Method and system for detecting pressure through probe of mechanical arm

Abstract

The invention discloses a probe pressure detection method and system for a mechanical arm, and the method comprises the steps: S1, obtaining a vibration element signal fn (t) = a * Qn (t) = a * d * F of an ultrasonic probe, in the formula, a is the amplification coefficient of a probe vibration element in an ultrasonic system, Qn (t) is the charge of the vibration element, the piezoelectric constant of a vibration element material is d, F is the pressure applied to the probe vibration element, and n is the number of the vibration elements; s2, filtering the vibration element signal fn (t) through the following formula: Gn (t) = fn (t) * h (t), in the formula, h (t) is a filter function, and Gn (t) is a processed signal; s3, according to the vibration element signal fn (t), judging whether the skin is contacted or not, and then according to the processed signal Gn (t), calculating a pressure value FW after contact; and S4, when the probe of the mechanical arm moves, the pressure value is adjusted in real time so as to ensure that the pressure after contact is constant. According to the method, human body contact and pressure change can be judged through signals on the ultrasonic probe making contact with the human body, the response time is short, and therefore the imaging quality of the ultrasonic probe is effectively improved.

Description

technical field [0001] The present invention relates to the field of ultrasonic technology, and more particularly, to a pressure detection method and system for a probe of a robotic arm. Background technique [0002] When the ultrasound probe is controlled by the robotic arm for scanning, the control probe is in contact with the human body and maintains a certain pressure, which is very important for forming an ultrasound image and ensuring the ultrasound image. Generally, the pressure sensor can be used for detection, but there are the following shortcomings: First, the response time of the pressure sensor is long, resulting in slow response of the robotic arm, and the ultrasound image has been affected before the pressure is adjusted to a constant; second, the pressure sensor is placed in front of the probe, which will affect the Probe imaging, so the pressure sensor can only be placed at the tail or around the probe, so that the pressure felt by the pressure sensor cannot...

AI Technical Summary

Problems solved by technology

Generally, the pressure sensor can be used for detection, but there are the following deficiencies: First, the pressure sensor has a long response time, which leads to the slow response of the mechanical arm, and the ultrasonic image has been affected before the pressure is adjusted to a constant value; Probe imaging, so the pressure sensor can only be placed at the end of the probe or around it, resulting in the pressure felt by the pressure sensor cannot fully reflect the pressure between the probe and the contact surface of the human body; third, the pressure sensor cannot reflect whether the probe is in partial or complete contact. Under partial contact, although the pressure is also constant, but due to the partial contact with the human body, the imaging image is missing, which affects the imaging quality and reduces the sensitivity.

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