Ultrasonic scanning robot motion decoupling method, device, equipment and storage medium

Abstract

The present invention relates to a method, device, equipment, and storage medium for decoupling motion of an ultrasonic scanning robot. The method comprises the following steps: S1: obtaining the horizontal displacement of the doctor's end and the force-controlled displacement of the patient's end to obtain a target displacement; S2: interpolating and decomposing the target displacement to obtain an interpolation step vector; S3: at the starting point of the interpolation step vector, if the horizontal displacement is in the same direction as the force-controlled displacement and the increment of the horizontal displacement is less than the force-controlled displacement, the end point of the previous interpolation step vector is used as the starting point of the next interpolation step vector; S4: repeating S2 and S3 until the increment of the horizontal displacement is greater than the force-controlled displacement, and the end point of the target displacement is determined. The method, device, equipment, and storage medium for decoupling motion of an ultrasonic scanning robot provided by the present application calculate the target displacement and interpolate within the target displacement range to determine the direction of the force-controlled displacement and the horizontal displacement, determine the next interpolation step, and / or determine the end point of the target displacement, thereby achieving decoupling operation of the horizontal displacement and the force-controlled displacement and ensuring the measurement accuracy of the ultrasonic probe.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic scanning technology, and in particular to a motion decoupling method, device, equipment and storage medium for an ultrasonic scanning robot. Background Art

[0002] Currently, ultrasound scanning robots can be remotely controlled, where the expert side uses a handheld contoured probe to move horizontally, thereby controlling the ultrasound probe on the patient side to perform ultrasound scanning along the patient's lesion.

[0003] However, this ultrasound scanning method also has certain shortcomings. Because the robotic arm applies both vertical and horizontal forces when moving the ultrasound probe, the horizontal force creates force-controlled displacement, affecting the accuracy of the expert's displacement control and, consequently, the overall accuracy of the ultrasound probe's measurements. Summary of the Invention

[0004] The present invention provides a motion decoupling method, device, equipment and storage medium for an ultrasonic scanning robot, aiming to ensure the measurement accuracy of an ultrasonic probe.

[0005] In a first aspect, an embodiment of the present invention provides a motion decoupling method for an ultrasonic scanning robot, comprising:

[0006] S1: Obtain the horizontal displacement of the doctor side and the force-controlled displacement of the patient side respectively to obtain the target displacement; the horizontal displacement of the doctor side is set to be equivalent to the horizontal displacement of the patient side;

[0007] S2: Interpolate and decompose the target displacement to obtain the interpolation step vector;

[0008] S3: At the starting point of the interpolation step vector, if the horizontal displacement is consistent with the force-controlled displacement direction and the increment of the horizontal displacement is less than the force-controlled displacement, the end point of the previous interpolation step vector is used as the starting point of the next interpolation step vector;

[0009] S4: Repeat steps S2 and S3 until the increment of the horizontal displacement is greater than the force-controlled displacement, and determine the end point of the interpolation step vector as the end point of the target displacement.

[0010] Optionally, before interpolating and decomposing the target displacement, the following steps are further included:

[0011] The target displacement is decomposed into components in the X direction and the Y direction to obtain the target displacement in the X direction and the target displacement in the Y direction.

[0012] Optionally, before respectively obtaining the horizontal displacement of the doctor end and the force-controlled displacement of the patient end, the method further includes:

[0013] Convert the force-controlled displacement from the tool coordinate system to the base coordinate system.

[0014] Optionally, determining the directional relationship between the horizontal displacement and the force-controlled displacement specifically includes:

[0015] When the angle between the horizontal displacement and the force-controlled displacement is less than 90 degrees, it is determined that the horizontal displacement and the force-controlled displacement are in the same direction;

[0016] Otherwise, it is determined that the horizontal displacement is inconsistent with the force-controlled displacement direction.

[0017] Optionally, if the horizontal displacement is inconsistent with the force-controlled displacement direction, the end point of the interpolation step vector is determined to be the end point of the target displacement.

