A method, system, device and storage medium for controlling a robot ultrasonic probe

Abstract

The present invention relates to the technical field of ultrasonic scanning, in particular to a robot ultrasonic probe control method, system, device and storage medium. The method includes: obtaining the position information, attitude information and force information of the current position of the ultrasonic probe, as well as the position information and attitude information of the target position, analyzing the attitude change between the current position and the target position of the ultrasonic probe, and / or analyzing according to the force information of the current position to determine whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe. If it is necessary to adjust the rotation axis of the ultrasonic probe, adjust the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user. The present invention determines whether it is necessary to adjust the rotation axis of the ultrasonic probe according to the attitude information between the current position and the target position of the ultrasonic probe and the force information of the current position, ensuring that the ultrasonic probe can stably contact the skin surface.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic scanning, and in particular to a method, system, device and storage medium for controlling a robotic ultrasonic probe. Background Art

[0002] In existing remote ultrasonic scanning robots, a method is adopted in which a profiling probe at the doctor's end is moved on a touch screen to control the corresponding movement of the ultrasonic probe at the patient's end on the patient's lesion area, so as to realize the scanning of the lesion area. Specifically, when an ultrasonic doctor operates the profiling probe at the doctor's end, the position of the force application point and / or the rotation axis of the profiling probe are often changed according to the position and shape of the lesion, so that when the ultrasonic probe at the patient's end moves, it can keep stable contact with the human skin, thereby obtaining clear and stable ultrasonic images.

[0003] However, the existing teleoperation method cannot completely and accurately transmit the ultrasonic scanning operation of the doctor to the robot, which is particularly reflected in the scanning of the carotid artery in the neck. Since the cross-section of the neck is similar to a circle, in order to enable the ultrasonic probe to stably contact the skin of the neck, an ultrasonic doctor usually changes the rotation axis of the profiling probe at the doctor's end (no longer the axis of the profiling probe itself). If the ultrasonic probe at the patient's end still swings according to the axis of the ultrasonic probe itself at this time, the situation where one side of the ultrasonic probe is suspended will occur, affecting the effect of remote ultrasonic diagnosis. Summary of the Invention

[0004] The object of the present invention is to provide a method, system, device and storage medium for controlling a robotic ultrasonic probe, which correspondingly changes the rotation of the ultrasonic probe at the patient's end according to the change of the rotation axis of the profiling probe at the doctor's end, so as to ensure stable contact between the ultrasonic probe and the lesion position.

[0005] To achieve the above object, in a first aspect, an embodiment of the present invention provides a method for controlling a robotic ultrasonic probe, including:

[0006] Obtaining the position information, attitude information and force information of the current position of the ultrasonic probe, as well as the position information and attitude information of the target position,

[0007] Analyzing the attitude change between the current position and the target position of the ultrasonic probe and / or analyzing the force information of the current position to judge whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe. If it is necessary to adjust the rotation axis of the ultrasonic probe, adjusting the rotation axis of the ultrasonic probe according to the position information, attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user.

[0008] In one embodiment, the attitude information includes an attitude matrix.

[0009] Based on the analysis of the attitude change between the current position and the target position of the ultrasonic probe, determining whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe, including:

[0010] Determining the attitude matrix R of the current position of the ultrasonic probe c The Z-axis component θ of the corresponding ZYX Euler angles θ c Whether the absolute value of the difference between the Z-axis component θ zc Of the ultrasonic probe's target position attitude matrix R t The corresponding ZYX Euler angles θ C Of the Z-axis component θ zt Is greater than or equal to the threshold θ z0 If so, do not adjust the rotation axis;

[0011] And / or

[0012] Determining the attitude matrix R of the target position of the ultrasonic probe t The corresponding ZYX Euler angles θ t Whether the absolute value of the X-axis component θ xt Is less than or equal to the threshold θ x0 If so, do not adjust the rotation axis.

[0013] In one embodiment, the force information includes the contact force of the ultrasonic probe,

[0014] Based on the analysis of the force information at the current position, determining whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe, including:

[0015] Determining whether the contact force F z Is less than or equal to the threshold F0, if so, do not adjust the rotation axis.

[0016] In one embodiment, the attitude information includes the attitude matrix,

[0017] Based on the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user, adjusting the rotation axis of the ultrasonic probe includes:

[0018] Based on the attitude matrix R c The corresponding ZYX Euler angles θ c Of the X-axis component θ xc To obtain the adjustment parameter L offset ,

[0019] Based on the adjustment parameter L offset To obtain the position P of the adjusted rotation axis in the tool coordinate system offset .

