  622 . 
     When the ultrasound probe  2  has been moved to the scan position for which the probe position has been derived, the controlling function  551  calculates distance information with respect to the plurality of scan positions, by performing a deflection scan again. In this manner, the ultrasound diagnosis apparatus  1  according to the second embodiment is configured to simultaneously detect the pieces of distance information with respect to the plurality of scan positions and to successively perform the ultrasound image acquisitions in the scan positions. 
     In the embodiment above, the example was explained in which the controlling function  551  electronically varies the ultrasound wave transmission and reception direction; however, possible embodiments are not limited to this example. For instance, the ultrasound wave transmission and reception direction may be varied by the mechanical mechanism  6  gripping the ultrasound probe  2 . In that situation, the mechanical mechanism  6  includes a mechanism unit configured to cause the ultrasound probe  2  to make a rotational movement along the moving direction of the ultrasound probe  2 . Further, by driving a driving unit of the mechanism unit, the mechanism controlling function  554  causes the ultrasound probe  2  to make the rotational movement along the moving direction. The controlling function  551  is configured to transmit and receive an ultrasound wave during the rotational movement. The detecting function  553  is configured to detect the positions of the body surface corresponding to the scan positions, on the basis of information about driving amounts of the driving unit (information about the angles of the ultrasound probe  2 ) and the reflected-wave data received at each of the angles. 
     Next, a process performed by the ultrasound diagnosis apparatus  1  according to the second embodiment will be explained, with reference to  FIG. 9 .  FIG. 9  is a flowchart for explaining a procedure in the process performed by the ultrasound diagnosis apparatus  1  according to the second embodiment. In the present example, steps S 201 , S 203 , S 204 , S 206 , S 207 , and S 209  in  FIG. 9  are steps executed as a result of the processing circuitry  55  reading the program corresponding to the mechanism controlling function  554  from the memory  54 . Step S 202  is a step executed as a result of the processing circuitry  55  reading the programs corresponding to the controlling function  551  and the detecting function  553  from the memory  54 . Steps S 205  and S 208  are steps executed as a result of the processing circuitry  55  reading the program corresponding to the controlling function  551  from the memory  54 . 
     In the ultrasound diagnosis apparatus  1  according to the first embodiment, the processing circuitry  55  moves the ultrasound probe  2  to the initial position (step S 201 ). Further, the processing circuitry  55  exercises control so that pieces of distance information are obtained with respect to n scan positions (step S 202 ) and judges whether or not the number of obtained pieces of distance information is equal to n (step S 203 ). 
     In this situation, the number of scan positions related to the obtainment of the distance information acquired in a deflection scan in one session is determined on the basis of a deflectable angle and the scan interval. Further, the judgement as to whether or not the number of obtained pieces of distance information is equal to n may be made, for example, on the basis of distance information detected by the detecting function  553 . In that situation, for example, the processing circuitry  55  may mutually compare the pieces of distance information detected with respect to the scan positions to determine, when the difference between pieces of distance information detected in adjacent scan positions is equal to or larger than a threshold value, that the latter of the scan positions corresponding to the two pieces of distance information exhibiting the difference equal to or larger than the threshold value is positioned outside the scan target site and thus determine that the number of obtained pieces of distance information is not equal to n, since the obtained piece of distance information is not included in the count. 
     In one example, when the difference between the distance information with respect to the scan portion P 2  and the distance information with respect to the scan position P 3  is equal to or larger than the threshold value, the processing circuitry  55  does not include the piece of distance information corresponding to the scan position P 3  in the count. 
     In the judging process at step S 203 , when it is determined that n pieces of distance information have been obtained (step S 203 : Yes), the processing circuitry  55  moves the ultrasound probe  2  to the optimal position (the probe position) on the basis of the distance information corresponding to the next scan position (step S 204 ). Subsequently, the processing circuitry  55  acquires an ultrasound image in the scan position (step S 205 ) and judges whether or not there is at least one scan position in which acquisition has not yet been performed (step S 206 ). 
     In this situation, when there is at least one scan position in which acquisition has not yet been performed (step S 206 : Yes), the processing circuitry  55  returns to step S 204  and continues the process. On the contrary, when there is no scan position in which acquisition has not yet been performed (step S 206 : No), the processing circuitry  55  returns to step S 202  and continues the process. 
