A teleoperated ultrasound scan control method, apparatus, device, and storage medium

Abstract

The present application relates to a kind of teleoperation ultrasonic scanning control method, device, equipment and storage medium, the method includes: the contact force of patient end ultrasonic probe is obtained, XY direction resultant force is calculated;Receive the displacement amount of the ultrasonic probe sent by doctor end, combine XY direction resultant force, calculate environmental stiffness parameter;According to environmental stiffness parameter, adjust the lifting distance of patient end ultrasonic probe.The teleoperation ultrasonic scanning control method, device, equipment and storage medium provided in the embodiment of the present application, wherein the method obtains the environmental stiffness parameter of ultrasonic probe at patient lesion by the XY direction resultant force obtained in the detection process of ultrasonic probe and the displacement amount of the ultrasonic probe sent from doctor end, and the distance required for lifting ultrasonic probe is calculated, to facilitate overcoming the influence of bone structure and other factors on ultrasonic probe movement in scanning process, guarantee the quality and efficiency of ultrasonic scanning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasonic scanning, and in particular to a teleoperation ultrasonic scanning control method, device, equipment and storage medium. BACKGROUND

[0002] At present, an ultrasonic scanning robot is designed in a separated manner, that is, a doctor terminal and a patient terminal are in wireless communication, so that while a doctor moves a hand-held profiling probe on a support plate, an ultrasonic probe belonging to the patient terminal adjusts a detection position according to position information of the profiling probe and completes detection.

[0003] However, the above-mentioned teleoperation ultrasonic scanning process has certain deficiencies in actual work. For example, the body structure of a patient (such as a bone, a rib or the like) is irregular, and it is usually necessary to control an ultrasonic scanning track by means of a visual reference track or a closed-loop force feedback. However, the above-mentioned control manner is not conducive to quick response of the scanning process, and thus reduces the quality and efficiency of ultrasonic image scanning. SUMMARY

[0004] The present application provides a teleoperation ultrasonic scanning control method, device, equipment and storage medium, and aims to overcome the influence of a body bone of a patient and the like on movement of an ultrasonic probe and improve the quality and efficiency of ultrasonic scanning.

[0005] In a first aspect, an embodiment of the present application provides a teleoperation ultrasonic scanning control method applied to a patient terminal, and comprising the following steps.

[0006] Obtaining a contact force of an ultrasonic probe of the patient terminal, and calculating an XY-direction resultant force;

[0007] Receiving a displacement amount of the ultrasonic probe sent by a doctor terminal, combining the XY-direction resultant force, and calculating an environmental stiffness parameter;

[0008] Adjusting a lifting distance of the ultrasonic probe of the patient terminal according to the environmental stiffness parameter.

[0009] Optionally, after the XY-direction resultant force is calculated, the method further comprises the following steps.

[0010] Comparing the XY-direction resultant force with a resultant force threshold value, and sending a comparison result to the doctor terminal;

[0011] Receiving a displacement amount zeroing instruction sent by the doctor terminal, and lifting and lowering the ultrasonic probe of the patient terminal.

[0012] Optionally, the environmental stiffness parameter is calculated, and specifically comprises the following steps.

[0013] Setting a sampling time interval;

[0014] calculate a first difference of the resultant force in the XY direction and a second difference of the displacement amount in the sampling time interval;

[0015] calculate an environmental stiffness parameter according to the first difference and the second difference.

[0016] Optionally, adjust the lifting distance of the patient-side ultrasound probe according to the environmental stiffness parameter, specifically including:

[0017] receive the displacement comparison result sent by the physician-side, the displacement comparison result being a difference between the displacement amount and a displacement threshold value;

[0018] if the displacement comparison result is greater than 0, adjust the lifting distance of the patient-side ultrasound probe according to the environmental stiffness parameter.

[0019] Optionally, after receiving the displacement comparison result sent by the physician-side, the displacement comparison result being a difference between the displacement amount and a displacement threshold value, further include: if the displacement comparison result is less than 0 and the resultant force in the XY direction is greater than a resultant force threshold value, adjust the lifting distance of the patient-side ultrasound probe.

