A teleoperated ultrasonic scanning robot displacement testing method, apparatus and device

Abstract

The present application relates to a kind of teleoperation ultrasonic scanning robot displacement test method, device and equipment, the method comprises: obtaining the first starting position and the first terminal position of the test pen of the test component of doctor end, obtain sliding distance;Select at least two test regions of the ultrasonic probe of the test component of patient end test component, select at least two test starting points under test region;Second starting position and second terminal position of test starting point are obtained, and test distance is obtained;Compare sliding distance and test distance.The present application embodiment provides a kind of teleoperation ultrasonic scanning robot displacement test method, device and equipment, obtain the relative distance of test pen sliding, and then the moving distance of profiling probe is obtained, multiple test regions are selected in patient end, multiple test points are selected in different test regions, and the test distance corresponding to test point is obtained, and evaluation parameter is obtained by comparing moving distance and test distance, to ensure the detection accuracy of ultrasonic scanning robot.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic scanning technology, and in particular to a method, apparatus and equipment for testing displacement of a remotely operated ultrasonic scanning robot. Background Technology

[0002] At present, ultrasound scanning robots adopt a separate design, that is, the doctor end and the patient end use wireless communication. While the doctor moves the contour probe on the support plate, the ultrasound probe on the patient end adjusts the detection position according to the position information of the contour probe and completes the detection.

[0003] The aforementioned ultrasound scanning robot includes a positioning mechanism for preliminary localization of the patient's examination site. However, this ultrasound scanning robot lacks a mechanism for comparing the movement distance of the contour probe with that of the ultrasound probe, thus failing to guarantee the accuracy of the effective movement distance and affecting the detection accuracy of the ultrasound scanning robot. Summary of the Invention

[0004] This invention provides a method, apparatus, and equipment for testing the displacement of a remotely operated ultrasonic scanning robot. The purpose is to use a test industrial control computer to acquire and compare the sliding distances of the test pen and the ultrasonic probe, thereby ensuring the detection accuracy of the ultrasonic scanning robot.

[0005] In a first aspect, embodiments of the present invention provide a method for testing the displacement of a remotely operated ultrasonic scanning robot, including:

[0006] Obtain the first starting position and the first ending position of the test pen belonging to the doctor's end test component, and get the sliding distance of the test pen;

[0007] Select at least two test areas of the ultrasound probe to which the patient-end test component belongs, and select at least two test starting points under the test areas;

[0008] Based on the sliding distance, obtain the second starting position and the corresponding second ending position of the test starting point to obtain the test distance;

[0009] The displacement of the teleoperated ultrasonic scanning robot is determined by comparing the sliding distance and the test distance.

[0010] Optionally, before obtaining the first start position and first end position of the test pen to which the doctor-side test component belongs, the method further includes:

[0011] Establish communication connections with both the doctor-side testing component and the patient-side testing component.

[0012] Optionally, the first starting position and the first ending position of the test pen belonging to the doctor's end test component are obtained to get the sliding distance of the test pen, specifically including:

[0013] Obtain the first starting position and the corresponding ending position of the test pen during at least two sliding processes, and obtain the corresponding sliding distance for each.

[0014] Optionally, at least two test areas of the patient-side test component are selected, and at least two test start points are selected within each test area, specifically including:

[0015] A three-dimensional rectangular space is constructed based on the movement range of the ultrasound probe;

[0016] Select the diagonal of the three-dimensional rectangular space to obtain the diagonal test area and the central test area;

[0017] Select test starting points in the diagonal test area and the center test area respectively.

[0018] Optionally, referring to the sliding distance, the second starting position and the corresponding second ending position of the test starting point are obtained to obtain the test distance, specifically including:

[0019] The coordinates of the second starting position and the corresponding coordinates of the second ending position are obtained at least twice to obtain the corresponding test distance.

[0020] Optionally, the sliding distance and the test distance are compared, specifically including:

[0021] Obtain and compare the average sliding distance and the average test distance to obtain the distance accuracy;

[0022] The distance repeatability evaluation parameters are obtained based on the test distance and the mean test distance.