     In the judgment at step S 203 , when the number of obtained pieces of distance information is not equal to n (step S 203 : No), the processing circuitry  55  moves the ultrasound probe  2  to the optimal position (the probe position) on the basis of the distance information corresponding to the next scan position (step S 207 ). After that, the processing circuitry  55  acquires an ultrasound image in the scan position (step S 208 ) and judges whether or not there is at least one scan position in which acquisition has not yet been performed (step S 209 ). 
     When there is at least one scan position in which acquisition has not yet been performed (step S 209 : Yes), the processing circuitry  55  returns to step S 207  and continues the process. On the contrary, when there is no scan position in which acquisition has not yet been performed (step S 209 : No), the processing circuitry  55  ends the process. 
     As explained above, according to the second embodiment, the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2 , with respect to each of the plurality of scan positions set along the moving direction of the ultrasound probe  2 . Every time the distance information is detected by the detecting function  553 , the mechanism controlling function  554  is configured to sequentially move the ultrasound probe  2  to the probe position corresponding to the scan position, based on the distance information with respect to the scan position. 
     In other words, in the first scan position, the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe  2  with respect to the third scan position set along the body surface of the subject. After the ultrasound scan in the first scan position is performed, the mechanism controlling function  554  is configured to move the ultrasound probe  2  to the third scan position and to also move the ultrasound probe  2  so that the distance between the body surface of the subject and the ultrasound wave transmission-reception surface with respect to the third scan position is equal to the distance based on the distance information corresponding to the third scan position. The controlling function  551  is configured to control the ultrasound scan performed in the third scan position. Consequently, the ultrasound diagnosis apparatus  1  according to the second embodiment is able to further shorten the time period required by the automatic scan and makes it possible to improve efficiency of the scans using the robot. 
     Further, according to the second embodiment, the controlling function  551  is configured to scan the body surface in the positions from the first scan position to the third scan position, by performing the deflection scan in which the ultrasound wave transmission and reception direction is varied. On the basis of the ultrasound wave obtained in the deflection scan, the detecting function  553  is configured to detect the distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe with respect to the third scan position. Consequently, the ultrasound diagnosis apparatus  1  according to the second embodiment makes it possible to easily detect the pieces of distance information simultaneously with respect to the plurality of scan positions. 
     Third Embodiment 
     The first and the second embodiments have thus been explained. It is, however, possible to carry out the present disclosure in various different modes other than those described in the first and the second embodiments. 
     In the first and the second embodiments, the example was explained in which the single ultrasound probe (i.e., the ultrasound probe  2 ) performs the distance measuring process and the ultrasound scan; however, possible embodiments are not limited to this example. For instance, it is acceptable to provide an ultrasound probe used for the distance measuring process and another ultrasound probe used for the ultrasound scan. 
     In that situation, the ultrasound probe  2  according to the third embodiment includes a first ultrasound probe and a second ultrasound probe. The detecting function  553  according to the third embodiment is configured to detect distance information between the body surface of the subject and the ultrasound wave transmission-reception surface of the ultrasound probe, on the basis of an ultrasound wave transmitted and received by the first ultrasound probe. The controlling function  551  according to the third embodiment is configured to control the ultrasound scan performed on the subject, by controlling ultrasound wave transmission and reception by the second ultrasound probe. 
     In this situation, the first ultrasound probe and the second ultrasound probe may be contained in mutually the same casing or may be contained in mutually-different casings. Next, examples of the ultrasound probe according to the third embodiment will be explained, with reference to  FIGS. 10 and 11 .  FIGS. 10 and 11  are drawings for explaining the examples of the ultrasound probe according to the third embodiment.  FIG. 10  illustrates an example in which the first ultrasound probe and the second ultrasound probe are contained in mutually the same casing.  FIG. 11  illustrates an example in which the first ultrasound probe and the second ultrasound probe are contained in mutually-different casings. 
     As illustrated in  FIG. 10 , the ultrasound probe  2  according to the third embodiment has, inside the casing, a group of piezoelectric transducer elements  21  and another group of piezoelectric transducer elements  22 . The piezoelectric transducer elements are each provided with a matching layer, a backing member, and the like. Further, each of the piezoelectric transducer elements is configured to generate an ultrasound wave on the basis of a drive signal supplied thereto from the transmission and reception circuitry  51 . 
     For example, on the basis of a drive signal supplied thereto from the transmission and reception circuitry  51  under control of the controlling function  551 , the group of piezoelectric transducer elements  21  (the second ultrasound probe) performs an ultrasound scan to acquire biological information, by transmitting and receiving an ultrasound wave to and from the subject. Further, for example, on the basis of a drive signal supplied thereto from the transmission and reception circuitry  51  under control of the controlling function  551 , the piezoelectric transducer elements  22  (the first ultrasound probe) perform an ultrasound scan to acquire distance information, by transmitting and receiving an ultrasound wave to and from the subject. 