[0020] Optionally, the resultant force in the XY direction is calculated, specifically including:

[0021] convert the coordinate system to which the contact force belongs, from the ultrasound probe coordinate system to the patient-side coordinate system;

[0022] obtain data information of the contact force in the patient-side coordinate system, and calculate data information of the resultant force in the XY direction.

[0023] In a second aspect, an embodiment of the present application provides a teleoperation ultrasound scanning control device, including:

[0024] a resultant force calculation module, configured to obtain the contact force of the patient-side ultrasound probe, and calculate the resultant force in the XY direction;

[0025] an environmental stiffness parameter calculation module, configured to receive the displacement amount of the ultrasound probe sent by the physician-side, and calculate an environmental stiffness parameter in combination with the resultant force in the XY direction;

[0026] a lifting distance adjustment module, configured to adjust the lifting distance of the patient-side ultrasound probe according to the environmental stiffness parameter.

[0027] Optionally, the resultant force calculation module is configured to perform the following operations:

[0028] compare the resultant force in the XY direction with a resultant force threshold value, and send a comparison result to the physician-side;

[0029] receive a displacement amount zeroing instruction sent by the physician-side, and lift and lower the patient-side ultrasound probe.

[0030] In a third aspect, an electronic device is provided, and the electronic device includes one or more processors;

[0031] a memory configured to store one or more programs;

[0032] When the one or more programs are executed by the one or more processors, the one or more processors implement the teleoperation ultrasound scanning control method as provided by any of the embodiments of the present application.

[0033] In a fourth aspect, a storage medium containing computer executable instructions is provided, and the computer executable instructions, when executed by a computer processor, are configured to perform the teleoperation ultrasound scanning control method as provided by any of the embodiments of the present application.

[0034] The teleoperation ultrasound scanning control method, device, equipment and storage medium provided by the embodiments of the present application, wherein the method obtains the XY direction resultant force obtained by the ultrasound probe in the detection process and the ultrasound probe displacement amount sent from the doctor end, obtains the environmental stiffness parameter of the ultrasound probe at the patient lesion, and calculates the distance required for the ultrasound probe to be lifted, thereby overcoming the influence of bone structure and other factors on the movement of the ultrasound probe in the scanning process, and ensuring the quality and efficiency of the ultrasound scanning. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 A flowchart of the teleoperation ultrasound scanning control method provided by the embodiments of the present application;

[0036] Figure 2 A flowchart of calculating the environmental stiffness parameter in the teleoperation ultrasound scanning control method provided by the embodiments of the present application;

[0037] Figure 3 A flowchart of adjusting the lifting distance in the teleoperation ultrasound scanning control method provided by the embodiments of the present application;

[0038] Figure 4 A flowchart of lifting and lowering the ultrasound probe of the patient end in the teleoperation ultrasound scanning control method provided by the embodiments of the present application;

[0039] Figure 5 A structural schematic diagram of the teleoperation ultrasound scanning control device provided by the embodiments of the present application;

[0040] Figure 6 A structural schematic diagram of the teleoperation ultrasound scanning control equipment provided by the embodiments of the present application;

[0041] Figure 7 A structural schematic diagram of the doctor end and the patient end in the teleoperation ultrasound scanning control method provided by the embodiments of the present application;

[0042] Figure 8 Figure 1 is a schematic diagram of the patient end ultrasound probe moving in the Z-axis direction in a teleoperation ultrasound scanning control method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0043] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended for the purpose of interpretation of the present application and are not limiting of the present application. In addition, it should be noted that only the parts related to the present application are shown in the accompanying drawings for the purpose of description.

[0044] The existing ultrasound scanning robot, in the process of scanning the patient's diseased area using a split design, cannot quickly respond to the body structures such as bones accompanying the diseased area due to the adjustment mode of the existing ultrasound probe motion trajectory, thus affecting the quality and efficiency of the ultrasound scanning.