[0023] In a second aspect, embodiments of the present invention provide a displacement testing device for a remotely operated ultrasonic scanning robot, applied to the method provided in the first aspect, comprising:

[0024] The sliding distance acquisition module is used to obtain the first starting position and the first ending position of the test pen to which the doctor-end test component belongs, and to obtain the sliding distance of the test pen;

[0025] The test start point selection module is used to select at least two test areas of the ultrasound probe to which the patient-end test component belongs, and select at least two test start points under the test areas;

[0026] The test distance acquisition module is used to obtain the second starting position and the corresponding second ending position of the test starting point by referring to the sliding distance, and thus obtain the test distance;

[0027] The comparison module is used to compare the sliding distance and the test distance to determine the displacement of the teleoperated ultrasonic scanning robot.

[0028] Optionally, it also includes a communication module for establishing communication connections with the doctor-side testing component and the patient-side testing component, respectively.

[0029] Thirdly, embodiments of the present invention provide an electronic device, the electronic component comprising:

[0030] One or more processors;

[0031] Memory, used to store one or more programs;

[0032] When one or more programs are executed by one or more processors, the one or more processors implement the teleoperated ultrasonic scanning robot displacement testing method provided in any embodiment of the present invention.

[0033] Fourthly, embodiments of the present invention provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the displacement testing method for a teleoperated ultrasonic scanning robot as provided in any embodiment of the present invention.

[0034] This invention provides a method, apparatus, and device for testing the displacement of a remotely operated ultrasound scanning robot. The method obtains the relative distance of the sliding test pen in the test component at the doctor's end, and then simultaneously obtains the movement distance of the doctor's handheld probing probe. Multiple test areas are selected at the patient's end, and multiple test points are selected in different test areas to obtain the test distances corresponding to the test points. Evaluation parameters are obtained by comparing the movement distance with the test distance to ensure the detection accuracy of the ultrasound scanning robot. Attached Figure Description

[0035] Figure 1 This is a flowchart of a displacement testing method for a teleoperated ultrasonic scanning robot provided in Embodiment 1 of the present invention;

[0036] Figure 2 This is a schematic diagram of the doctor's end testing component in a displacement testing method for a remotely operated ultrasound scanning robot provided in Embodiment 1 of the present invention;

[0037] Figure 3 This is a flowchart illustrating the selection of the test starting point in a displacement testing method for a remotely operated ultrasonic scanning robot provided in Embodiment 3 of the present invention;

[0038] Figure 4 This is a flowchart illustrating the method for obtaining distance repeatability evaluation parameters in a displacement testing method for a remotely operated ultrasonic scanning robot, as provided in Embodiment 3 of the present invention.

[0039] Figure 5 This is a schematic diagram of the structure of a remotely operated ultrasonic scanning robot displacement testing device provided in Embodiment 4 of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of a remotely operated ultrasonic scanning robot displacement testing device provided in Embodiment 5 of the present invention.

[0041] In the image: 1. Doctor's end testing component; 2. Testing pen; 3. Base; 4. Touchpad; 5. Contouring probe; 6. Support frame; 7. Fixing frame; 8. Slide rail; 9. Laser rangefinder. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0043] Existing ultrasound scanning robots can adopt a separate design, where the doctor's end and the patient's end communicate wirelessly. While the doctor moves the contour probe on the support plate, the ultrasound probe on the patient's end adjusts its detection position based on the contour probe's location information to complete the detection. However, in actual use, there is a lack of distance verification mechanism between the doctor's moving contour probe and the patient's ultrasound probe, thus compromising the detection accuracy of the ultrasound scanning robot.

