CN-119606418-B - Mechanical arm ultrasonic scanning method, system and storage medium based on contact force control

CN119606418BCN 119606418 BCN119606418 BCN 119606418BCN-119606418-B

Abstract

The embodiment of the invention discloses a method, a system and a storage medium for ultrasonic scanning of a mechanical arm based on contact force control, wherein the method calculates the real-time contact force between an ultrasonic probe and the surface of a human body, and according to the preset contact force and the real-time contact force, the contact force between the ultrasonic probe and the surface of the human body is adjusted, so that the image obtained by the ultrasonic probe is always an image meeting the requirement of ultrasonic scanning definition, and the contact force between the ultrasonic probe and the surface of the human body is controlled, so that the safety of the human body is ensured. According to the method and the device, the scanning track of the ultrasonic probe is dynamically adjusted according to the preset ultrasonic scanning track, the preset contact force and the real-time contact force, so that an ultrasonic scanning image of the target part of the human body is obtained, the dynamic adjustment of the ultrasonic scanning track under the condition that the contact force is reasonable is realized, and the scanning area of the ultrasonic probe can cover the scanning part of the target part of the human body. The invention has high degree of automation, simple operation, high imaging quality and good safety.

Inventors

SUN YILIN
CHEN PENG
WU BO
CHEN KUI
ZHANG ZHEMING
FAN PEIHUA
ZHANG BO

Assignees

无锡艾米特智能医疗科技有限公司

Dates

Publication Date: 20260508
Application Date: 20241230

Claims (8)

1. The mechanical arm ultrasonic scanning method based on contact force control is characterized by comprising the following steps of: inputting a preset ultrasonic scanning track; Inputting a preset contact force between an ultrasonic probe arranged at the front end of the mechanical arm and the surface of a human body, wherein an image acquired by the ultrasonic probe under the preset contact force is an image meeting the requirement of ultrasonic scanning definition; calculating the real-time contact force between the ultrasonic probe and the surface of the human body; Adjusting the contact force between the ultrasonic probe and the surface of the human body according to the preset contact force and the real-time contact force, wherein the contact force is adjusted according to a formula Calculating a contact force adjustment speed, and realizing contact force control of a contact position point according to the contact force adjustment speed, wherein Indicating that the predetermined contact force is to be applied, Representing the said real-time contact force, The proportional coefficient of the control contact force adjusting speed is adjusted according to the soft and hard conditions of soft tissues contacted by the ultrasonic probe; Dynamically adjusting the scanning track of the ultrasonic probe according to the preset ultrasonic scanning track, the preset contact force and the real-time contact force, wherein the scanning track is dynamically adjusted according to a formula Dynamically correcting the scanning track of the ultrasonic probe, wherein The position points of the original track are represented, A new track position representing the i-th position point, Indicating the speed of adjustment of the contact force, In order to limit the sensitivity coefficient of the contact force control, K is used for controlling the scanning track of the ultrasonic probe to be slowly adjusted when the real-time contact force of the ultrasonic probe and the human surface is near the expected contact force, and performing larger-amplitude regression adjustment when the real-time contact force of the ultrasonic probe and the human surface deviates from the expected contact force; and controlling the mechanical arm to drive the ultrasonic probe to move along the corrected scanning track, so as to obtain an ultrasonic scanning image of the target part of the human body.
2. The method of claim 1, wherein the calculating the real-time contact force of the ultrasonic probe with the surface of the human body comprises: acquiring force sensor data at the tail end of the mechanical arm in real time; And calculating the real-time contact force between the ultrasonic probe and the surface of the human body according to the data of the force sensor at the tail end of the mechanical arm and the calibrated load parameter at the tail end of the mechanical arm.
3. The ultrasonic scanning method of the mechanical arm based on the contact force control according to claim 2, wherein the acquiring the force sensor data of the end of the mechanical arm in real time specifically comprises: a six-dimensional force sensor is arranged at the tail end of the mechanical arm; And acquiring force sensor data at the tail end of the mechanical arm in real time through the six-dimensional force sensor.
4. The method for ultrasonic scanning of a mechanical arm based on contact force control according to claim 2, wherein the calculating the real-time contact force between the ultrasonic probe and the surface of the human body according to the data of the force sensor at the end of the mechanical arm and the calibrated load parameter of the end of the mechanical arm comprises: Calculating the calibrated contact force according to the force sensor data of the tail end of the mechanical arm and the calibrated load parameter of the tail end of the mechanical arm; And extracting the mould size of the three-dimensional vector force according to the calibrated contact force to obtain the real-time contact force between the ultrasonic probe and the surface of the human body.
5. The mechanical arm ultrasonic scanning system based on contact force control is characterized in that the system adopts the mechanical arm ultrasonic scanning method based on contact force control as claimed in claim 1, and comprises the following steps: The scanning track input module is used for inputting a preset ultrasonic scanning track; The ultrasonic scanning device comprises a preset contact force input module, a detection module and a detection module, wherein the preset contact force input module is used for inputting preset contact force between an ultrasonic probe arranged at the front end of a mechanical arm and the surface of a human body, and an image acquired by the ultrasonic probe under the preset contact force is an image meeting the requirement of ultrasonic scanning definition; the real-time contact force calculation module is used for calculating the real-time contact force between the ultrasonic probe and the surface of the human body; The contact force dynamic adjustment module is used for adjusting the contact force between the ultrasonic probe and the surface of the human body according to the preset contact force and the real-time contact force, wherein the contact force is adjusted according to a formula Calculating a contact force adjustment speed, and realizing contact force control of a contact position point according to the contact force adjustment speed, wherein Indicating that the predetermined contact force is to be applied, Representing the said real-time contact force, The proportional coefficient of the control contact force adjusting speed is adjusted according to the soft and hard conditions of soft tissues contacted by the ultrasonic probe; The scanning track adjusting module is used for dynamically adjusting the scanning track of the ultrasonic probe according to the preset ultrasonic scanning track, the preset contact force and the real-time contact force, wherein the scanning track is adjusted according to a formula Dynamically correcting the scanning track of the ultrasonic probe, wherein The position points of the original track are represented, A new track position representing the i-th position point, Indicating the speed of adjustment of the contact force, In order to limit the sensitivity coefficient of the contact force control, K is used for controlling the scanning track of the ultrasonic probe to be slowly adjusted when the real-time contact force of the ultrasonic probe and the human surface is near the expected contact force, and performing larger-amplitude regression adjustment when the real-time contact force of the ultrasonic probe and the human surface deviates from the expected contact force; and controlling the mechanical arm to drive the ultrasonic probe to move along the corrected scanning track, so as to obtain an ultrasonic scanning image of the target part of the human body.
6. The contact force control-based robotic ultrasound scanning system of claim 5, wherein the real-time contact force calculation module is specifically configured to: acquiring force sensor data at the tail end of the mechanical arm in real time; And calculating the real-time contact force between the ultrasonic probe and the surface of the human body according to the data of the force sensor at the tail end of the mechanical arm and the calibrated load parameter at the tail end of the mechanical arm.
7. The ultrasonic scanning system of the mechanical arm based on contact force control according to claim 6, wherein a six-dimensional force sensor is installed at the tail end of the mechanical arm, and force sensor data of the tail end of the mechanical arm are acquired in real time through the six-dimensional force sensor.
8. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are for implementing the contact force control based robotic arm ultrasound scanning method of claim 1.