[0045] Embodiment one

[0046] The present application aims at the above deficiencies and proposes a teleoperation ultrasound scanning control method applied to a patient end terminal, such as Figure 1 as shown, comprising:

[0047] S10: Obtain the contact force of the patient end ultrasound probe and calculate the XY direction resultant force; it should be noted that the patient end and the doctor end are preferably wirelessly connected, the doctor end drives the relative sliding of the doctor end imitation ultrasound probe on the touch screen, the touch screen detects the sliding distance and sends the detection result to the patient end terminal as a driving instruction from the doctor end, thus driving the movement of the patient end ultrasound probe. The patient end includes the patient end ultrasound probe and the mechanical arm connected to the patient end ultrasound probe, as shown in Figure 7 .

[0048] The patient end ultrasound probe encounters resistance in the process of moving on the patient's body surface, thus generating contact force. In the calculation of the contact force in the horizontal direction (XY direction) resultant force, the ultrasound probe coordinate system needs to be established, and in order to keep consistent with the coordinate system of the patient end mechanical arm, the coordinate system to which the contact force belongs needs to be converted from the ultrasound probe coordinate system to the patient end coordinate system.

[0049] Obtain the data information of the contact force in the patient end coordinate system and calculate the data information of the XY direction resultant force.

[0050] S20: Receive the displacement amount of the ultrasound probe sent by the doctor end, combine the XY direction resultant force F XY , and calculate the environmental stiffness parameter;

[0051] In the process of calculating the environmental stiffness parameter, as shown in Figure 2S21: set sampling time interval; the sampling time interval is 5ms.

[0052] S22: calculate the first difference value of the XY direction resultant force and the second difference value of the displacement in the sampling time interval.

[0053] S23: calculate the environmental stiffness parameter according to the first difference value and the second difference value; the corresponding calculation formula is as follows:

[0054]

[0055] wherein ΔF XY is the first difference value, ΔS XY is the second difference value, and k is the proportional coefficient.

[0056] S30: adjust the lifting distance of the patient end ultrasonic probe according to the environmental stiffness parameter; the purpose of the adjustment process is to determine whether the patient end ultrasonic probe needs to be lifted and the lifting distance, which is specifically as shown in the following table. Figure 3

[0057] S31: receive the displacement comparison result sent by the doctor end; the displacement comparison result is the difference value between the displacement and the displacement threshold.

[0058] S32: if the displacement comparison result is greater than 0, adjust the lifting distance of the patient end ultrasonic probe according to the environmental stiffness parameter; when the displacement is greater than the displacement threshold, it indicates that the doctor end ultrasonic profiling probe moves out of the lesion area, so the patient end ultrasonic probe needs to be lifted to follow the movement of the doctor end profiling probe.

[0059] The calculation of the specific lifting distance needs to pass through the environmental stiffness parameter E XY and the adjustment control parameter K p , that is:

[0060] ε = 1 - E XY / E XY_m

[0061] K p = max(K pmax · ε, K pmin )

[0062] S = max(min(X · K p , S max ), S min )

[0063] wherein K pmax , K pmin are the maximum threshold value and the minimum threshold value of the control parameter, S max , S min are the maximum displacement and the minimum displacement of the patient end ultrasonic probe along the vertical direction (Z axis direction), and ε is the K​p the adjustment coefficient of the environmental stiffness parameter E XY_m is a threshold value of the environmental stiffness parameter.

[0064] Further, the environmental stiffness parameter is calculated, and the displacement of the patient-side ultrasound probe in the Z-axis direction is adjusted according to the environmental stiffness parameter, so that the scanning movement on the patient's body surface is realized, as shown in Figure 8 .