[0044] Example 1

[0045] To address the above shortcomings, this invention proposes a method for displacement testing of a remotely operated ultrasonic scanning robot, such as... Figure 1 and Figure 2 As shown, it includes:

[0046] S10: Obtain the first starting position and first ending position of the test pen belonging to the doctor's end test component, and get the sliding distance of the test pen; where, for example... Figure 2 As shown, the base 3 of the doctor-side testing component 1 is fixed to the edge of the touchpad 4, and the test pen 2 and the contour probe 5 held by the doctor are fixed to the support frame 6. The support frame 6 and the base 3 are slidably connected by a slide rail 8 with a fixing frame 7, so that the test pen 2 can slide on the touchpad 4, thereby enabling the doctor to slide the contour probe 5 in the x-axis direction. When needed, the contour probe 5 can be slid in the y-axis direction by adjusting the connection relationship between the fixing frame 7 and the base 3.

[0047] During the sliding of the contour probe 5 along the x-axis and / or y-axis, the sliding distance is measured primarily by acquiring the first starting position and the first ending position of the test pen 2. This is achieved either by setting a scale at the slide rail 8 or by using a laser rangefinder 9 to obtain the distance from the doctor's workbench to the support frame 6. After acquisition, the first starting position and the first ending position are sent to the testing industrial control computer.

[0048] S20: Select at least two test areas of the ultrasound probe belonging to the patient-end test component, and select at least two test starting points within each test area. It should be noted that multiple test areas are selected because the ultrasound probe moves in a replicative manner based on the sliding distance of the test pen, thus generating the test distance. However, this sliding distance is a relative distance and cannot achieve the goal of moving the ultrasound probe across the entire effective working space in a single test. Therefore, the effective working space needs to be divided into multiple test areas, and multiple test points should be selected within each test area, with the test starting points recorded separately.

[0049] S30: Referring to the sliding distance, obtain the second starting position and the corresponding second ending position of the test starting point to obtain the test distance; based on the test starting point and the sliding distance, obtain the coordinate values ​​of the second starting position and the second ending position. The sliding distance and the test distance can use different coordinate systems without affecting subsequent comparisons.

[0050] S40: Sliding distance and test distance, used to determine the displacement of the teleoperated ultrasound scanning robot. Comparison methods include single comparisons and multiple average comparisons. The difference obtained from the comparisons can be used as an evaluation value for the accuracy of the operating distance between the doctor's and patient's ends.

[0051] It should be added here that, before obtaining the first start position and first end position of the test pen to which the doctor-side test component belongs, the following is also included:

[0052] Communication connections are established with both the doctor-side and patient-side testing components. Through these connections, the industrial control computer acquires the coordinates of the first starting position, first ending position, second starting position, and second ending position, and calculates the corresponding sliding distance and testing distance. Communication connection methods include, but are not limited to, one or more of Zigbee, Bluetooth, and / or Wi-Fi.

[0053] This invention provides a method for testing the displacement of a remotely operated ultrasound scanning robot. The method obtains the relative distance of the sliding test pen in the test component at the doctor's end, and then simultaneously obtains the movement distance of the doctor's handheld probing probe. Multiple test areas are selected at the patient's end, and multiple test points are selected in different test areas to obtain the test distances corresponding to the test points. Evaluation parameters are obtained by comparing the movement distance with the test distance to ensure the detection accuracy of the ultrasound scanning robot.

[0054] Example 2

[0055] This embodiment further refines the above technical solution. Specifically, during step S10, it includes: obtaining the first starting position and the corresponding ending position of the test pen during at least two sliding processes; and obtaining the corresponding sliding distance using formula (1), i.e.:

[0056]

[0057] Where i represents the i-th test;

[0058] x mAi y mAi Indicates the starting coordinates of the i-th sliding motion;

[0059] x mGi y mGi Indicates the final coordinates of the i-th sliding motion;

[0060] D mi This represents the distance during the i-th test.

[0061] It should be noted that the above-mentioned central control system obtains the sliding distance multiple times and calculates the average value, which is then compared with the test distance later.

[0062] Example 3

[0063] Further as Figure 3 As shown, this embodiment is a further refinement based on the above embodiment 2. The specific steps included in executing step S20 are as follows:

[0064] S21: Construct a three-dimensional rectangular space based on the movement range of the ultrasound probe; where the sliding of the test pen belonging to the doctor's end test component on the touchpad surface is not related to the movement of the ultrasound probe in the z-axis direction, but only involves the movement of the ultrasound probe in the x-axis and / or y-axis directions.

