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CN-121987240-A - Automatic ultrasonic robot and patterning method

CN121987240ACN 121987240 ACN121987240 ACN 121987240ACN-121987240-A

Abstract

The invention belongs to the technical field of ultrasonic equipment, and discloses an automatic ultrasonic robot and a mapping method. The automatic ultrasonic robot comprises a movable base, a mechanical arm, an ultrasonic probe, a depth camera and a laser radar, wherein the mechanical arm is arranged on the movable base, the ultrasonic probe is arranged at the output end of the mechanical arm, the depth camera and the laser radar are respectively arranged in a rotating mode on the movable base, the depth camera can shoot images of a drawing object and automatically plan an ultrasonic scanning path to form an ultrasonic scanning navigation chart, the automatic ultrasonic robot can control the ultrasonic probe to automatically conduct ultrasonic scanning on the drawing object according to the ultrasonic scanning navigation chart, the laser radar can emit laser pulses and automatically plan a movable navigation chart from an initial position to a target position, and the automatic ultrasonic robot can control the movable base to automatically move to the target position according to the movable navigation chart. The automatic ultrasonic robot has high degree of automation when executing ultrasonic examination tasks, and the workload of doctors is less.

Inventors

  • WEN FEI
  • XUE DUN
  • YE HONGSHEN
  • YAO XINGJI
  • YAO TAO
  • WU LI

Assignees

  • 深圳华大智造云影医疗科技有限公司
  • 深圳华大智造科技股份有限公司

Dates

Publication Date
20260508
Application Date
20241104

Claims (17)