     An example of the process performed by the ultrasound probe  2  according to the third embodiment will be explained, with reference to  FIG. 5 . For example, when the ultrasound probe  2  reaches the scan position P 1 , the controlling function  551  controls the transmission and reception circuitry  51  so that an ultrasound wave is transmitted from the piezoelectric transducer elements  22  in the ultrasound probe  2 , and a reflected wave is received. Further, the image generating function  552  generates ultrasound image data on the basis of the reflected-wave data generated by the transmission and reception circuitry  51 . The detecting function  553  calculates the distance between the body surface in the scan target site and the ultrasound wave transmission-reception surface of the ultrasound probe  2 , by using the ultrasound image data received from the image generating function  552 . 
     When the distance between the ultrasound probe  2  and the body surface has been detected, the mechanism controlling function  554  controls the mechanical mechanism  6  so as to move the ultrasound probe  2  to a probe position derived on the basis of the detected distance information. 
     When the ultrasound probe  2  has been moved to the probe position, the controlling function  551  controls the transmission and reception circuitry  51  so that an ultrasound wave is transmitted from the piezoelectric transducer elements  21  in the ultrasound probe  2 , and a reflected wave is received. Further, the image generating function  552  generates ultrasound image data on the basis of the reflected-wave data generated by the transmission and reception circuitry  51 . The process described above is performed in each of the scan positions set along the body surface of the subject. 
     In another example where the first ultrasound probe and the second ultrasound probe are contained in mutually-different casings, for example, as illustrated in  FIG. 11 , the ultrasound diagnosis apparatus  1  according to the third embodiment includes the ultrasound probe  2  (the second ultrasound probe) and an ultrasound probe  2   a  (the first ultrasound probe). Each of the ultrasound probes is configured to generate an ultrasound wave on the basis of a drive signal supplied thereto from the transmission and reception circuitry  51 . 
     For example, the ultrasound probe  2  is configured to perform an ultrasound scan to acquire biological information, by transmitting and receiving an ultrasound wave to and from the subject, on the basis of a drive signal supplied thereto from the transmission and reception circuitry  51  under the control of the controlling function  551 . Further, for example, the ultrasound probe  2   a  is configured to perform an ultrasound scan to acquire distance information by transmitting and receiving an ultrasound wave to and from the subject, on the basis of a drive signal supplied thereto from the transmission and reception circuitry  51  under the control of the controlling function  551 . 
     An example of the process performed by the ultrasound probe  2  and the ultrasound probe  2   a  according to the third embodiment will be explained, with reference to  FIG. 5 . For example, when the ultrasound probe  2   a  reaches the scan position P 1 , the controlling function  551  controls the transmission and reception circuitry  51  so that an ultrasound wave is transmitted from the ultrasound probe  2   a , and a reflected wave is received. Further, the image generating function  552  generates ultrasound image data on the basis of the reflected-wave data generated by the transmission and reception circuitry  51 . The detecting function  553  calculates the distance between the body surface in the scan target site and the ultrasound wave transmission-reception surface of the ultrasound probe  2   a , by using the ultrasound image data received from the image generating function  552 . 
     When the distance between the ultrasound probe  2   a  and the body surface has been detected, the mechanism controlling function  554  controls the mechanical mechanism  6  so as to move the ultrasound probe  2  to a probe position derived on the basis of the detected distance information. In this situation, the mechanism controlling function  554  derives the probe position while taking into consideration the difference between the positions of the ultrasound wave transmission-reception surfaces, when the ultrasound probe  2  and the ultrasound probe  2   a  are held by the mechanical mechanism  6 . In other words, while the ultrasound probe  2  and the ultrasound probe  2   a  are held by the mechanical mechanism  6 , when the positions of the ultrasound wave transmission-reception surfaces in the vertical direction are the same as each other, the mechanism controlling function  554  derives the probe position from the detected distance information on the assumption that there is no difference between the positions of the ultrasound wave transmission-reception surfaces of the ultrasound probe  2  and the ultrasound probe  2   a.    