[0065] S22: Select the diagonal of the three-dimensional rectangular space to obtain the diagonal test area and the central test area;

[0066] S23: Select the test starting point in the diagonal test area and the center test area respectively.

[0067] Specifically, the aforementioned three-dimensional rectangular space includes four spatial diagonals, forming four diagonal test areas; and the intersection of the spatial diagonals at the center of the three-dimensional rectangular space forms a central test area. In a preferred embodiment, one test starting point is selected on each side of the aforementioned spatial diagonals at the central intersection, resulting in a total of eight diagonal test areas; simultaneously, two test starting points are selected at the central intersection, forming two central test areas, for a total of ten test areas.

[0068] Next, step S30 specifically includes: acquiring the coordinate values ​​of the second starting position at least twice and the corresponding coordinate values ​​of the second ending position each time, and obtaining the corresponding test distances. In a preferred embodiment, for each test area, the coordinate values ​​of the second starting position and the second ending position are acquired 10 times to ensure the accuracy of the test. The test distance is obtained by calculating the coordinate values ​​using formula (2).

[0069]

[0070] Where j represents the j-th test;

[0071] x sAj y sAj Indicates the starting coordinates in the j-th test;

[0072] x sGj y sGj This represents the termination coordinates in the j-th test;

[0073] D sj This represents the distance during the j-th test.

[0074] Then as Figure 4 As shown, step S40 specifically includes:

[0075] S41: Obtain and compare the average sliding distance and the average test distance to obtain the distance accuracy;

[0076] The mean value of the sliding distance and the mean value of the test distance are obtained from formulas (3) and (4), namely:

[0077]

[0078]

[0079] in: This represents the average sliding distance.

[0080] This represents the mean of the test distance.

[0081] S42: Based on the test distance and the average test distance, obtain the distance repeatability evaluation parameters. It should be noted that the above distance repeatability evaluation parameters include the master-slave operation distance accuracy (AD). p And the master-slave operation translation repeatability RD, i.e., formulas (5) and (6):

[0082]

[0083] Where k = 1, it represents the mapping ratio of the distance traveled from the doctor's end to the patient's end, where the master operation distance represents the sliding distance and the slave operation distance represents the test distance.

[0084]

[0085] The above master-slave operation distance accuracy AD p Furthermore, a smaller RD value indicates higher displacement accuracy between master and slave operations.

[0086] For example, by selecting test points corresponding to 10 test areas, the master-slave operation distance accuracy (AD) can be calculated. p The values ​​of the master-slave operation translation repeatability RD are shown in Table 1:

[0087] Table 1

[0088] Serial Number Test Description Master-slave operation distance accuracy Master-slave operation translation repeatability 1 Point 1 0.131 0.0298329 2 Point 2 0.129 0.0573585 3 Point 3 0.347 0.0566569 4 Point 4 0.299 0.0963846 5 Point 5 0.267 0.0970052 6 Point 6 0.581 0.0727324 7 Point 7 0.531 0.0727324 8 Point 8 0.52 0.0316228 9 Point 9 0.485 0.0972111 10 Point 10 0.045 0.0552268

[0089] The present invention provides a method for testing the displacement of a teleoperated ultrasonic scanning robot. Based on embodiments one and two, the method obtains the average value by selecting the sliding distance of the test pen multiple times. Correspondingly, during each sliding process of the test pen, test points in the above 10 test areas are selected for testing and the average value of the test distance is obtained. Then, the accuracy of the master-slave operation distance and the repeatability of the master-slave operation translation are calculated to ensure the detection accuracy of the ultrasonic scanning robot.

