Described herein are devices and methods useful in automating
ultrasound imaging. The device include a base coupled with
soft robotics, which may be attached to an
ultrasound transducer probe in order to robotically manipulate the probe to perform an
ultrasound scan. The device has an adjustable structure configured to hold the probe on a walking soft
robot. The device can be configured to be attached to, or worn by, the patient. With
soft robotic actuation and locomotion, the holder can move and position the probe during a
real time ultrasound scanning procedure. Furthermore, the holder may be equipped with sensors to sense and map pressure and location. The position of the holder can be robotically monitored and controlled so as to achieve consistency and reproducibility between ultrasound scans. Due to the wearable nature of the holder, the scans may be conducted while the patient is in motion, thereby providing a portable solution for
ultrasonic imaging. The holder is cost effective and may be used in conjunction with various ultrasound probes.