Portable remote ultrasonic scanning system and safe ultrasonic scanning compliance control method

Abstract

The invention discloses a portable remote ultrasonic scanning system. Master end equipment comprises a handheld device and a master end computer; slave end equipment comprises a slave end scanning robot, slave end ultrasonic equipment, a slave end environment sensing unit and a data receiving and transmitting unit; the handheld device sends the moving speed, the rotating angular speed and the pressing force of the handheld device to a controller of the slave end scanning robot through the master end computer and the data receiving and transmitting unit, and the controller controls a mechanical arm to move on the horizontal plane, move in the space and move in the normal direction of a scanning face; the master end computer displays an ultrasonic scanning image, so that a doctor can conveniently observe a scanning state; the whole movement process of the mechanical arm is controlled in a compliant mode, the mechanical arm can imitate the human arm, external acting force is compliant when the mechanical arm makes contact with the external environment, and the safety of a patient during ultrasonic scanning can be guaranteed; and in addition, continuity of the whole movement process of the slave end scanning robot can be ensured, and continuity of contact force between a ultrasonic probe and a human body can be ensured.

Description

technical field [0001] The invention relates to the technical field of remote ultrasonic scanning, in particular to a portable remote ultrasonic scanning system and a safe ultrasonic scanning compliance control method. Background technique [0002] The existing remote ultrasonic scanning system equipment consists of two parts: the master device and the slave scanning robot. Doctors remotely control the slave scanning robot through the master device to perform ultrasonic examination. [0003] After searching, the Chinese patent publication number is CN109998590A remote ultrasonic operating system and the control method of the remote ultrasonic operating system. In this patent, the remote operating device, that is, the master device includes a human body forming device and an operator. The human body forming device is suitable for receiving 3D scanning The 3D data signal collected by the sensor is used to form a profiling body similar to the part of the patient to be detected ...

AI Technical Summary

Problems solved by technology

[0008]The technology of the master operation equipment and the remote scanning robot technology of the slave mostly adopts position mapping and multi-stage force control mapping methods, and the position mapping cannot ensure the movement accuracy of the remote scanning robot at the slave end. Continuity, multi-segment force control mapping cannot ensure the continuity of end force

[0009]The remote scanning robot from the end cannot realize joint force control and full process compliant control

[0010]Doctors cannot obtain the contact force information between the ultrasound probe and the scanned parts of the human body from the master operating device

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