A method and apparatus for thyroid transverse to longitudinal scan in an ultrasound robot

Abstract

The application relates to a thyroid transverse-to-longitudinal scanning method and device for an ultrasonic robot, which comprises the following steps: obtaining a maximum area position of a thyroid according to a thyroid profile image in a thyroid transverse scanning process, and controlling an ultrasonic probe to move to the maximum area position of the thyroid; determining a rotation angle required for thyroid transverse-to-longitudinal conversion according to an obtained upper position of the thyroid and a lower position of the thyroid; determining whether the ultrasonic probe is in contact with a preset part of a human body according to first contact force data in a rotation process and a current position of the probe; if the ultrasonic probe is in contact with the preset part of the human body, determining a retreat distance according to the first contact force data, and controlling the ultrasonic probe to retreat according to the retreat distance; determining a new rotation axis according to the retreat distance, so as to control the ultrasonic probe to rotate according to the new rotation axis until the rotation angle is reached. The automatic switching of transverse scanning and longitudinal scanning in the ultrasonic scanning process is realized, and the experience of the human body in the automatic thyroid scanning process is effectively improved.

Description

TECHNICAL FIELD

[0001] The application relates to a thyroid transverse-to-longitudinal scanning method and device for an ultrasonic robot. BACKGROUND

[0002] The thyroid gland is the largest endocrine gland in the human body, and ultrasonic scanning can qualitatively and quantitatively estimate the size, volume and blood flow of the thyroid gland, and can qualitatively or semi-qualitatively diagnose the benignity and malignancy of tumors. Therefore, ultrasonic scanning has become the preferred method for imaging examination of thyroid diseases. In order to fully scan the thyroid gland, transverse and longitudinal scanning methods need to be used, and therefore, a method capable of automatically switching between transverse scanning and longitudinal scanning is urgently needed. SUMMARY

[0003] In order to realize transverse-to-longitudinal conversion in the ultrasonic scanning process and improve the experience of the human body in the automatic scanning process of the thyroid gland, the application provides a thyroid transverse-to-longitudinal scanning method and device for an ultrasonic robot, and the technical scheme of the application is as follows:

[0004] In a first aspect, the application provides a thyroid transverse-to-longitudinal scanning method for an ultrasonic robot, comprising:

[0005] According to the thyroid profile image in the transverse scanning process of the thyroid gland, the superior position of the thyroid gland, the inferior position of the thyroid gland and the maximum area position of the thyroid gland are obtained, and the ultrasonic probe is controlled to move to the maximum area position of the thyroid gland;

[0006] According to the superior position of the thyroid gland and the inferior position of the thyroid gland, a rotation angle required for transverse-to-longitudinal conversion of the thyroid gland is determined;

[0007] The ultrasonic probe is controlled to rotate according to the rotation angle, and first contact force data and a current position of the probe are obtained in real time during the rotation process;

[0008] According to the first contact force data and the current position of the probe, it is determined whether the ultrasonic probe is in contact with a preset part of the human body;

[0009] If the ultrasonic probe is in contact with the preset part of the human body, a retreat distance is determined according to the first contact force data or the current position of the probe, and the ultrasonic probe is controlled to retreat according to the retreat distance;

[0010] According to the retreat distance, a new rotation axis is determined to control the ultrasonic probe to rotate according to the new rotation axis until the rotation angle is reached.

[0011] In one or some embodiments, the determination of the rotation angle required for transverse-to-longitudinal conversion of the thyroid gland according to the superior position of the thyroid gland and the inferior position of the thyroid gland comprises:

[0012] obtaining a current pose matrix of the ultrasound probe;

[0013] According to the superior thyroid position, the inferior thyroid position and the current pose matrix, a rotation angle required for transverse-longitudinal conversion of the thyroid is calculated by the following formula:

[0014]

[0015] In the formula, θ z is the rotation angle, P up and P down are the superior thyroid position and the inferior thyroid position respectively, P up-tcp is the superior thyroid position P up in the representation of the end-of-arm tool coordinate system, P up-tcp-y is the Y up-tcp axis coordinate of P t , P up-tcp-x is the X up-tcp axis coordinate of P t , P down-tcp is the inferior thyroid position P down in the representation of the end-of-arm tool coordinate system, P down-tcp-x is the X down-tcp axis coordinate of P t , P down-tcp-y is the Y down-tcp axis coordinate of P t , P up-tcp =R cur T *P up , P down-tcp =R cur T *P down , R cur is the current pose matrix.

