Ultrasonic scanning robot force-controlled drag scanning method, device and equipment

Abstract

The present invention relates to a force-controlled dragging scanning method, device, and equipment for an ultrasonic scanning robot, the method comprising: adjusting the position of an ultrasonic probe according to a zero-force-force control mode to calculate the real-time center of gravity position of the lesion area; determining the numerical relationship between the real-time center of gravity position and a distance threshold, and switching to a force-controlled-zero-force mode if the real-time center of gravity position is greater than the distance threshold. The embodiments of the present invention provide a force-controlled dragging scanning method, device, and equipment for an ultrasonic scanning robot, wherein the method moves the ultrasonic probe in a zero-force control mode by an ultrasonic scanning robot until it contacts the patient's body, then adjusts to a force-controlled scanning mode, and simultaneously uses the ultrasonic probe to obtain the real-time center of gravity position, and compares the center of gravity position with a standard value, thereby selecting to continue using the force-controlled scanning mode and / or switch to the zero-force control mode, thereby facilitating improved quality of ultrasonic scanning images.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic scanning technology, and in particular to a force-controlled dragging scanning method, device and equipment for an ultrasonic scanning robot. Background Art

[0002] At present, ultrasound scanning robots perform ultrasound scans on patients by fixing an ultrasound probe at the end of a robotic arm to obtain ultrasound images of the lesion.

[0003] However, the aforementioned robotic arm also has certain deficiencies during operation. For example, the varying physical conditions and lesion locations of patients can easily affect the quality of ultrasound images during scanning. This is primarily due to the varying force applied by the robotic arm to drive the ultrasound probe. Therefore, a force control method is needed to improve ultrasound image quality. Summary of the Invention

[0004] The present invention provides a force-controlled drag scanning method, device and equipment for an ultrasonic scanning robot, the purpose of which is to improve the quality of the collected ultrasonic images by determining the center of gravity position of the lesion area and adjusting the force application mode.

[0005] In a first aspect, an embodiment of the present invention provides a force-controlled drag scanning method of an ultrasonic scanning robot, comprising:

[0006] According to the zero-force-force control mode, the position of the ultrasound probe is adjusted to calculate the real-time center of gravity position of the lesion area;

[0007] Determine the numerical relationship between the real-time center of gravity position and the distance threshold;

[0008] If the real-time center of gravity position is greater than the distance threshold, it switches to force control-zero force mode.

[0009] Optionally, the zero-force-force control mode specifically includes a zero-force control mode and a force-controlled scanning mode.

[0010] Optionally, adjusting the position of the ultrasound probe according to the zero-force-force control mode specifically includes:

[0011] According to the six-dimensional force sensor, it is determined whether the ultrasound probe is in contact with the lesion area.

[0012] If not, start the zero-force control mode;

[0013] If yes, start force control scanning mode.

[0014] Optionally, starting the zero-force control mode specifically includes:

[0015] The first parameter information in the zero-force control mode is obtained through the six-dimensional force sensor.

[0016] Optionally, force-controlled scanning mode is enabled, specifically including:

[0017] The second parameter information in the force-controlled scanning mode is obtained through the six-dimensional force sensor.

[0018] Optionally, calculating the real-time center of gravity position of the lesion area specifically includes:

[0019] Acquire and binarize the ultrasonic image of the lesion area;

[0020] Establish a coordinate system with the edge vertex of the ultrasound image as the origin;

[0021] According to the coordinate system, the coordinate value of the real-time center of gravity position is obtained.

[0022] In a second aspect, an embodiment of the present invention provides a force-controlled drag scanning device for an ultrasonic scanning robot, comprising:

[0023] A real-time center of gravity position acquisition module is used to adjust the position of the ultrasound probe according to the zero-force-force control mode and calculate the real-time center of gravity position of the lesion area;

[0024] A numerical relationship determination module is used to determine the numerical relationship between the real-time center of gravity position and the distance threshold;

[0025] If the real-time center of gravity position is greater than the distance threshold, it switches to force control-zero force mode.