[0020] In one embodiment, the formula for obtaining the adjustment parameter L offset Is: Loffset = PID(θ xc - θ x0 ),

[0021] The formula for obtaining the position P of the adjusted rotation axis is: offset P offset = (0, L offset , 0).

[0022] In one embodiment, the position information includes a position vector.

[0023] Adjusting the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user further includes:

[0024] According to the position P of the adjusted rotation axis offset , adjust the attitude matrix R of the current position c and calculate the result with the position vector P of the current position c to obtain the position vector P of the adjusted rotation axis nc .

[0025] In one embodiment, the position information includes a position vector, the target position includes the previous target position and the current target position, where the position vector of the previous target position is P t1 and the attitude matrix is R t1 , the attitude matrix of the current target position is R t2 , and adjusting the rotation axis of the ultrasonic probe further includes:

[0026] According to the position P of the adjusted rotation axis offset , adjust the attitude matrix R of the previous target position t1 and calculate the result with P t1 to obtain the position vector P of the adjusted rotation axis nt ,

[0027] Obtain the displacement D between the previous target position and the current target position of the ultrasonic probe t ,

[0028] Calculate the displacement D t with the position vector P nt to obtain the position vector P of the rotation axis of the target position n ′ t ,

[0029] According to the position P of the adjusted rotation axis offset , for the attitude matrix of the current target position is R t2Make adjustments and compare the results with P n ′ t Perform calculations to obtain the position vector P of the center point of the ultrasonic probe at the current target position t ′ .

[0030] In a second aspect, an embodiment of the present invention provides a robot ultrasonic probe control system, including:

[0031] An information acquisition module for acquiring the position information, attitude information, and force information of the ultrasonic probe at the current position, as well as the position information and attitude information of the target position;

[0032] An information analysis module for analyzing whether it is necessary to adjust the rotation axis position of the ultrasonic probe according to the attitude transformation analysis between the current position and the target position of the ultrasonic probe and / or according to the force information at the current position;

[0033] An adjustment module for adjusting the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, as well as the probe movement operation input by the user.

[0034] In a third aspect, an embodiment of the present invention provides an electronic device, and the electronic device includes:

[0035] One or more processors;

[0036] A memory for storing one or more programs;

[0037] When the one or more programs are executed by the one or more processors, the one or more processors implement the robot ultrasonic probe control method as described above.

[0038] In a fourth aspect, an embodiment of the present invention provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute the robot ultrasonic probe control method as described above when executed by a computer processor.

[0039] Compared with the prior art, the embodiments of the present invention have at least the following beneficial effects: According to the attitude information between the current position and the target position of the ultrasonic probe and the force information at the current position, it is judged whether it is necessary to adjust the rotation axis of the ultrasonic probe, so as to ensure that the ultrasonic probe can stably contact the skin surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the doctor side of the remote ultrasonic scanning robot.

[0041] Figure 2 It is a schematic diagram of the patient side of the remote ultrasonic scanning robot.

[0042] Figure 3 Schematic diagram of the swing of the ultrasonic probe at the patient end without changing the rotation axis (still swinging along its own axis).

[0043] Figure 4 Schematic diagram of the current position and target position of the ultrasonic probe at the patient end.

[0044] Figure 5 Schematic diagram of the adjustment process of the rotation axis of the ultrasonic probe at the patient end.

[0045] Figure 6 Schematic diagram after adjusting the rotation axis of the ultrasonic probe by the ultrasonic probe control method provided by the embodiment of the present invention.

[0046] Figure 7 Flowchart of the ultrasonic probe control method provided by the embodiment of the present invention. Specific implementation manner

[0047] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0048] The remote ultrasonic scanning robot has a doctor end and a patient end. Figure 1 The schematic diagram of the doctor end of the remote ultrasonic scanning robot is shown. Refer to Figure 1 , the doctor end includes a profiling probe 11 and a touch screen 12. Figure 2 The schematic diagram of the patient end of the remote ultrasonic scanning robot is shown. Refer to Figure 2 , the patient end includes a robotic arm 13 and an ultrasonic probe 14. During use, the doctor operates the profiling probe 11 to move on the touch screen 12, so that the robotic arm 13 correspondingly controls the ultrasonic probe 14 to move. The translational movement of the profiling probe 11 on the surface of the touch screen 12 can be accurately transmitted to the ultrasonic probe 14, but the rotational movement (sometimes also called swing) of the profiling probe 11 cannot be accurately transmitted to the ultrasonic probe 14. Specifically, when the rotation axis of the profiling probe 11 at the doctor end is no longer its own axis, the ultrasonic probe 14 still rotates along its own axis, and thus the end of the ultrasonic probe 14 will not accurately reflect the doctor's action, resulting in part of the probe 14 being suspended (see Figure 3 ), not in contact with the patient's skin surface, affecting the result of ultrasonic detection.

