A robot-assisted ultrasound scanning system based on rgb‑d sensors

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 robot 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 unde...

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