     On the contrary, while the ultrasound probe  2  and the ultrasound probe  2   a  are held by the mechanical mechanism  6 , when the positions of the ultrasound wave transmission-reception surfaces in the vertical direction are different from each other, the mechanism controlling function  554  derives a probe position from the difference between the positions of the ultrasound wave transmission-reception surfaces in the vertical direction and the detected distance information. For example, the mechanism controlling function  554  adds, as offset information, the difference between the positions of the ultrasound wave transmission-reception surfaces in the vertical direction to the detected distance information and further derives the probe position on the basis of the distance information to which the offset information has been added. 
     When the ultrasound probe  2  has been moved to the probe position corresponding to the scan position P 1 , the controlling function  551  controls the transmission and reception circuitry  51  so that an ultrasound wave is transmitted from the ultrasound probe  2 , and a reflected wave is received. Further, the image generating function  552  generates ultrasound image data on the basis of the reflected-wave data generated by the transmission and reception circuitry  51 . The process described above is performed in each of the scan positions set along the body surface of the subject. 
     In the first and the second embodiments described above, the example was explained in which the automatic scan is performed by using only the first mechanism unit  621  and the second mechanism unit  622  in the mechanical mechanism  6 ; however, possible embodiments are not limited to this example. For instance, the third mechanism unit  623  may be used. 
     Further, in the embodiments described above, the example was explained in which the ultrasound probe  2  is connected to the apparatus main body  5  via a cable; however, possible embodiments are not limited to this example. For instance, the ultrasound wave transmission and reception by the ultrasound probe may be controlled wirelessly. In that situation, for example, a transmission and reception circuitry is built in the probe main body of the ultrasound probe, so that the ultrasound wave transmission and reception by the ultrasound probe is wirelessly controlled by another apparatus. The ultrasound diagnosis apparatus according to the present embodiments may be configured so as to include only one or more wireless ultrasound probes configured in this manner. 
     In the embodiments described above, the examples were explained in which the ultrasound diagnosis apparatus  1  performs the various types of processes; however, possible embodiments are not limited to those examples. For instance, one or more of the processes described above as being performed by the ultrasound diagnosis apparatus  1  may be performed by the mechanical mechanism  6 . Further, for example, all of the processes described above as being performed by the ultrasound diagnosis apparatus  1  may be performed by the mechanical mechanism  6  serving as an ultrasound scanning support apparatus. 
     The term “processor” used in the above explanations denotes, for example, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or a circuit such as an Application Specific Integrated Circuit (ASIC) or a programmable logic device (e.g., a Simple Programmable Logic Device [SPLD], a Complex Programmable Logic Device [CPLD], or a Field Programmable Gate Array [FPGA]). The processors realize the functions by reading and executing the programs saved in the storage circuit. In this situation, instead of saving the programs in the storage circuit, it is also acceptable to directly incorporate the programs in the circuits of the processors. In that situation, the processors realize the functions by reading and executing the programs incorporated in the circuits thereof. Further, the processors in the present embodiments do not each necessarily have to be structured as a single circuit. It is also acceptable to structure one processor by combining together a plurality of independent circuits so as to realize the functions thereof. 
     Further, the constituent elements of the apparatuses and the devices presented in the drawings for explaining the embodiments are based on functional concepts. Thus, it is not necessary to physically configure the constituent elements as indicated in the drawings. In other words, specific modes of distribution and integration of the apparatuses and the devices are not limited to those illustrated in the drawings. It is acceptable to functionally or physically distribute or integrate all or a part of the apparatuses and the devices in any arbitrary units, depending on various loads and the status of use. Further, all or an arbitrary part of the processing functions performed by the apparatuses and the devices may be realized by a CPU and a program analyzed and executed by the CPU or may be realized as hardware using wired logic. 
     Further, it is possible to realize the processing methods described in the present embodiments, by causing a computer such as a personal computer or a workstation to execute a processing program prepared in advance. It is possible to distribute the processing program via a network such as the Internet. Further, it is also possible to record the processing program onto a non-transitory computer-readable recording medium such as a hard disk, a flexible disk (FD), a Compact Disk Read-Only Memory (CD-ROM), a Magneto-Optical (MO) disk, a Digital Versatile Disk (DVD), a flash memory such as a Universal Serial Bus (USB) memory or a Secure Digital (SD) card memory, or the like, so that the processing program is executed as being read from the non-transitory recording medium by a computer. 
     As explained above, according to at least one aspect of the present embodiments, it is possible to improve efficiency of the scans using the robot. 
     While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions. Indeed, the novel embodiments described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the embodiments described herein may be made without departing from the spirit of the inventions. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the inventions.