[0090] Example 4

[0091] Further as Figure 5 As shown, this embodiment of the invention also proposes a displacement testing device for a remotely operated ultrasonic scanning robot, applying any one of the displacement testing methods for remotely operated ultrasonic scanning robots in embodiments 1-3, at the testing industrial control computer end, including:

[0092] The sliding distance acquisition module 10 is used to acquire the first starting position and the first ending position of the test pen to which the doctor-end test component belongs, and to obtain the sliding distance of the test pen; wherein the sliding distance acquisition module 10 is configured to perform the following operations:

[0093] Obtain the first starting position and the corresponding ending position of the test pen during at least two sliding processes, and obtain the corresponding sliding distance for each.

[0094] The test start point selection module 20 is used to select at least two test areas of the ultrasound probe to which the patient-end test component belongs, and to select at least two test start points within the selected test areas; the test start point selection module 20 is configured to perform the following operations:

[0095] A three-dimensional rectangular space is constructed based on the movement range of the ultrasound probe;

[0096] Select the diagonal of the three-dimensional rectangular space to obtain the diagonal test area and the central test area;

[0097] Select test starting points in the diagonal test area and the center test area respectively.

[0098] The test distance acquisition module 30 is used to obtain the second starting position and the corresponding second ending position of the test starting point by referring to the sliding distance, and to obtain the test distance; wherein the test distance acquisition module 30 is configured to perform the following operations: obtain the coordinate value of the second starting position at least twice and the coordinate value of the corresponding second ending position each time, and obtain the corresponding test distance respectively.

[0099] The comparison module 40 is used to compare the sliding distance and the test distance to determine the displacement of the teleoperated ultrasonic scanning robot. The comparison module 40 is configured to perform the following operations: acquire and compare the average sliding distance and the average test distance to obtain the distance accuracy; and obtain the distance repeatability evaluation parameters based on the test distance and the average test distance.

[0100] It should be added here that a communication module 50 is also included, which is used to establish communication connections with the doctor-side testing component and the patient-side testing component respectively.

[0101] The displacement testing device for a remotely operated ultrasonic scanning robot provided in this embodiment of the invention uses the same technical means as the displacement testing method for a remotely operated ultrasonic scanning robot and achieves the same technical effect, which will not be described in detail here.

[0102] Example 5

[0103] Figure 6 This is a schematic diagram of the structure of a remotely operated ultrasonic scanning robot displacement testing device provided in Embodiment 5 of the present invention, as shown below. Figure 6 As shown, the teleoperated ultrasonic scanning robot displacement testing device includes a processor 610, a memory 620, an input device 630, and an output device 640; the number of processors 610 in the teleoperated ultrasonic scanning robot displacement testing device can be one or more. Figure 6 Taking a processor 610 as an example; the processor 610, memory 620, input device 630, and output device 640 in the remotely operated ultrasonic scanning robot displacement testing equipment can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0104] The memory 620, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the teleoperated ultrasonic scanning robot displacement testing method in this embodiment of the invention (e.g., sliding distance acquisition module 10, test starting point selection module 20, test distance acquisition module 30, comparison module 40, and communication module 50). The processor 610 executes various functional applications and data processing of the teleoperated ultrasonic scanning robot displacement testing device by running the software programs, instructions, and modules stored in the memory 620, thereby realizing the aforementioned teleoperated ultrasonic scanning robot displacement testing method.

[0105] The memory 620 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 620 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 620 may further include memory remotely configured relative to the processor 610, which can be connected via a network to a remotely operated ultrasonic scanning robot displacement testing device. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0106] Input device 630 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the remotely operated ultrasonic scanning robot displacement testing equipment. Output device 640 may include display devices such as a display screen.

[0107] Example 6

[0108] Embodiment 6 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a displacement testing method for a teleoperated ultrasonic scanning robot, including:

[0109] Obtain the first starting position and the first ending position of the test pen belonging to the doctor's end test component, and obtain the sliding distance of the test pen;

[0110] Select at least two test areas of the ultrasound probe to which the patient-end test component belongs, and select at least two test starting points under the test areas;

[0111] Referring to the sliding distance, the second starting position and the corresponding second ending position of the test starting point are obtained to obtain the test distance;

[0112] The displacement of the teleoperated ultrasonic scanning robot is determined by comparing the sliding distance and the test distance.