Description

Mechanical arm ultrasonic scanning method, system and storage medium based on contact force control Technical Field The embodiment of the invention relates to the technical field of ultrasonic scanning, in particular to a mechanical arm ultrasonic scanning method, a mechanical arm ultrasonic scanning system and a storage medium based on contact force control. Background Ultrasound scanning (Ultrasound Scanning), also known as ultrasonography or ultrasonography, uses high frequency sound waves to create images of organs and structures within the body, ultrasound waves having different propagation velocities in tissues of different densities, and reflections occur when they encounter boundaries, which are received and converted into images. The existing ultrasound scanning scheme is to operate an ultrasound probe by a doctor or technician to maintain proper contact with the surface of the human body and to move the ultrasound probe to acquire clear images at different angles. However, the existing ultrasonic scanning scheme is affected by human factors such as working experience of operators, and the like, so that the imaging quality is unstable, the operation is complex, the stability is poor, and the efficiency is low. The above problems are to be solved. Disclosure of Invention In order to solve the related technical problems, the invention provides a mechanical arm ultrasonic scanning method, a mechanical arm ultrasonic scanning system and a storage medium based on contact force control, which are used for solving the problems mentioned in the background art section. In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme: In a first aspect, an embodiment of the present invention provides a method for performing ultrasonic scanning on a mechanical arm based on contact force control, where the method includes: inputting a preset ultrasonic scanning track; Inputting a preset contact force between an ultrasonic probe arranged at the front end of the mechanical arm and the surface of a human body, wherein an image acquired by the ultrasonic probe under the preset contact force is an image meeting the requirement of ultrasonic scanning definition; calculating the real-time contact force between the ultrasonic probe and the surface of the human body; Adjusting the contact force between the ultrasonic probe and the surface of the human body according to the preset contact force and the real-time contact force; And dynamically adjusting the scanning track of the ultrasonic probe according to the preset ultrasonic scanning track, the preset contact force and the real-time contact force to obtain an ultrasonic scanning image of the target part of the human body. As an alternative embodiment, the calculating the real-time contact force of the ultrasonic probe with the surface of the human body includes: acquiring force sensor data at the tail end of the mechanical arm in real time; And calculating the real-time contact force between the ultrasonic probe and the surface of the human body according to the data of the force sensor at the tail end of the mechanical arm and the calibrated load parameter at the tail end of the mechanical arm. As an optional implementation manner, the acquiring the force sensor data of the tail end of the mechanical arm in real time specifically includes: a six-dimensional force sensor is arranged at the tail end of the mechanical arm; And acquiring force sensor data at the tail end of the mechanical arm in real time through the six-dimensional force sensor. As an optional implementation manner, the calculating the real-time contact force between the ultrasonic probe and the surface of the human body according to the data of the force sensor at the tail end of the mechanical arm and the calibrated load parameter of the tail end of the mechanical arm includes: Calculating the calibrated contact force according to the force sensor data of the tail end of the mechanical arm and the calibrated load parameter of the tail end of the mechanical arm; And extracting the mould size of the three-dimensional vector force according to the calibrated contact force to obtain the real-time contact force between the ultrasonic probe and the surface of the human body. As an optional implementation manner, the adjusting the contact force between the ultrasonic probe and the surface of the human body according to the preset contact force and the real-time contact force includes: and calculating the adjustment speed of the contact plane according to the preset contact force, the real-time contact force and the proportionality coefficient for controlling the adjustment speed of the contact force, and realizing the contact force control of the contact position point according to the adjustment speed of the contact plane. As an alternative embodiment, the proportionality coefficient for controlling the speed of adjusting the contact force is adjusted ac