[0065] After receiving the displacement comparison result sent by the doctor-side, the displacement comparison result being the difference between the displacement and the displacement threshold value, the method further comprises: S33: if the displacement comparison result is less than 0 and the XY-direction resultant force is greater than the resultant force threshold value, adjusting the lifting distance of the patient-side ultrasound probe. When the XY-direction resultant force is greater than the resultant force threshold value, it indicates that the patient-side ultrasound probe encounters obstacles such as bones when moving at the lesion, so the displacement in the XY direction is stopped from being updated to prevent the resultant force from further increasing, and the lifting distance of the patient-side ultrasound probe needs to be adjusted in combination with the environmental stiffness parameter to avoid damage to the patient and the patient-side ultrasound probe.

[0066] It needs to be added here that after the patient-side ultrasound probe is lifted, it will be lowered under the control of the doctor-side phantom ultrasound probe. At this time, if the XY-direction resultant force continues to be greater than the resultant force threshold value, the lifting will be performed again. At this time, the lifting will be stopped, and the zero force control in the XY direction will be increased to avoid repetitive bouncing.

[0067] Specifically, the displacement adjustment amount in the XY direction is:

[0068] dx = PID(F x , F xd )

[0069] dy = PID(F y , F yd )

[0070] wherein F x is the contact force in the X direction, F xd is the desired force in the X direction, F y is the contact force in the Y direction, F yd is the desired force in the Y direction, and dx and dy are displacement adjustment amounts output by the PID controller. In order to improve the effect of zero force control, the control parameters K p of the above PID controller will be adaptively adjusted according to the force error, which is as follows:

[0071]

[0072] wherein k is a proportional coefficient, r is the maximum value of the increase multiple, δ is a proportional unit, F input is the actual contact force, and F max is the set force threshold value, i.e., the desired force.

[0073] The remote operation ultrasonic scanning control method provided by the embodiment of the present application obtains the environmental stiffness parameter of the patient end ultrasonic probe at the patient lesion through the XY direction resultant force obtained by the patient end ultrasonic probe in the detection process and the displacement amount of the ultrasonic probe sent from the doctor end, and calculates the distance required for lifting the patient end ultrasonic probe, thereby facilitating to overcome the influence of the bone structure and other factors on the movement of the patient end ultrasonic probe in the scanning process and ensuring the quality and efficiency of the ultrasonic scanning.

[0074] Embodiment two

[0075] On the basis of the embodiment one, the embodiment of the present application further comprises, after calculating the XY direction resultant force, as shown in the following formula: Figure 4

[0076] S11: comparing the XY direction resultant force with the resultant force threshold value and sending the comparison result to the doctor end; the doctor end obtains the comparison result and judges the position of the patient end ultrasonic probe to generate the displacement amount zero instruction.

[0077] S12: receiving the displacement amount zero instruction sent by the doctor end and lifting and lowering the patient end ultrasonic probe. The patient end receives the displacement amount zero instruction sent by the doctor end, which is used to lift the patient end ultrasonic probe, thereby eliminating the displacement and the XY direction resultant force; and then lowers the patient end ultrasonic probe to contact the patient body surface after moving the doctor end ultrasonic profiling probe to move the corresponding patient end ultrasonic probe out of the position area, thereby facilitating to ensure the safe use of the patient end ultrasonic probe.

[0078] Embodiment three

[0079] The present application further provides a remote operation ultrasonic scanning control device, which applies the remote operation ultrasonic scanning control method provided by the foregoing embodiments, as shown in the following formula: Figure 5

[0080] The resultant force calculation module 01 is configured to perform the following operations:

[0081] comparing the XY direction resultant force with the resultant force threshold value and sending the comparison result to the doctor end;

[0082] receiving the displacement amount zero instruction sent by the doctor end and lifting and lowering the patient end ultrasonic probe.

[0083] It should be noted that, in the calculation of the XY direction resultant force, further comprising:

[0084] converting the coordinate system to which the contact force belongs from the ultrasonic probe coordinate system to the patient end coordinate system;

[0085] ​​Obtain the data information of the contact force in the patient coordinate system, and calculate the data information of the XY direction resultant force.