[0113] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the teleoperated ultrasonic scanning robot displacement testing method provided in any embodiment of the present invention.

[0114] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0115] It is worth noting that in the embodiments of the above-mentioned teleoperated ultrasonic scanning robot displacement testing method device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0116] Although the present invention has been described in detail above with general descriptions, specific embodiments, and experiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A method for testing the displacement of a remotely operated ultrasonic scanning robot, characterized in that, include: Obtain the first starting position and the first ending position of the test pen belonging to the doctor's end test component, and obtain the sliding distance of the test pen; Select at least two test areas of the ultrasound probe to which the patient-end test component belongs, and select at least two test starting points under the test areas; Referring to the sliding distance, the second starting position and the corresponding second ending position of the test starting point are obtained to obtain the test distance; The displacement of the teleoperated ultrasonic scanning robot is determined by comparing the sliding distance and the test distance. Specifically, selecting at least two test areas of the patient-side test component and selecting at least two test starting points within those test areas includes: Based on the range of motion of the ultrasonic probe, a three-dimensional rectangular space is constructed; By selecting the spatial diagonal of the three-dimensional rectangular space, the diagonal test area and the central test area are obtained; The test starting point is selected in the diagonal test area and the center test area respectively.

2. The displacement testing method for a remotely operated ultrasonic scanning robot according to claim 1, characterized in that, Before obtaining the first start position and first end position of the test pen to which the doctor-end test component belongs, the method further includes: Establish communication connections with both the doctor-side testing component and the patient-side testing component.

3. The method for testing displacement of a remotely operated ultrasonic scanning robot according to claim 1, characterized in that, The step of obtaining the first starting position and the first ending position of the test pen to which the doctor-end test component belongs, and obtaining the sliding distance of the test pen, specifically includes: The first starting position and the corresponding ending position of the test pen during at least two sliding processes are obtained, and the corresponding sliding distances are obtained respectively.

4. The displacement testing method for a remotely operated ultrasonic scanning robot according to claim 3, characterized in that, The step of obtaining the second starting position and the corresponding second ending position of the test starting point by referring to the sliding distance, and obtaining the test distance, specifically includes: The coordinates of the second starting position and the coordinates of the second ending position are obtained at least twice to obtain the corresponding test distance.

5. The displacement testing method for a remotely operated ultrasonic scanning robot according to claim 4, characterized in that, The comparison of the sliding distance and the test distance specifically includes: The distance accuracy is obtained by acquiring and comparing the average sliding distance and the average test distance; Based on the test distance and the average test distance, distance repeatability evaluation parameters are obtained.

6. A displacement testing device for a remotely operated ultrasonic scanning robot, applied to the method described in any one of claims 1-5, characterized in that, include: The sliding distance acquisition module is used to obtain the first starting position and the first ending position of the test pen to which the doctor-end test component belongs, and to obtain the sliding distance of the test pen; The test start point selection module is used to select at least two test areas of the ultrasound probe to which the patient-end test component belongs, and to select at least two test start points under the test areas; The test distance acquisition module is used to obtain the second starting position and the corresponding second ending position of the test starting point by referring to the sliding distance, and to obtain the test distance; The comparison module is used to compare the sliding distance and the test distance to determine the displacement of the teleoperated ultrasonic scanning robot; The test start point selection module is configured to perform the following operations: Based on the range of motion of the ultrasonic probe, a three-dimensional rectangular space is constructed; By selecting the spatial diagonal of the three-dimensional rectangular space, the diagonal test area and the central test area are obtained; The test starting point is selected in the diagonal test area and the center test area respectively.

7. The displacement testing device for a remotely operated ultrasonic scanning robot according to claim 6, characterized in that: It also includes a communication module for establishing communication connections with the doctor-side testing component and the patient-side testing component, respectively.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the teleoperated ultrasonic scanning robot displacement testing method as described in any one of claims 1-5.

9. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the displacement testing method for a teleoperated ultrasonic scanning robot as described in any one of claims 1-5.

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