A human body automatic ultrasonic scanning robot, controller and control method

Abstract

The invention provides a human body automatic ultrasonic scanning robot and a control method thereof, and a controller. The controller comprises a feed-forward controller, a position controller, a force-position hybrid controller and a posture corrector, an ultrasonic detection probe held by a user is controlled to keep constant contact force, a certain friction force and a posture to adapt to skin outer contour movement, and the feed-forward controller controls the ultrasonic detection probe to move in the preset direction; the position controller controls a mechanical arm of the robot body to move; the force-position hybrid controller controls the contact force between the ultrasonic detection probe and the human skin surface to be constant and the friction force to be within a certain range; the posture corrector corrects the posture of the ultrasonic detection probe to enable the ultrasonic detection probe to better conform to the skin outline. Pressure and friction feedback is adopted, it is guaranteed that the contact force between the ultrasonic detection probe and the skin of a patient is basically constant, and the pain, caused by scanning force, of the patient is relieved; friction force feedback and historical scanning tracks correct the posture of the ultrasonic detection probe at the same time to adapt to skin surfaces with different contours.

Description

technical field [0001] The invention relates to the field of robot man-machine cooperation and compliance control technology, in particular to an automatic human body ultrasonic scanning robot, a controller and a control method. Background technique [0002] Medical ultrasound imaging technology utilizes the difference in acoustic impedance of different tissue structures to ultrasound beams to obtain different reflected signals, thereby obtaining internal structure information of biological tissues. Compared with other medical imaging technologies, ultrasonic imaging not only has fast imaging speed and small cumulative measurement error, but also does not cause radiation or pain to the human body. It has become a mature and practical way of disease examination, and has a very broad application prospect in human tissues and organs such as breast, thyroid, and bladder. [0003] The current mainstream ultrasound scans are performed manually by medical staff. When faced with a ...

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Problems solved by technology

[0006] However, the above patents have the following problems. 1. The flexible structure itself takes up a lot of space, and many parts reduce the life of the device and the stability of use; 2. The fixed hardware structure limits the shape of the scanned skin, which cannot be fitted with the structure. Skin with a large difference in curvature; 3. Springs have limited stiffness changes during the scanning process, and cannot complete the fitting task of complex curved surfaces and stiffness changes; 4. The pressure sensor can only approximately measure the normal pressure of the skin, and cannot monitor and improve other direction of force

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