[0018] In a second aspect, an embodiment of the present invention provides a motion decoupling device for an ultrasonic scanning robot, comprising:

[0019] The target displacement acquisition module is used to obtain the horizontal displacement of the doctor's end and the force-controlled displacement of the patient's end to obtain the target displacement; the horizontal displacement of the doctor's end is equivalent to the horizontal displacement of the patient's end;

[0020] An interpolation step vector acquisition module is used to interpolate and decompose the target displacement to obtain an interpolation step vector;

[0021] A starting point determination module is used to determine, at the starting point of the interpolation step vector, if the horizontal displacement is consistent with the force-controlled displacement direction and the increment of the horizontal displacement is less than the force-controlled displacement, the end point of the previous interpolation step vector is used as the starting point of the next interpolation step vector;

[0022] The end point determination module is used to determine the end point of the interpolation step vector as the end point of the target displacement when the increment of the horizontal displacement is greater than the force-controlled displacement.

[0023] Optionally, a decomposition module is further included, for decomposing the target displacement into components in the X direction and the Y direction to obtain the target displacement in the X direction and the target displacement in the Y direction.

[0024] Optionally, the target displacement acquisition module is configured to perform the following operations:

[0025] Convert the force-controlled displacement from the tool coordinate system to the base coordinate system.

[0026] In a third aspect, an embodiment of the present invention provides an electronic device applied to a patient end, the electronic device including: one or more processors;

[0027] a memory for storing one or more programs;

[0028] When one or more programs are executed by one or more processors, the one or more processors implement the ultrasonic scanning robot motion decoupling method provided by any embodiment of the present invention.

[0029] In a fourth aspect, an embodiment of the present invention provides a storage medium comprising computer-executable instructions, which, when executed by a computer processor, are used to perform the ultrasonic scanning robot motion decoupling method provided by any embodiment of the present invention.

[0030] Embodiments of the present invention provide an ultrasonic scanning robot motion decoupling method, apparatus, device, and storage medium. The method calculates a target displacement and interpolates within a target displacement range, determines the direction of the force-controlled displacement and the horizontal displacement within each interpolation distance, and then determines the next interpolation step size and / or the end point of the target displacement, thereby decoupling the horizontal displacement from the force-controlled displacement and ensuring the accuracy of ultrasonic probe measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A flowchart of a motion decoupling method for an ultrasonic scanning robot provided by an embodiment of the present invention;

[0032] Figure 2 1 is a schematic structural diagram of a motion decoupling device for an ultrasonic scanning robot provided by an embodiment of the present invention;

[0033] Figure 3 It is a structural schematic diagram of an ultrasonic scanning robot motion decoupling device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] 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.

[0035] The ultrasonic scanning robots currently used exert forces in both vertical and horizontal directions when the robotic arm drives the ultrasonic probe to move. Therefore, the horizontal force will produce force-controlled displacement, affecting the accuracy of displacement control on the expert side, and thus affecting the overall accuracy of ultrasonic probe measurement.

[0036] Example 1

[0037] In view of the above shortcomings, the present invention proposes a motion decoupling method for an ultrasonic scanning robot. Figure 1 Shown, including:

[0038] S1: Obtain the horizontal displacement of the doctor side and the force-controlled displacement of the patient side respectively to obtain the target displacement; the horizontal displacement of the doctor side is set to be equivalent to the horizontal displacement of the patient side;

[0039] The doctor slides the contouring probe horizontally, generating a corresponding horizontal displacement. On the patient side, the robotic arm applies external force to the ultrasound probe, driving its movement. Therefore, in addition to the aforementioned horizontal displacement, the ultrasound probe also experiences force-controlled displacement due to the external force. These horizontal and force-controlled displacements together constitute the ultrasound probe's movement, or target displacement.

[0040] The motion parameters of the above-mentioned robotic arm are in the base coordinate system of the patient side, the motion parameters of the ultrasound probe are in the tool coordinate system, and the horizontal displacement of the contouring probe on the doctor side is also a parameter of the base coordinate system. Therefore, the coordinate system of the ultrasound probe parameters needs to be converted from the tool coordinate system to the base coordinate system. Specifically, by setting a 3×3 transformation matrix, the force-controlled displacement of the ultrasound probe in the original working coordinate system is d FT , the force-controlled displacement d in the corresponding base coordinate system FB =R*d FT .