[0026] Optionally, the real-time center of gravity position acquisition module is configured to perform the following operations:

[0027] Acquire and binarize the ultrasonic image of the lesion area;

[0028] Establish a coordinate system with the edge vertex of the ultrasound image as the origin;

[0029] According to the coordinate system, the coordinate value of the real-time center of gravity position is obtained.

[0030] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device including: one or more processors;

[0031] a memory for storing one or more programs;

[0032] When one or more programs are executed by one or more processors, the one or more processors implement the ultrasonic scanning robot force-controlled dragging scanning method provided by any embodiment of the present invention.

[0033] In a fourth aspect, an embodiment of the present invention provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to execute the ultrasonic scanning robot force-controlled dragging scanning method provided in any embodiment of the present invention.

[0034] An embodiment of the present invention provides a force-controlled dragging scanning method, device, and equipment for an ultrasonic scanning robot. The method moves the ultrasonic probe in a zero-force control mode by the ultrasonic scanning robot until it contacts the patient's body and then adjusts to a force-controlled scanning mode. At the same time, the ultrasonic probe is used to obtain the real-time center of gravity position, and the center of gravity position is compared with a standard value to select whether to continue using the force-controlled scanning mode and / or switch to the zero-force control mode, thereby improving the quality of the ultrasonic scanning image. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flow chart of a force-controlled drag scanning method for an ultrasonic scanning robot provided by an embodiment of the present invention;

[0036] Figure 2 A flowchart of obtaining the real-time center of gravity position in a force-controlled drag scanning method of an ultrasonic scanning robot provided by an embodiment of the present invention;

[0037] Figure 3 This is a schematic structural diagram of a force-controlled dragging scanning device for an ultrasonic scanning robot provided by an embodiment of the present invention;

[0038] Figure 4 This is a schematic structural diagram of an ultrasonic scanning robot force-controlled dragging scanning device provided by an embodiment of the present invention;

[0039] Figure 5 Schematic diagram of an ultrasonic scanning robot in a force-controlled dragging scanning method of an ultrasonic scanning robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0041] Existing ultrasound scanning robots use an ultrasound probe fixed to the end of a robotic arm to perform ultrasound scans on patients, acquiring ultrasound images of lesions. However, due to varying scanning conditions, a force control method for the ultrasound probe is needed to improve the quality of ultrasound images.

[0042] Example 1

[0043] In view of the above shortcomings, the present invention proposes a force-controlled drag scanning method for an ultrasonic scanning robot, wherein the ultrasonic scanning robot includes an industrial computer, an ultrasonic imager and a mechanical arm, wherein an ultrasonic probe and a six-dimensional force sensor are fixed at the end of the mechanical arm. Figure 5 As shown. Therefore, the ultrasonic scanning robot force-controlled drag scanning method includes the following Figure 1 Steps shown:

[0044] S10: Adjust the position of the ultrasound probe according to the zero-force-force control mode, and calculate the real-time center of gravity position of the lesion area. It should be noted that the zero-force-force control mode includes the zero-force control mode and the force-controlled scanning mode, both of which are working modes in which the robotic arm drags the ultrasound probe with force control. The method for determining which mode to use is mainly based on the six-dimensional force sensor to determine whether the ultrasound probe is in contact with the patient's body surface.

[0045] If not, start the zero-force control mode;

[0046] If yes, start force control scanning mode.

[0047] Among them, the zero-force control mode refers to the working mode of the ultrasound probe from the starting position to the patient's body surface. This mode adopts a force-controlled high-speed, high-flexibility response strategy; correspondingly, the force-controlled scanning mode refers to the working mode of the ultrasound probe after it contacts the patient's body surface. This mode adopts a force-controlled low-speed, precise, and highly stable response strategy.

[0048] After the ultrasound probe contacts the patient's body surface, it collects ultrasound images and calculates the real-time center of gravity of the lesion area based on the ultrasound images. Figure 2 As shown, the calculation method mainly includes:

[0049] S11: Acquire an ultrasound image of the lesion area and perform binarization processing; the main function of the binarization processing is to highlight the lesion area of the ultrasound image through preprocessing.

