Auxiliary ultrasonic scanning system of robot based on RGB-D sensor

A robot-assisted, ultrasonic scanning technology, applied in ultrasonic/sonic/infrasonic diagnosis, sonic diagnosis, infrasonic diagnosis, etc. Effect

Active Publication Date: 2015-08-26
NORTHEAST DIANLI UNIVERSITY
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Problems solved by technology

[0007] Aiming at the problems of long time and heavy labor in ultrasonic detection, a robot-assisted ultrasonic scanning system based on RGB-D sensor is proposed, which integrates computer vision technology, computer-aided medical technology and robot control theory, and adopts image stitching and image reconstruction, etc

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  • Auxiliary ultrasonic scanning system of robot based on RGB-D sensor
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  • Auxiliary ultrasonic scanning system of robot based on RGB-D sensor

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Embodiment Construction

[0014] The present invention will be further described below using the accompanying drawings and examples.

[0015] refer to figure 1 , a RGB-D sensor-based robot-assisted ultrasonic scanning system of the present invention includes a Kinect sensor 11 , a robot 12 , an ultrasonic probe 13 , markers 14 and a host 15 . The Kinect sensor 11 is used to collect RGB color images and depth images of the ultrasonic probe 13 and markers 14, and the image information is transmitted to the host 15, and the host 15 performs processing such as image 3D splicing and image reconstruction, and calculates in real time After processing the 3D shape and pose of the ultrasonic probe 13, the current pose information of the probe 14 and the calculated control commands are sent to the robot 12 to control and guide the robot 12 to hold the ultrasonic probe 13 to a designated position, realizing robot Auxiliary ultrasound scanning purposes.

[0016] refer to figure 2 , a robot-assisted ultrasonic ...

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Abstract

Provided is an auxiliary ultrasonic scanning system of a robot based on an RGB-D sensor. The auxiliary ultrasonic scanning system comprises a Kinect sensor, the robot, an ultrasonic probe, a marker and a host and is characterized in that the Kinect sensor serves as a visual servo system of the robot; the ultrasonic probe is clamped on a mechanical arm of the robot; the marker is fixed onto the ultrasonic probe; the visual servo system of the robot is utilized for synchronously acquiring an RGB color image and a depth image and sending images to the host; the host finishes following processes such as image stitching operation and image three-dimensional reconstruction; according to image pairs acquired by the visual servo system, the marker fixed onto the ultrasonic probe is recognized and positioned by the host; according to a recognition-based positioning result, the position and the posture of the ultrasonic probe are calculated; and the host is used for sending a control instruction to the robot so that the mechanical arm of the robot is controlled to reach at the specified position for carrying out ultrasonic scanning operation. The auxiliary ultrasonic scanning system of the robot based on the RGB-D sensor is advantaged by being reasonable in design, reliable in performance, high in automated degree and detection efficiency and low in cost.

Description

technical field [0001] The invention relates to the field of photoelectric technology, and is a robot-assisted ultrasonic scanning system based on RGB-D sensors, which integrates computer vision technology, computer-aided medical technology and robot control theory. It can realize robot-assisted ultrasound scanning operation, which is used to assist medical device research and development, blood circulation, medical imaging research and training doctors. Background technique [0002] Robot-assisted diagnosis and treatment has always been a research hotspot in the international medical field. Many research institutions have been committed to using the high accuracy, high sensitivity, planability and operability of robotic technology to provide patients with minimally invasive and fine diagnosis. and treatment. At present, several robot systems such as daVinci and RoboDoc have been applied in clinical practice, and various robots for solving different clinical problems are un...

Claims

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Application Information

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IPC IPC(8): A61B8/00A61B19/00
Inventor 孟勃
Owner NORTHEAST DIANLI UNIVERSITY
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