[0041] S2: Interpolate and decompose the target displacement to obtain an interpolation step vector. In a preferred embodiment, before calculating the interpolation step vector, the method further includes: S5: decomposing the target displacement into components in the X and Y directions to obtain a target displacement in the X and Y directions. The X and Y directions are defined as mutually perpendicular coordinate directions in the horizontal direction. By decoupling the target displacement, subsequent operations on the target displacement are performed in their respective directions.

[0042] S3: At the starting point of the interpolation step vector, if the horizontal displacement is consistent with the force-controlled displacement and the increment of the horizontal displacement is less than the force-controlled displacement, the end point of the previous interpolation step vector is used as the starting point of the next interpolation step vector;

[0043] In actual use, the horizontal displacement and the force-controlled displacement may be consistent and / or inconsistent. During the judgment process, the judgment is made based on the product of the vector directions.

[0044] when Indicates that the horizontal displacement is consistent with the force-controlled displacement direction. doc_x represents the target position of horizontal displacement, P cur_x Indicates the current position of the horizontal displacement.

[0045] when Indicates that the horizontal displacement and the force-controlled displacement are inconsistent. That is, when the angle between the horizontal displacement and the force-controlled displacement is less than 90 degrees, it is determined that the horizontal displacement and the force-controlled displacement are consistent.

[0046] Otherwise, it is determined that the horizontal displacement is inconsistent with the force-controlled displacement direction.

[0047] Under the premise of consistent direction, further determine the relationship between the increment of horizontal displacement and force-controlled displacement. The increment of horizontal displacement is P cur0_x -P cur_x , which can be seen as an interpolation distance.

[0048] if It means that the force-controlled displacement still exists. At this time, interpolation is performed again, and the starting point of the interpolation step vector is defined as the end point of the previous interpolation step vector.

[0049] S4: Repeat steps S2 and S3 until the increment of the horizontal displacement is greater than the force-controlled displacement, and determine the end point of the interpolation step vector as the end point of the target displacement.

[0050] if Indicates that the force-controlled displacement has been completed during the horizontal movement, so the end point of this interpolation step vector is used as the end point of the target displacement, that is: P tar_x =P cur0_x .

[0051] In addition, in the case where the directions of the horizontal displacement and the force-controlled displacement are inconsistent (opposite), it is necessary to further determine the magnitude relationship between the increment of the horizontal displacement and the force-controlled displacement.

[0052] Among them, if Indicates that the force-controlled displacement still exists. Combined with the situation that the horizontal displacement and the force-controlled displacement are inconsistent (opposite), it can be understood that the movement direction of the robot arm has changed. Define P tar_x =P cur0_x , and the end point of the interpolation step vector at this time is used as the end point of the target displacement.

[0053] like Indicates that the horizontal displacement is greater than the force control displacement, so the end point of this interpolation step vector is used as the end point of the target displacement, that is: P tar_x =P cur0_x .

[0054] The ultrasonic scanning robot motion decoupling method, device, equipment and storage medium provided by the embodiments of the present invention calculate the target displacement and interpolate within the target displacement range, and determine the direction of the force-controlled displacement and the horizontal displacement within each interpolation distance, and then determine the next interpolation step size and / or the end point of the target displacement, thereby achieving the decoupling operation of the horizontal displacement and the force-controlled displacement, thereby ensuring the accuracy of the ultrasonic probe measurement.

[0055] Example 2

[0056] The present invention also proposes a motion decoupling device for an ultrasonic scanning robot, such as Figure 2 Shown, including:

[0057] The target displacement acquisition module 01 is used to respectively acquire the horizontal displacement of the doctor's end and the force-controlled displacement of the patient's end to obtain the target displacement; the horizontal displacement of the doctor's end is set to be equivalent to the horizontal displacement of the patient's end;

[0058] The target displacement acquisition module is configured to perform the following operations: transforming the force-controlled displacement from the tool coordinate system to the base coordinate system.