[0086] The environmental stiffness parameter calculation module 02 is configured to receive the displacement amount of the ultrasound probe sent by the doctor end, combine the XY direction resultant force, and calculate the environmental stiffness parameter.

[0087] Set the sampling time interval;

[0088] Calculate the first difference value of the XY direction resultant force and the second difference value of the displacement amount in the sampling time interval;

[0089] According to the first difference value and the second difference value, the environmental stiffness parameter is calculated.

[0090] In addition, the environmental stiffness parameter calculation module 02 is configured to receive the displacement comparison result sent by the doctor end, and the displacement comparison result is the difference value between the displacement amount and the displacement threshold value.

[0091] If the displacement comparison result is greater than 0, the lifting distance of the patient end ultrasound probe is adjusted according to the environmental stiffness parameter.

[0092] If the displacement comparison result is less than 0, and the XY direction resultant force is greater than the resultant force threshold value, the lifting distance of the patient end ultrasound probe is adjusted.

[0093] The lifting distance adjustment module 03 is configured to adjust the lifting distance of the patient end ultrasound probe according to the environmental stiffness parameter.

[0094] The remote operation ultrasonic scanning control device provided by the embodiment of the application adopts the same technical means as the remote operation ultrasonic scanning control method and achieves the same technical effect, which will not be described here.

[0095] Embodiment four

[0096] Figure 6 The structure diagram of the remote operation ultrasonic scanning control device provided by the embodiment of the application is shown in the figure, which includes a processor 410, a memory 420, an input device 430 and an output device 440. Figure 6 The number of processors 410 in the remote operation ultrasonic scanning control device can be one or more, Figure 6 and one processor 410 is taken as an example; the processor 410, the memory 420, the input device 430 and the output device 440 in the remote operation ultrasonic scanning control device can be connected through a bus or other means, Figure 6 and the connection through the bus is taken as an example.

[0097] The memory 420, as a computer readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules (for example, a force calculation module, an environmental stiffness parameter calculation module and a lifting distance adjustment module) corresponding to the teleoperation ultrasonic scanning control method in the embodiment of the present application. The processor 410 executes the software programs, instructions and modules stored in the memory 420, thereby performing various functional applications and data processing of the teleoperation ultrasonic scanning control device, that is, implementing the teleoperation ultrasonic scanning control method described above.

[0098] The memory 420 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; and the data storage area can store data created according to the use of the terminal and the like. In addition, the memory 420 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device or other non-volatile solid-state memory device. In some examples, the memory 420 can further include a memory remotely arranged with respect to the processor 410, and these remote memories can be connected to the teleoperation ultrasonic scanning control device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0099] The input device 430 can be used to receive input digital or character information, and generate key signal inputs related to user settings and function control of the teleoperation ultrasonic scanning control device. The output device 440 can include a display device such as a display screen.

[0100] Embodiment five

[0101] The embodiment four of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to perform a teleoperation ultrasonic scanning control method, comprising:

[0102] Obtaining a contact force of a patient end ultrasonic probe, and calculating a XY direction resultant force;

[0103] Receiving a displacement amount of the ultrasonic probe sent by a doctor end, combining the XY direction resultant force, and calculating an environmental stiffness parameter;

[0104] Adjusting a lifting distance of the patient end ultrasonic probe according to the environmental stiffness parameter.

[0105] Of course, the storage medium containing computer executable instructions provided by the embodiment of the present application is not limited to the above method operations, and can also perform related operations in the teleoperation ultrasonic scanning control method provided by any embodiment of the present application.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary universal hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the form of a part of the prior art that makes a contribution, and the computer software product can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH, a hard disk, or an optical disc, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods of various embodiments of the present application.

[0107] It is worth noting that in the above embodiments of the teleoperation ultrasonic scanning control device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for the convenience of mutual differentiation, and do not limit the protection scope of the present application.

[0108] Although the present application has been described in detail in the foregoing general description, specific embodiments and experiments, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present application. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application are all within the scope of protection claimed by the present application.