[0049] Embodiment 1

[0050] The embodiment of the present invention provides a robot ultrasonic probe control method to adjust the position of the rotation axis of the ultrasonic probe to ensure that the ultrasonic probe can stably contact the skin surface (see Figure 6 ), as shown in Figure 4 , Figure 5 and Figure 7 shown, the method includes:

[0051] S1: Obtain the position vector P of the current position of the ultrasonic probe c , the attitude matrix R c and the contact force F z , and obtain the position vector P t and the attitude matrix R t of the target position of the ultrasonic probe. Wherein, the position vector in this embodiment may be the coordinates of the center point at the end of the ultrasonic probe in the base coordinate system of the robotic arm 13, and the attitude matrix may be the attitude of the tool coordinate system established with the center of gravity of the ultrasonic probe as the origin in the base coordinate system of the robotic arm 13. The contact force refers to the force generated by the contact between the end of the ultrasonic probe and the patient's skin surface, and can be measured by a six-axis force sensor between the ultrasonic probe 14 and the robotic arm 13.

[0052] It should be noted that although the state of the current position and the target position of the ultrasonic probe is described by the position vector, the attitude matrix and the contact force in this embodiment, other parameters can also be used as the position information, attitude information and force information of the ultrasonic probe.

[0053] S2: Analyze according to the attitude matrix R of the current position of the ultrasonic probe c and the attitude matrix R of the target position of the ultrasonic probe t , and / or analyze according to the magnitude of the contact force F z to determine whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe

[0054] In this embodiment, analyzing according to the attitude matrix R c and the attitude matrix R t to determine whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe includes:[[]]

[0055] S21: Determine whether the absolute value of the difference between the component θ c of the Z axis of the ZYX Euler angle θ c corresponding to the attitude matrix R of the current position of the ultrasonic probe zc and the component θ t of the Z axis of the ZYX Euler angle θ C corresponding to the attitude matrix R of the target position of the ultrasonic probe zt is greater than or equal to the threshold θ z0 . If so, do not adjust the rotation axis, because at this time the scanning operation mainly rotates around the axis of the ultrasonic probe itself, and the rotation axis offset is small, so there is no need to change the rotation axis.

[0056] And / or

[0057] S22: Determine the ZYX Euler angle θ t corresponding to the attitude matrix R of the target position of the ultrasonic probet The component θ of the X-axis xt Whether the absolute value is less than or equal to the threshold θ x0 , if so, do not adjust the rotation axis, because at this time the attitude of the ultrasonic probe swing is small, and the end of the ultrasonic probe will not move significantly, and the situation of the ultrasonic probe being suspended will not be caused. Therefore, there is no need to adjust the rotation axis.

[0058] In this embodiment, according to the contact force F z Analyze the magnitude of, and determine whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe, including:

[0059] S23: Determine whether the contact force F z Is less than or equal to the threshold F0, if so, do not adjust the rotation axis, because at this time the ultrasonic probe is in slight contact with the human skin, not in full contact, and there is no need to change the rotation axis.

[0060] S3: If it is necessary to adjust the rotation axis of the ultrasonic probe, adjust the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user.

[0061] In this embodiment, if it is necessary to adjust the rotation axis of the ultrasonic probe, adjusting the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user includes:

[0062] S31: According to the ZYX Euler angle θ corresponding to the current position attitude matrix R of the ultrasonic probe c The component θ of the X-axis c Of the X-axis xc , obtain the adjustment parameter L offset , where L offset =PID(θ xc -θ x0 ),

[0063] S32: According to the adjustment parameter L offset , obtain the position P of the adjusted rotation axis in the tool coordinate system offset , where P offset =(0, L offset , 0), indicating the position on the Y-axis of the adjusted rotation in the tool coordinate system. By converting the Euler angle around the X-axis to the position coordinate on the Y-axis of the rotation axis in the tool coordinate system through PID, the rotation axis can change gradually, increasing the experience of the scanning operation of the ultrasonic doctor.

[0064] In this embodiment, adjusting the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user further includes:

[0065] S33: Based on the position P of the adjusted rotation axis offset , adjust the attitude matrix R at the current position c , and calculate the result with the position vector P at the current position c to obtain the position vector P of the adjusted rotation axis nc . The specific calculation formula is: P nc = P c + R c * P offset .