[0059] The interpolation step vector acquisition module 02 is used to interpolate and decompose the target displacement to obtain the interpolation step vector;

[0060] It should be noted that the ultrasonic scanning robot motion decoupling device further includes a decomposition module 05 for decomposing the target displacement into components in the X and Y directions, where the X and Y directions are defined as mutually perpendicular coordinate directions in the horizontal direction. The target displacement in the X and Y directions is thus obtained.

[0061] The starting point determination module 03 is used to determine, at the starting point of the interpolation step vector, if the horizontal displacement is consistent with the force-controlled displacement direction and the increment of the horizontal displacement is less than the force-controlled displacement, the end point of the previous interpolation step vector is used as the starting point of the next interpolation step vector;

[0062] Regarding the judgment of horizontal displacement and force control direction, when the angle between the horizontal displacement and the force control displacement is less than 90 degrees, it is determined that the horizontal displacement and the force control displacement are in the same direction;

[0063] Otherwise, it is determined that the horizontal displacement is inconsistent with the force-controlled displacement direction.

[0064] If the horizontal displacement is inconsistent with the force-controlled displacement direction, the end point of the interpolation step vector is determined to be the end point of the target displacement.

[0065] The end point determination module 04 is used to determine the end point of the interpolation step vector as the end point of the target displacement when the increment of the horizontal displacement is greater than the force control displacement.

[0066] An ultrasonic scanning robot motion decoupling device provided in an embodiment of the present invention adopts the same technical means as the ultrasonic scanning robot motion decoupling method to achieve the same technical effect, which will not be described in detail here.

[0067] Example 3

[0068] Figure 3 A schematic diagram of the structure of an ultrasonic scanning robot motion decoupling device provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the ultrasonic scanning robot motion decoupling device includes a processor 310, a memory 320, an input device 330 and an output device 340; the number of the processor 310 in the ultrasonic scanning robot motion decoupling device can be one or more. Figure 3In the figure, a processor 310 is taken as an example; the processor 310, the memory 320, the input device 330 and the output device 340 in the ultrasonic scanning robot motion decoupling device can be connected via a bus or other means. Figure 3 The bus connection is taken as an example.

[0069] The memory 320, 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 motion decoupling method in the embodiments of the present invention (e.g., the target displacement acquisition module, the interpolation step vector acquisition module, the starting point determination module, and the end point determination module). The processor 310 executes the software programs, instructions, and modules stored in the memory 320 to execute the various functional applications and data processing of the ultrasonic scanning robot motion decoupling device, thereby implementing the aforementioned ultrasonic scanning robot motion decoupling method.

[0070] The memory 320 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal, etc. Furthermore, the memory 320 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 320 may further include a memory remotely located relative to the processor 310, and these remote memories may be connected to the ultrasonic scanning robot motion decoupling device via a network. Examples of the aforementioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0071] The input device 330 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 motion decoupling device. The output device 340 can include a display device such as a display screen.

[0072] Example 4

[0073] A fourth embodiment of the present invention further provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, the computer-executable instructions are used to perform a motion decoupling method for an ultrasonic scanning robot, including:

[0074] S1: Obtain the horizontal displacement of the doctor side and the force-controlled displacement of the patient side respectively to obtain the target displacement; the horizontal displacement of the doctor side is set to be equivalent to the horizontal displacement of the patient side;

[0075] S2: Interpolate and decompose the target displacement to obtain the interpolation step vector;

[0076] S3: At the starting point of the interpolation step vector, if the horizontal displacement is consistent with the force-controlled displacement and the increment of the horizontal displacement is less than the force-controlled displacement, the end point of the previous interpolation step vector is used as the starting point of the next interpolation step vector;

[0077] S4: Repeat steps S2 and S3 until the increment of the horizontal displacement is greater than the force-controlled displacement, and determine the end point of the interpolation step vector as the end point of the target displacement.