[0050] S12: Establish a coordinate system with the vertex at the edge of the ultrasound image as the origin. In one optional embodiment, the upper left vertex is selected as the coordinate origin (such as the coordinate system in OpenCV processing software), with the horizontal right direction as the positive x-axis and the vertical downward direction as the positive y-axis. The y-axis direction is used to represent the depth of the lesion area on the patient's body surface, and the x-axis direction is used to represent the horizontal position of the lesion area on the patient's body surface.

[0051] S13: According to the coordinate system, the coordinate value of the real-time center of gravity is obtained. According to the horizontal position coordinates and depth coordinates of the lesion area (real-time center of gravity), the lesion area is located. Specifically, the coordinates of the i-th pixel point of point P in the lesion area of the ultrasound image are (x i ,y i ), the pixel value of this point is Pi , the center of gravity is (C x ,C y ). The image center of gravity calculation formula is:

[0052]

[0053] It should be added here that when starting the zero-force control mode, it specifically includes:

[0054] The first parameter information in the zero-force control mode is obtained by the six-dimensional force sensor. The first parameter information includes the expected force f d , actual force f e , deviation force e f , proportional coefficient k p , integral coefficient k i , differential coefficient k d And the motion step length u of the ultrasonic probe at the next moment in Cartesian space. The corresponding calculation formula in zero-force control mode is:

[0055] e f =f d -f e

[0056] u=k p e f +k i ∫e f +k d e f

[0057] f d =0

[0058] Similarly, when force-controlled scanning mode is activated, the following operations are performed:

[0059] The second parameter information in the force-controlled scanning mode is obtained through the six-dimensional force sensor. The second parameter information includes:

[0060] Expected force f′ d , actual force f′ e , deviation force e′ f , proportional coefficient k p1 , integral coefficient k i1 , differential coefficient k d1 , the next moment motion step length u′ of the ultrasound probe in Cartesian space and the y-axis coordinate value C of the center of gravity of the ultrasound image y The calculation formula for the stress-controlled scanning mode is:

[0061] e′ f =f′ d -f′ e

[0062] u′=k p1 e′ f +k i1 ∫e′ f +k d1 e′ f

[0063] f′ d =m(nC y )

[0064] Among them, m represents the proportional coefficient, and n represents the initial setting threshold, that is, the threshold in the y-axis direction.

[0065] Then, step S20 is executed: determining the numerical relationship between the real-time center of gravity position and the distance threshold;

[0066] If the real-time center of gravity position is greater than the distance threshold, it switches to force control-zero force mode. x ,C y ) and the distance threshold P s (S x ,S y ) for comparison. The comparison here is mainly carried out in the y-axis direction. If C y y This means that the distance measured by the ultrasound probe has not reached the lesion area, so the current force control scanning mode is switched to the zero force control mode, so that the robotic arm drives the ultrasound probe to move. It should be noted that during the switching process, it is also necessary to ensure that k p1 <k p and k d1 <k d , because the parameters in zero-force control mode are greater than the corresponding parameters in force-controlled scanning mode.

[0067] An embodiment of the present invention provides a force-controlled dragging scanning method for an ultrasonic scanning robot. The ultrasonic scanning robot moves the ultrasonic probe in a zero-force control mode until it contacts the patient's body and then adjusts to a force-controlled scanning mode. At the same time, the ultrasonic probe is used to obtain the real-time center of gravity position, and the center of gravity position is compared with a standard value to select whether to continue using the force-controlled scanning mode and / or switch to the zero-force control mode, thereby improving the quality of ultrasonic scanning images.