[0066] In this embodiment, the target position includes the previous target position and the current target position. The position vector of the previous target position is P t1 and the attitude matrix is R t1 , and the attitude matrix of the current target position is R t2 . Based on the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user, adjusting the rotation axis of the ultrasonic probe further includes:

[0067] S34: Based on the position P of the adjusted rotation axis offset , adjust the attitude matrix R of the previous target position t1 , and calculate the result with P t1 to obtain the position vector P of the adjusted rotation axis nt . The specific calculation formula is: P nt = P t1 + R t1 * P offset .

[0068] S35: Obtain the displacement D between the previous target position and the current target position of the ultrasonic probe t ,

[0069] S36: Calculate the displacement D t with the position vector P nt to obtain the position vector P of the rotation axis of the target position n ′ t . The specific calculation formula is: P' nt = P nt + Dt.

[0070] S37: Based on the position P of the adjusted rotation axis offset , adjust the attitude matrix R of the current target position t2 , and calculate the result with P n ′ tPerform calculations to obtain the position vector P of the center point of the ultrasonic probe at the current target position t ′ . The specific calculation formula is: P' t = P' nt - R t2 * P offset .

[0071] As can be seen from the above analysis, the change in the position of the rotation axis is ultimately reflected in the change in the position of the center point of the ultrasonic probe, achieving the purpose of adaptive control.

[0072] Embodiment 2

[0073] The embodiment of the present invention provides a robot ultrasonic probe control system, including:

[0074] An information acquisition module, configured to acquire the position information, attitude information, and force information of the ultrasonic probe at the current position, as well as the position information and attitude information of the target position; specifically, in this embodiment, the information acquisition module is configured to acquire the position vector P c of the ultrasonic probe at the current position, the attitude matrix R c and the contact force F z , and acquire the position vector P t of the target position of the ultrasonic probe and the attitude matrix R t ;

[0075] An information analysis module, configured to determine whether it is necessary to adjust the rotation axis of the ultrasonic probe according to the attitude transformation analysis between the current position and the target position of the ultrasonic probe and / or according to the force information analysis of the current position;

[0076] An adjustment module, configured to adjust the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, as well as the probe movement operation input by the user.

[0077] Furthermore, the information analysis module includes:

[0078] A Z-axis component analysis module, configured to analyze the Z component of the ZYX Euler angle corresponding to the attitude matrix, and determine the relationship with the Z component threshold θ z0 ;

[0079] An X-axis component analysis module, configured to analyze the X component of the ZYX Euler angle corresponding to the attitude matrix, and determine the relationship with the X component threshold θ x0 ;

[0080] A contact force analysis module, configured to analyze the contact force F z , and determine the relationship with the contact force threshold F0.

[0081] Furthermore, the adjustment module includes:

[0082] An adjustment parameter calculation module, configured to calculate an adjustment parameter L according to the X-axis component θ of the ZYX Euler angles corresponding to the attitude matrix of the current position of the ultrasonic probe xc ; offset ;

[0083] A rotation axis calculation module, configured to determine the position P of the adjusted rotation axis on the Y-axis in the tool coordinate system according to the adjustment parameter L offset ; offset ;

[0084] A rotation axis position determination module, configured to adjust the attitude matrix R of the current position of the ultrasonic probe according to the position P of the adjusted rotation axis offset and calculate the result with the position information P of the current position to obtain the position vector P of the adjusted rotation axis c ; c ; nc ;

[0085] A displacement amount acquisition module, configured to acquire a displacement D between the previous target position and the current target position of the ultrasonic probe t ;

[0086] A displacement amount calculation module, configured to calculate the position vector P of the rotation axis of the current target position according to the position vector and displacement vector D of the rotation axis of the previous target position of the ultrasonic probe t ; n ′ t ;

[0087] A center point determination module, configured to adjust the attitude matrix R of the current target position according to the position P of the adjusted rotation axis offset and calculate the result with P to obtain the position vector P of the center point of the ultrasonic probe at the current target position t2 ; n ′ t ; t ′ .

[0088] Embodiment III

[0089] The embodiment of the present invention provides an electronic device, and the electronic device includes:

[0090] One or more processors;

[0091] A memory, configured to store one or more programs;

[0092] When the one or more programs are executed by the one or more processors, the one or more processors implement the robot ultrasonic probe control method as described above.

[0093] Example 4

[0094] An embodiment of the present invention provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute the robot ultrasonic probe control method as described above when executed by a computer processor.

[0095] The above is the description of the embodiments of the present invention. Through the above description of the disclosed embodiments, those skilled in the art can implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel points disclosed herein.