[0078] Of course, the computer executable instructions of the storage medium provided by the embodiment of the present invention are not limited to the above method operations, but can also execute related operations in the ultrasonic scanning robot motion decoupling method provided by any embodiment of the present invention.

[0079] 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.

[0080] It is worth noting that in the embodiment of the above-mentioned ultrasonic scanning robot motion decoupling 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. Although the present invention has been described in detail above using general descriptions, specific implementation methods and experiments, it is obvious to those skilled in the art that some modifications or improvements can be made to it based on the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection claimed by the present invention.

Claims

1. A motion decoupling method for an ultrasonic scanning robot, characterized in that: include: S1: Acquire the horizontal displacement of the doctor's end and the force-controlled displacement of the patient's end respectively to obtain a target displacement; the horizontal displacement of the doctor's end is set to be equivalent to the horizontal displacement of the patient's end; S2: interpolating and decomposing the target displacement to obtain an interpolation step vector; S3: At the starting point of the interpolation step vector, if the horizontal displacement is consistent with the direction of the force-controlled displacement and the increment of the horizontal displacement is smaller than the force-controlled displacement, the end point of the previous interpolation step vector is used as the starting point of the next interpolation step vector; S4: Repeat steps S2 and S3 until the increment of the horizontal displacement is greater than the force-controlled displacement, and determine the end point of the interpolation step vector as the end point of the target displacement.

2. The motion decoupling method of an ultrasonic scanning robot according to claim 1, characterized in that: Before the interpolation decomposition of the target displacement, the method further includes: The target displacement is decomposed into components in the X direction and the Y direction to obtain the target displacement in the X direction and the target displacement in the Y direction.

3. The motion decoupling method of an ultrasonic scanning robot according to claim 1 or 2, characterized in that: Before respectively obtaining the horizontal displacement of the doctor end and the force-controlled displacement of the patient end, the method further includes: The force-controlled displacement is converted from the tool coordinate system to the base coordinate system.

4. The method for motion decoupling of an ultrasonic scanning robot according to claim 1, wherein: When the angle between the horizontal displacement and the force-controlled displacement is less than 90 degrees, it is determined that the horizontal displacement is consistent with the force-controlled displacement direction; Otherwise, it is determined that the horizontal displacement is inconsistent with the force-controlled displacement direction.

5. The motion decoupling method of an ultrasonic scanning robot according to claim 1 or 4, characterized in that: If the horizontal displacement is inconsistent with the force-controlled displacement direction, the end point of the interpolation step vector is determined to be the end point of the target displacement.

6. Ultrasonic scanning robot motion decoupling device, characterized in that: include: A target displacement acquisition module is used to respectively acquire the horizontal displacement of the doctor's end and the force-controlled displacement of the patient's end to obtain a target displacement; the horizontal displacement of the doctor's end is equivalent to the horizontal displacement of the patient's end; An interpolation step vector acquisition module is used to interpolate and decompose the target displacement to obtain an interpolation step vector; a starting point determining module, configured to, at the starting point of the interpolation step vector, if the horizontal displacement is consistent with the direction of the force-controlled displacement and the increment of the horizontal displacement is less than the force-controlled displacement, use the end point of the previous interpolation step vector as the starting point of the next interpolation step vector; An end point determination module is used to determine, when the increment of the horizontal displacement is greater than the force-controlled displacement, the end point of the interpolation step vector as the end point of the target displacement.

7. The ultrasonic scanning robot motion decoupling device according to claim 6, characterized in that: The system further comprises a decomposition module for decomposing the target displacement into components in the X direction and the Y direction to obtain the target displacement in the X direction and the target displacement in the Y direction.

8. The ultrasonic scanning robot motion decoupling device according to claim 6, characterized in that: The target displacement acquisition module is configured to perform the following operations: The force-controlled displacement is converted from the tool coordinate system to the base coordinate system.

9. An electronic device, applied to a patient, 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 motion decoupling method according to any one of claims 1 to 5.

10. A storage medium containing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform the ultrasonic scanning robot motion decoupling method according to any one of claims 1 to 5.

Images