[0068] Example 2

[0069] The present invention also proposes an ultrasonic scanning robot force-controlled drag scanning device, which applies the ultrasonic scanning robot force-controlled drag scanning method provided in the above embodiment. Figure 3 Shown, including:

[0070] ​The real-time center of gravity position acquisition module 01 is used to adjust the position of the ultrasound probe according to the zero-force-force control mode and calculate the real-time center of gravity position of the lesion area. The zero-force-force control mode specifically includes the zero-force control mode and the force-controlled scanning mode. The adjustment of the position of the ultrasound probe specifically includes:

[0071] According to the six-dimensional force sensor, determine whether the ultrasound probe is in contact with the patient's body surface;

[0072] If not, the zero-force control mode is started; during this process, the ultrasonic scanning robot obtains the first parameter information under the zero-force control mode through the six-dimensional force sensor.

[0073] If yes, the force-controlled scanning mode is started. During this process, the ultrasonic scanning robot obtains the second parameter information in the force-controlled scanning mode through the six-dimensional force sensor.

[0074] The real-time center of gravity position acquisition module 01 is configured to perform the following operations:

[0075] Acquire and binarize the ultrasound image of the lesion area;

[0076] Establish a coordinate system with the edge vertex of the ultrasound image as the origin;

[0077] According to the coordinate system, the coordinate value of the real-time center of gravity position is obtained.

[0078] The numerical relationship determination module 02 is used to determine the relationship between the real-time center of gravity position and the distance threshold.

[0079] If the center of gravity position is greater than the distance threshold, it switches to force control-zero force mode.

[0080] An ultrasonic scanning robot force-controlled dragging scanning device provided in an embodiment of the present invention adopts the same technical means as the ultrasonic scanning robot force-controlled dragging scanning method to achieve the same technical effects, which will not be described in detail here.

[0081] Example 3

[0082] Figure 4 A schematic diagram of the structure of an ultrasonic scanning robot force-controlled dragging scanning device provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the ultrasonic scanning robot force-controlled dragging scanning device includes a processor 410, a memory 420, an input device 430 and an output device 440; the number of processors 410 in the ultrasonic scanning robot force-controlled dragging scanning device can be one or more. Figure 4 In the figure, a processor 410 is used as an example; the processor 410, memory 420, input device 430 and output device 440 in the ultrasonic scanning robot force-controlled dragging scanning device can be connected via a bus or other means. Figure 4 The bus connection is taken as an example.

[0083] The memory 420, 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 ultrasonic scanning robot force-controlled drag scanning method in the embodiments of the present invention (e.g., a real-time center of gravity position acquisition module and a numerical relationship determination module). The processor 410 executes the software programs, instructions, and modules stored in the memory 420 to execute various functional applications and data processing of the ultrasonic scanning robot force-controlled drag scanning device, thereby implementing the aforementioned ultrasonic scanning robot force-controlled drag scanning method.

[0084] The memory 420 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data created based on the use of the terminal, etc. Furthermore, the memory 420 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 420 may further include a memory remotely located relative to the processor 410. These remote memories may be connected to the ultrasonic scanning robot's force-controlled dragging scanning device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0085] The input device 430 can be used to receive input digital or character information and generate key signal input related to user settings and function control of the ultrasonic scanning robot force-controlled drag scanning device. The output device 440 can include a display device such as a display screen.

[0086] Example 4

[0087] Embodiment 4 of the present invention further provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, they are used to perform a force-controlled drag scanning method of an ultrasonic scanning robot, including:

[0088] According to the zero-force-force control mode, the position of the ultrasound probe is adjusted to calculate the real-time center of gravity position of the lesion area;

[0089] Determine the numerical relationship between the real-time center of gravity position and the distance threshold;

[0090] If the real-time center of gravity position is greater than the distance threshold, it switches to force control-zero force mode.

[0091] Of course, the storage medium containing computer-executable instructions provided in an embodiment of the present invention is not limited to the above method operations, and its computer-executable instructions can also execute related operations in the ultrasonic scanning robot force-controlled dragging scanning method provided in any embodiment of the present invention.

[0092] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by 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. The 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 (FLASH), hard disk or optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.

