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Ultrasonic scanning control method, robot and storage medium

A control method and robot technology, which can be applied in the fields of ultrasonic/sonic/infrasonic equipment control, ultrasonic/sonic/infrasonic diagnosis, ultrasonic/sonic/infrasonic Permian technology, etc., which can solve problems such as the inability to determine robot joint control parameters, etc.

Active Publication Date: 2022-02-15
SHENZHEN AISONO INTELLIGENT MEDICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The embodiment of the present invention aims to solve the problem that the joint control parameters of the robot cannot be determined when the scanning scene changes by providing an ultrasonic scanning control method, a robot and a storage medium

Method used

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  • Ultrasonic scanning control method, robot and storage medium
  • Ultrasonic scanning control method, robot and storage medium
  • Ultrasonic scanning control method, robot and storage medium

Examples

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no. 1 example

[0083] Such as figure 2 As shown, in the first embodiment of the present invention, the ultrasonic scanning control method of the present invention includes the following steps:

[0084] Step S110, during the process of the robot scanning the target area, acquiring the actual operating state parameters of the robot;

[0085] Step S120, determining preset operating state parameters corresponding to the actual operating state parameters, and determining target joint control parameters of the robot according to the actual operating state parameters and the preset operating state parameters;

[0086] Step S130, controlling the robot to perform a scanning action corresponding to the target joint control parameters.

[0087] In this embodiment, in order to solve the problem that the joint control parameters of the robot cannot be determined when the scanning scene changes. The invention proposes an ultrasonic scanning control method. The method obtains the actual operating state...

no. 2 example

[0101] refer to image 3 , image 3 Including the refinement step before step S110 in the first embodiment of the present invention. Before step S110, it also includes the training of the preset neural network model, the construction of the virtual robot and the construction of the virtual flexible body. Specifically, before step S110, it also includes:

[0102] Step S210, obtaining the corresponding actual reference state parameters when the virtual robot scans on the virtual flexible body based on the preset reference trajectory;

[0103] Step S220, obtaining joint control parameters according to the actual reference state parameters and the preset reference state parameters corresponding to the preset reference trajectory;

[0104] Step S230, associating the joint control parameters, the actual reference state parameters and the preset reference state parameters.

[0105] In this embodiment, the robotic breast ultrasound constant pressure and constant speed scan include...

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Abstract

The invention discloses an ultrasonic scanning control method, a robot and a storage medium, belonging to the field of robot control. According to the method, in the process that a robot scans a target area, actual operation state parameters of the robot are obtained; preset operation state parameters corresponding to the actual operation state parameters are determined, and target joint control parameters of the robot are determined according to the actual operation state parameters and the preset operation state parameters; and the robot is controlled to execute scanning actions corresponding to the target joint control parameters. According to the above technical scheme, the problem that the joint control parameters of the robot cannot be accurately determined when a scanning scene changes is solved, constant-speed and constant-pressure control over the robot is achieved through the technical scheme, and then the quality of ultrasonic images is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an ultrasonic scanning control method, a robot and a storage medium. Background technique [0002] During breast scanning, it is necessary to maintain a constant pressure and a constant scanning speed between the ultrasound probe and the skin. In related technologies, in the process of ultrasonic scanning control, the pressure is only detected by the pressure sensor, and the joint control parameters corresponding to the pressure are calculated according to a fixed algorithm, and then the robot is controlled by the joint control parameters. However, when the scanning scene changes, the joint control parameters of the robot cannot be determined. Due to the inability to determine the joint control parameters of the robot, the robot cannot perform constant-speed and constant-pressure scanning actions, resulting in poor quality of the finally acquired ultrasound image data. Co...

Claims

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Application Information

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IPC IPC(8): A61B8/08A61B8/00B25J11/00
CPCA61B8/0825A61B8/4444A61B8/54B25J11/00
Inventor 谈继勇从敬德孙熙
Owner SHENZHEN AISONO INTELLIGENT MEDICAL TECH CO LTD