  1. 1. An automatic ultrasonic robot, comprising: A mobile base (100), the mobile base (100) being movable to a target position; A robotic arm (210), the robotic arm (210) being disposed on the mobile base (100), the robotic arm (210) having at least one rotational degree of freedom and at least one mobile degree of freedom; The ultrasonic probe (310) is arranged at the output end of the mechanical arm (210), and the ultrasonic probe (310) can be lifted and/or rotated under the driving of the mechanical arm (210) so as to adjust the mapping position on the mapping object (20); The depth camera (500) is rotatably arranged relative to the mobile base (100), the depth camera (500) can shoot images of the imaging object (20) and automatically plan an ultrasonic scanning path to form an ultrasonic scanning navigation chart, and the automatic ultrasonic robot can control the ultrasonic probe (310) to automatically perform ultrasonic scanning on the imaging object (20) according to the ultrasonic scanning navigation chart; And/or a laser radar (400), wherein the laser radar (400) is rotatably arranged relative to the mobile base (100), the laser radar (400) can emit laser pulses and automatically plan a mobile navigation chart from an initial position to the target position, and the automatic ultrasonic robot can control the mobile base (100) to automatically move to the target position according to the mobile navigation chart.
  2. 2. The automatic ultrasound robot according to claim 1, wherein the depth camera (500) captures images of the mapping object (20) in real time and updates the ultrasound scan navigation map according to the images obtained in real time.
  3. 3. The automatic ultrasound robot according to claim 1, wherein the depth camera (500) is capable of automatically adjusting a photographing angle according to a body position of the mapping object (20) or a position of the mapping object (20) on an examination bed (30); Or an operator can manually adjust the shooting angle of the depth camera (500) according to the body position of the imaging object (20) or the position of the imaging object (20) on the examination bed (30).
  4. 4. The automatic ultrasonic robot according to claim 1, further comprising a force detection mechanism (320), wherein the force detection mechanism (320) is disposed at an output end of the mechanical arm (210), and wherein the mapping pressure of the ultrasonic probe (310) on the mapping object (20) can be obtained by the force detection mechanism (320); The automatic ultrasonic robot can adjust the mapping pressure to be within a target range according to the pressure information acquired by the force detection mechanism (320) and the position information of the mapping position.
  5. 5. The automatic ultrasound robot of claim 1, wherein a first end of the robotic arm (210) is drivingly connected to the mobile base (100), and a second end of the robotic arm (210) is connected to the ultrasound probe (310); The automatic ultrasonic robot further comprises a lifting mechanism (220) and a first driving mechanism, the lifting mechanism (220) comprises a horizontal portion (2212), the first driving mechanism and the mechanical arm (210) are arranged on the horizontal portion (2212), the first driving mechanism is connected with a first end of the mechanical arm (210) so as to drive the mechanical arm (210) to stretch and retract on the horizontal portion (2212) along a first direction, and the lifting mechanism (220) can lift along a second direction relative to the movable base (100).
  6. 6. The automatic ultrasonic robot according to claim 1, further comprising a lifting mechanism (220) and a rotating mechanism (230), the rotating mechanism (230) being arranged on the mobile base (100) and being rotatable about a first axis, the lifting mechanism (220) being connected to an output of the rotating mechanism (230), the output of the lifting mechanism (220) being movable in a second direction and being connected to a first end of the mechanical arm (210).
  7. 7. The automatic ultrasonic robot according to claim 6, wherein the elevation mechanism (220) comprises an elevation member (221) and a second driving mechanism, an output end of the second driving mechanism being connected to the elevation member (221) and being capable of driving the elevation mechanism (220) to move in the second direction; The rotating mechanism (230) comprises a rotating piece (231) and a third driving mechanism (232), wherein the output end of the third driving mechanism (232) is connected with the rotating piece (231) and can drive the rotating piece (231) to rotate around the first axis, and the lifting piece (221) is connected to the rotating piece (231).
  8. 8. The automatic ultrasonic robot according to claim 6, wherein the elevating mechanism (220) includes an elevating member (221), the rotating mechanism (230) includes a rotating member (231), the elevating member (221) includes a horizontal portion (2212) and a vertical portion (2211) vertically connected, the vertical portion (2211) is movably disposed on the rotating member (231) in the second direction, and the mechanical arm (210) is movably disposed on the horizontal portion (2212) in the first direction.
  9. 9. The automatic ultrasonic robot according to claim 1, further comprising a support arm (600), the support arm (600) being rotatably arranged with respect to the mobile base (100), the depth camera (500) being arranged on the support arm (600).
  10. 10. The automatic ultrasonic robot according to claim 9, further comprising a fourth driving mechanism (700), the fourth driving mechanism (700) being configured to drive the support arm (600) to rotate about a second axis.
  11. 11. The automatic ultrasonic robot according to claim 10, characterized in that it comprises a rotating member (231) rotatable about a first axis, the fourth driving mechanism (700) and the support arm (600) being both arranged at the rotating member (231); Or the fourth driving mechanism (700) and the supporting arm lever (600) are arranged on the mechanical arm (210); Or the automatic ultrasonic robot comprises a lifting piece (221) capable of moving along a second direction, and the fourth driving mechanism (700) and the supporting arm rod (600) are arranged on the lifting piece (221).
  12. 12. A mapping method, characterized in that an automatic ultrasonic robot is used, the mapping method comprising the steps of: S1, a depth camera (500) of the automatic ultrasonic robot shoots an image of a mapping object (20) and automatically plans an ultrasonic scanning path to form an ultrasonic scanning navigation map; s2, according to the ultrasonic scanning navigation chart, the automatic ultrasonic robot controls an ultrasonic probe (310) to automatically scan the target imaging position of the imaging object (20).
  13. 13. The patterning method of claim 12, wherein prior to step S1, the patterning method further comprises the steps of: S0, a laser radar (400) of the automatic ultrasonic robot automatically plans a mobile navigation chart from an initial position to a target position, and the automatic ultrasonic robot automatically moves to the target position according to the mobile navigation chart.
  14. 14. The patterning method of claim 12, wherein between step S1 and step S2, the patterning method further comprises the steps of: S11, adjusting the mapping pressure between the ultrasonic probe (310) and the mapping object (20) to a target range.
  15. 15. The patterning method of claim 13, wherein prior to step S0, the patterning method further comprises the steps of: Positional information about the target position is input to the automatic ultrasound robot.
  16. 16. The patterning method of claim 12, wherein prior to step S2, the patterning method further comprises the steps of: Positional information about the target mapping position is input to the automatic ultrasonic robot.
  17. 17. The patterning method of claim 13, further comprising, after step S2, the steps of: The target mapping position is corrected using data obtained by detecting the mapping object (20) by the laser radar (400).