[0093] It is worth noting that in the embodiment of the above-mentioned ultrasonic scanning robot force-controlled dragging scanning device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0094] Although the present invention has been described in detail above using general explanations, specific embodiments, and experiments, it will be apparent to those skilled in the art that modifications and improvements may be made based on the present invention. Therefore, such modifications and improvements, which do not depart from the spirit of the present invention, are intended to be within the scope of protection claimed herein.

Claims

1. A force-controlled drag scanning method for an ultrasonic scanning robot, characterized in that: include: According to the zero-force-force control mode, the position of the ultrasound probe is adjusted to calculate the real-time center of gravity position of the lesion area; Determining a numerical relationship between the real-time center of gravity position and a distance threshold; If the real-time center of gravity position is greater than the distance threshold, switching to force control-zero force mode; The zero-force-force control mode specifically includes a zero-force control mode and a force-controlled scanning mode; the zero-force control mode adopts a high-speed, high-flexibility response strategy for force control, and the force-controlled scanning mode adopts a low-speed, precise, and highly stable response strategy for force control; The adjusting the position of the ultrasonic probe according to the zero-force-force control mode specifically includes: According to the six-dimensional force sensor, it is determined whether the ultrasonic probe is in contact with the patient's body surface. If not, starting the zero-force control mode; If yes, start the force-controlled scanning mode; The switching to the force control-zero force mode includes: The force-controlled scanning mode is switched to the zero-force control mode.

2. The ultrasonic scanning robot force-controlled dragging scanning method according to claim 1, characterized in that: The starting of the zero-force control mode specifically includes: First parameter information in the zero-force control mode is acquired through the six-dimensional force sensor.

3. The ultrasonic scanning robot force-controlled dragging scanning method according to claim 1, characterized in that: The starting of the force-controlled scanning mode specifically includes: Second parameter information in the force-controlled scanning mode is obtained through the six-dimensional force sensor.

4. The ultrasonic scanning robot force-controlled dragging scanning method according to claim 1, characterized in that: The calculating and obtaining the real-time center of gravity position of the lesion area specifically includes: Acquiring an ultrasonic image of the lesion area and performing binarization processing; Establishing a coordinate system with the edge vertex of the ultrasound image as the origin; According to the coordinate system, the coordinate value of the real-time center of gravity position is obtained.

5. A force-controlled drag scanning device for an ultrasonic scanning robot, characterized in that: include: A real-time center of gravity position acquisition module is used to adjust the position of the ultrasound probe according to the zero-force-force control mode and calculate the real-time center of gravity position of the lesion area; a numerical relationship determination module, configured to determine the numerical relationship between the real-time center of gravity position and a distance threshold; If the real-time center of gravity position is greater than the distance threshold, switching to force control-zero force mode; The zero-force-force control mode specifically includes a zero-force control mode and a force-controlled scanning mode; the zero-force control mode adopts a high-speed, high-flexibility response strategy for force control, and the force-controlled scanning mode adopts a low-speed, precise, and highly stable response strategy for force control; The adjusting the position of the ultrasound probe specifically includes: determining whether the ultrasound probe is in contact with the patient's body surface according to the six-dimensional force sensor; If not, starting the zero-force control mode; If yes, start the force-controlled scanning mode; The switching to the force control-zero force mode includes: The force-controlled scanning mode is switched to the zero-force control mode.

6. The ultrasonic scanning robot force-controlled dragging scanning device according to claim 5, characterized in that: The real-time center of gravity position acquisition module is configured to perform the following operations: Acquiring an ultrasonic image of the lesion area and performing binarization processing; Establishing a coordinate system with the edge vertex of the ultrasound image as the origin; According to the coordinate system, the coordinate value of the real-time center of gravity position is obtained.

7. An electronic device, characterized in that: The electronic device comprises: one or more processors; a memory for storing 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 ultrasonic scanning robot force-controlled dragging scanning method as described in any one of claims 1-4.

8. A storage medium containing computer-executable instructions, characterized in that: When executed by a computer processor, the computer executable instructions are used to perform the ultrasonic scanning robot force-controlled dragging scanning method as described in any one of claims 1 to 4.

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