Claims

1. A teleoperated ultrasound scan control method applied to a patient-side terminal, characterized by, The method comprises the following steps: obtaining the contact force of the patient-side ultrasonic probe, and calculating the XY-direction resultant force; receiving the displacement amount of the ultrasonic probe sent by the doctor-side, and combining the XY-direction resultant force to calculate the environmental stiffness parameter; adjusting the lifting distance of the patient-side ultrasonic probe according to the environmental stiffness parameter; The method of adjusting the lifting distance of the patient-side ultrasonic probe according to the environmental stiffness parameter specifically comprises: receiving the displacement comparison result sent by the doctor-side, wherein the displacement comparison result is the difference between the displacement amount and a displacement threshold value; if the displacement comparison result is greater than 0, adjusting the lifting distance of the patient-side ultrasonic probe according to the environmental stiffness parameter; After receiving the displacement comparison result sent by the doctor-side, wherein the displacement comparison result is the difference between the displacement amount and the displacement threshold value, the method further comprises: if the displacement comparison result is less than 0 and the XY-direction resultant force is greater than a resultant force threshold value, adjusting the lifting distance of the patient-side ultrasonic probe.

2. The teleoperated ultrasound scan control method of claim 1, wherein, After calculating the XY-direction resultant force, the method further comprises: comparing the XY-direction resultant force with a resultant force threshold value, and sending the comparison result to the doctor-side; receiving the displacement amount zero-setting instruction sent by the doctor-side, and lifting and lowering the patient-side ultrasonic probe.

3. The teleoperated ultrasound scan control method of claim 1, wherein, The method of calculating the environmental stiffness parameter specifically comprises: setting a sampling time interval; calculating the first difference of the XY-direction resultant force and the second difference of the displacement amount within the sampling time interval; calculating the environmental stiffness parameter according to the first difference and the second difference.

4. The teleoperated ultrasound scan control method of claim 1, wherein, The method of calculating the XY-direction resultant force specifically comprises: converting the coordinate system to which the contact force belongs, from the ultrasonic probe coordinate system to the patient-side coordinate system; obtaining the data information of the contact force in the patient-side coordinate system, and calculating the data information of the XY-direction resultant force.

5. A teleoperated ultrasound scan control apparatus, characterized by, The method comprises: a resultant force calculation module for obtaining the contact force of the patient-side ultrasonic probe, and calculating the XY-direction resultant force; an environmental stiffness parameter calculation module for receiving the displacement amount of the ultrasonic probe sent by the doctor-side, and combining the XY-direction resultant force to calculate the environmental stiffness parameter; a lifting distance adjustment module for adjusting the lifting distance of the patient-side ultrasonic probe according to the environmental stiffness parameter; The environmental stiffness parameter calculation module is configured to perform the following operations: receiving the displacement comparison result sent by the doctor-side, wherein the displacement comparison result is the difference between the displacement amount and a displacement threshold value; if the displacement comparison result is greater than 0, adjusting the lifting distance of the patient-side ultrasonic probe according to the environmental stiffness parameter; if the displacement comparison result is less than 0 and the XY-direction resultant force is greater than a resultant force threshold value, adjusting the lifting distance of the patient-side ultrasonic probe.

6. The teleoperated ultrasound scan control apparatus of claim 5, wherein, The resultant force calculation module is configured to perform the following operations: comparing the XY-direction resultant force with a resultant force threshold value, and sending the comparison result to the doctor-side; receiving the displacement amount zero-setting instruction sent by the doctor-side, and lifting and lowering the patient-side ultrasonic probe.

7. An electronic device, comprising: 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 so executed cause the teleoperated ultrasound scan control method as claimed in any one of claims 1-4 to be implemented.

8. A storage medium containing computer-executable instructions, wherein: The computer executable instructions, when executed by a computer processor, are for performing the teleoperated ultrasound scan control method as claimed in any one of claims 1-4.

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