Claims

1. A method for controlling a robot ultrasonic probe, characterized in that, including: Obtaining the position information, attitude information, and force information of the current position of the ultrasonic probe, as well as the position information and attitude information of the target position, where the attitude information includes an attitude matrix; Judging whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe according to the attitude change analysis between the current position and the target position of the ultrasonic probe, and / or according to the force information of the current position; If it is necessary to adjust the rotation axis of the ultrasonic probe, adjusting the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user; wherein, adjusting the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user includes: According to the current position and attitude matrix R of the ultrasonic probe c The corresponding ZYX Euler angle θ c The component θ of the X-axis xc To obtain the adjustment parameter L offset Wherein, the formula for obtaining the adjustment parameter L offset Is: L offset = PID(θ xc - θ x0 ), and According to the adjusted parameter L offset , the position P of the adjusted rotation axis in the tool coordinate system is obtained offset , where the formula for obtaining the position P of the adjusted rotation axis offset is: P offset = (0, L offset , 0).

2. The robot ultrasonic probe control method according to claim 1, characterized in that: Judging whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe according to the attitude change analysis between the current position and the target position of the ultrasonic probe includes: Determine the current position and orientation matrix R of the ultrasonic probe c The corresponding ZYX Euler angles θ c The component θ of the Z-axis zc And the target position and orientation matrix R of the ultrasonic probe t The corresponding ZYX Euler angles θ T The Z-axis component θ zt Whether the absolute value of the difference is greater than or equal to the threshold θ z0 If so, do not adjust the rotation axis; and / or Determine the target position and attitude matrix R of the ultrasonic probe t The corresponding ZYX Euler angle θ t The X-axis component θ of xt Whether the absolute value of is less than or equal to the threshold θ x0 , if so, do not adjust the rotation axis.

3. The robot ultrasonic probe control method according to claim 1, characterized in that The force information includes the contact force of the ultrasonic probe; Judging whether it is necessary to adjust the position of the rotation axis of the ultrasonic probe according to the force information of the current position includes: Determine the contact force F z Whether it is less than or equal to the threshold value F0. If so, do not adjust the rotating shaft.

4. The robot ultrasonic probe control method according to claim 1, characterized in that, The position information includes a position vector; Adjusting the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user further includes: According to the position P of the adjusted rotation axis offset , the attitude matrix R of the current position c is adjusted, and the result is calculated with the position vector P of the current position c to obtain the position vector P of the adjusted rotation axis nc .

5. The robot ultrasonic probe control method according to claim 1, wherein The position information includes a position vector; The target position includes the previous target position and the current target position, where the position vector of the previous target position is P t1 and the attitude matrix is R t1 , and the attitude matrix of the current target position is R t2 , Adjusting the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user further includes: According to the position P of the adjusted rotation axis offset , the attitude matrix R of the previous target position t1 is adjusted, and the result is calculated with P t1 to obtain the position vector P of the adjusted rotation axis nt , Obtain the displacement D between the previous target position and the current target position of the ultrasonic probe t , The displacement D t is calculated with the position vector P nt to obtain the position vector P' of the rotation axis of the target position nt , According to the position P of the adjusted rotation axis offset , adjust the attitude matrix R of the current target position t2 , and calculate the result with P n ′ t to obtain the position vector P of the center point of the ultrasonic probe at the current target position t ′ .

6. A robot ultrasonic probe control system, characterized in that, including: An information acquisition module for acquiring the position information, attitude information, and force information of the current position of the ultrasonic probe, as well as the position information and attitude information of the target position; wherein the attitude information includes an attitude matrix; An information analysis module for judging whether it is necessary to adjust the rotation axis position of the ultrasonic probe according to the attitude transformation analysis between the current position and the target position of the ultrasonic probe and / or according to the force information of the current position; An adjustment module for adjusting the rotation axis of the ultrasonic probe according to the position information and attitude information of the current position and the target position of the ultrasonic probe, and the probe movement operation input by the user; wherein the adjustment module includes: Adjustment parameter calculation module, for obtaining an adjustment parameter L according to the ZYX Euler angle θ corresponding to the current position and attitude matrix R of the ultrasonic probe c of the X-axis component θ c and xc wherein, the formula for obtaining the adjustment parameter L offset is: L offset = PID(θ offset - θ xc ) x0 and A rotation axis calculation module for obtaining the position P of the adjusted rotation axis in the tool coordinate system according to the adjustment parameter L offset , where the position P of the adjusted rotation axis is obtained offset , and the formula for obtaining the position P of the adjusted rotation axis is offset : P offset = (0, L offset , 0).

7. An electronic device, characterized in that, The electronic device includes: 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 robot ultrasonic probe control method according to any one of claims 1-5.

8. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions are used to execute the robot ultrasonic probe control method according to any one of claims 1-5 when executed by a computer processor.

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