Description

Automatic ultrasonic robot and patterning method Technical Field The invention relates to the technical field of ultrasonic equipment, in particular to an automatic ultrasonic robot and a mapping method. Background Ultrasonic detection is a common detection means in hospitals, doctors in the hospitals use special ultrasonic detection equipment to carry out ultrasonic detection, the special ultrasonic detection equipment is large in size and high in cost, and in order to avoid damage to the ultrasonic equipment and ensure the detection precision of the ultrasonic equipment, the ultrasonic equipment is generally fixedly arranged in a special detection room. If a doctor leaves a hospital to do medical assistance, a portable ultrasonic device is generally used, the portable ultrasonic device has smaller volume, and the doctor holds an ultrasonic probe by himself to perform ultrasonic detection on a patient. When a doctor goes out to carry out ultrasonic detection, the automation degree of medical equipment for executing ultrasonic detection tasks is low, so that the workload of the ultrasonic doctor is greatly increased, and the detection cost of ultrasonic detection is increased. Disclosure of Invention A first object of the present invention is to provide an automatic ultrasonic robot which has a high degree of automation in performing an ultrasonic inspection task, reducing the workload of doctors. To achieve the purpose, the invention adopts the following technical scheme: An automatic ultrasonic robot comprises a moving base, a mechanical arm, an ultrasonic probe and a laser radar, wherein the moving base can move to a target position, the mechanical arm is arranged on the moving base and provided with at least one rotation degree and at least one movement degree, the ultrasonic probe is arranged at the output end of the mechanical arm and can be lifted and/or rotated under the driving of the mechanical arm so as to adjust a mapping position on a mapping object, the depth camera is rotatably arranged relative to the moving base and can shoot an image of the mapping object and automatically plan an ultrasonic scanning path to form an ultrasonic scanning navigation map, the automatic ultrasonic robot can control the ultrasonic probe to automatically scan the mapping object according to the ultrasonic scanning navigation map, and/or the laser radar is rotatably arranged relative to the moving base and can emit laser pulses and automatically mark out the automatic navigation map from the initial position to the target position, and the automatic ultrasonic robot can control the ultrasonic probe to move to the target position according to the moving position. Preferably, the depth camera shoots the image of the imaging object in real time, and updates the ultrasonic scanning navigation chart according to the image obtained in real time. Preferably, the depth camera can automatically adjust the shooting angle according to the body position of the imaging object or the position of the imaging object on the examination bed, or an operator can manually adjust the shooting angle of the depth camera according to the body position of the imaging object or the position of the imaging object on the examination bed. Preferably, the automatic ultrasonic robot further comprises a force detection mechanism, wherein the force detection mechanism is arranged at the output end of the mechanical arm, and the imaging pressure of the ultrasonic probe on the imaging object can be obtained through the force detection mechanism, and the automatic ultrasonic robot can adjust the imaging pressure to be within a target range according to the pressure information obtained by the force detection mechanism and the position information of the imaging position. Preferably, the first end of the mechanical arm is in transmission connection with the movable base, the second end of the mechanical arm is connected with the ultrasonic probe, the automatic ultrasonic robot further comprises a lifting mechanism and a first driving mechanism, the lifting mechanism comprises a horizontal part, the first driving mechanism and the mechanical arm are arranged on the horizontal part, the first driving mechanism is connected with the first end of the mechanical arm so as to drive the mechanical arm to stretch and retract on the horizontal part along a first direction, and the lifting mechanism can lift along a second direction relative to the movable base. Preferably, the automatic ultrasonic robot further comprises a lifting mechanism and a rotating mechanism, wherein the rotating mechanism is arranged on the movable base and can rotate around a first axis, the lifting mechanism is connected with the output end of the rotating mechanism, and the output end of the lifting mechanism can move along a second direction and is connected with the first end of the mechanical arm. Preferably, the lifting mechanism comprises a lifting piece and a second driving me