[0016] In one or some embodiments, in the process of transverse scanning of the thyroid according to the thyroid profile image, the superior thyroid position, the inferior thyroid position and the maximum area position of the thyroid are obtained, and before the ultrasound probe is controlled to move to the maximum area position of the thyroid, the method further comprises:

[0017] The displacement amount of the ultrasound probe along the X t axis of the end-of-arm tool coordinate system in the process of transverse scanning of the thyroid is determined by the following formula:

[0018] Δx tcp =dir*(Δx tcp0 -α|Δy tcp |–β(f tcp-x –f 01 ))

[0019] where Δx tcp is the displacement of the ultrasound probe along the X t axis of the robot end-effector coordinate system, dir is the direction of motion, Δx tcp0 is the initial X t axis displacement, and a is the displacement ratio coefficient for the Y t direction, Δy tcp is the displacement of the ultrasound probe along the Y t axis of the robot end-effector coordinate system, and β is the force ratio coefficient, f tcp-x is the contact force of the ultrasound probe along the X t direction of the robot end-effector coordinate system, and f 01 is the first contact force threshold.

[0020] In one or some embodiments, the method further comprises, during the thyroid cross-sectional scanning process, acquiring a superior thyroid position, an inferior thyroid position, and a maximum thyroid area position, and controlling the ultrasound probe to move to the maximum thyroid area position before the method.

[0021] The displacement of the ultrasound probe along the Y t axis of the robot end-effector coordinate system during the thyroid cross-sectional scanning process is determined in the following manner:

[0022] The current position and the desired position of the thyroid profile center point are acquired.

[0023] The displacement of the ultrasound probe along the Y t axis of the robot end-effector coordinate system is determined in the following manner according to the current position and the desired position of the thyroid profile center point:

[0024] Δy tcp = PID(x c -x ct )

[0025] where Δy tcp is the displacement of the ultrasound probe along the Y t axis of the robot end-effector coordinate system, x c is the current position of the thyroid profile center point, x ct is the desired position of the thyroid profile center point.

[0026] In one or some embodiments, the method further comprises:

[0027] During the thyroid cross-sectional scanning process, the second contact force data of the ultrasound probe is acquired in real time, and if the second contact force data is greater than a second contact force threshold, the current position is recorded as the position of the preset part of the human body.

[0028] The step of determining whether the ultrasound probe is in contact with a preset part of the human body based on the first contact force data and the current position of the probe includes:

[0029] Obtain the third contact force threshold corresponding to the preset part of the human body, and determine whether the first contact force data is greater than the third contact force threshold.

[0030] If yes, the ultrasound probe contacts the preset part of the human body; if no, the position of the preset part of the human body is obtained, and the ultrasound probe is determined to be in contact with the preset part of the human body based on the current position of the probe and the position of the preset part of the human body.

[0031] In one or more embodiments, determining whether the ultrasound probe is in contact with the preset body part based on the current position of the probe and the position of the preset body part includes:

[0032] Obtain the current attitude matrix of the ultrasonic probe and the distance from the center point of the ultrasonic probe to the boundary;

[0033] Based on the current position of the probe, the distance from the center point of the ultrasonic probe to the boundary, and the current attitude matrix, the probe boundary position is determined by the following formula:

[0034]

[0035] In the formula, d tcp-y P is the distance from the center point of the ultrasound probe to the boundary. r P represents the probe boundary position. cur R represents the current position of the probe. cur Let D be the current attitude matrix. tcp This represents the position of the ultrasonic probe boundary in the coordinate system of the robotic arm's end-effector.

[0036] Based on the probe boundary position, the position of the preset human body part, and a preset distance threshold, the following formula is used to determine whether the ultrasound probe is in contact with the preset human body part:

[0037]

[0038] In the formula, P ry and P coly The probe boundary position P is respectively r and the position P of the preset part of the human body col In the world coordinate system Y b The axis coordinate is d0, which is a preset distance threshold.

[0039] In one or more embodiments, the first contact force data is the ultrasonic probe along the Y-coordinate system of the robotic arm end-effector tool. tThe contact force in the direction; if the ultrasound probe contacts the preset part of the human body, then the retraction distance is determined according to the first contact force data or the current position of the probe, and the ultrasound probe is controlled to retract according to the retraction distance, including:

[0040] If the ultrasound probe contacts the preset part of the human body, and the ultrasound probe is aligned with the Y-axis of the end-effector tool coordinate system of the robotic arm... t If the contact force in the direction is greater than the third contact force threshold, then based on the ultrasonic probe along the Y-axis of the robotic arm end-effector tool coordinate system... t The contact force in the direction and the third contact force threshold are used to determine the retraction distance using the following formula, and the ultrasound probe is controlled to retract according to the retraction distance:

[0041] Δy back =μ(f tcp-y -f 03 )

[0042] In the formula, Δy back f is the back-off distance, μ is the first proportionality coefficient, and f is the first proportionality coefficient. tcp-y Let the ultrasonic probe be along the Y-coordinate system of the end effector of the robotic arm. t Contact force in the direction, f 03 This is the third contact force threshold;

[0043] If the ultrasound probe contacts the preset part of the human body, and the ultrasound probe is aligned with the Y-axis of the end-effector tool coordinate system of the robotic arm... t If the contact force in the direction is less than or equal to the third contact force threshold, the position of the preset part of the human body is obtained, the retraction distance is determined based on the current position of the probe and the position of the preset part of the human body, and the ultrasound probe is controlled to retract according to the retraction distance.

[0044] In one or more embodiments, determining a new rotation axis based on the retraction distance to control the ultrasound probe to rotate along the new rotation axis until the rotation angle is reached includes:

[0045] Based on the retraction distance, a new rotation axis is determined using the following formula, to control the ultrasound probe to rotate along the new rotation axis until the rotation angle is reached:

[0046] P tcp-z =(0,-Δy) back ,0)

[0047] In the formula, Δy back P is the backtracking distance. tcp-z For the new axis of rotation.

[0048] Secondly, the present invention provides a thyroid transverse to longitudinal section scanning device for ultrasound robots, comprising:

[0049] A position acquisition module is configured to acquire a superior thyroid position, an inferior thyroid position and a maximum thyroid area position according to a thyroid profile image in a thyroid transverse scanning process, and control the ultrasonic probe to move to the maximum thyroid area position;

[0050] A rotation angle determination module is configured to determine a rotation angle required for transverse-to-longitudinal conversion of the thyroid according to the superior thyroid position and the inferior thyroid position;

[0051] A data acquisition module is configured to control the ultrasonic probe to rotate according to the rotation angle, and acquire first contact force data and a current probe position of the ultrasonic probe in real time during the rotation;

[0052] A judgment module is configured to determine whether the ultrasonic probe contacts a preset part of the human body according to the first contact force data and the current probe position;

[0053] A retreat distance determination module is configured to determine a retreat distance according to the first contact force data or the current probe position if the ultrasonic probe contacts the preset part of the human body;

[0054] A rotation axis determination module is configured to determine a new rotation axis according to the retreat distance, so as to control the ultrasonic probe to rotate according to the new rotation axis until the rotation angle is reached.

[0055] In a third aspect, the present application provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;

[0056] The memory is configured to store a computer program;

[0057] The processor is configured to execute the program stored on the memory, and realize the steps of the thyroid transverse-to-longitudinal conversion scanning method for the ultrasonic robot according to the first aspect.

[0058] Based on the above technical solution, the present application has the following beneficial effects compared with the prior art:

[0059] The application provides a thyroid transverse-to-longitudinal scanning method for an ultrasonic robot.

[0060] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the description, claims and drawings.

[0061] In order to make the above objectives, characteristics and advantages of the present application more apparent and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are referred to for a detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0063] Figure 1 is a flowchart of the thyroid transverse-to-longitudinal scanning method for an ultrasonic robot provided by the embodiment of the present application;

[0064] Figure 2 is a thyroid scanning schematic diagram provided by the embodiment of the present application;

[0065] Figure 3 is a schematic diagram of the end tool coordinate system of the mechanical arm provided by the embodiment of the present application;

[0066] Figure 4 is a schematic diagram of thyroid cross-sectional scanning provided by an embodiment of the present application;

[0067] Figure 5 is a schematic diagram of the situation that the ultrasonic probe hits the human clavicle in the rotating process provided by an embodiment of the present application;

[0068] Figure 6 is a schematic diagram of the position of the ultrasonic probe provided by an embodiment of the present application;

[0069] Figure 7 is a schematic diagram of the change of the rotating shaft provided by an embodiment of the present application;

[0070] Figure 8 is a structural schematic diagram of the thyroid cross-sectional longitudinal scanning device for the ultrasonic robot provided by an embodiment of the present application;

[0071] Figure 9 is a structural schematic diagram of the electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0072] Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are shown. This disclosure may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0073] The exemplary embodiments will be described in detail with reference to the accompanying drawings. In the following description, the same drawing reference numerals are used to denote elements in the various figures. The embodiments described in the following exemplary embodiments are not meant to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0074] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0075] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected, it can be mechanical connection, or electrical connection, it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0076] In order to fully scan the thyroid gland, the ultrasonic robot needs to use both transverse and longitudinal scanning methods when scanning the thyroid gland. The inventor found in work that the prior art usually only uses image-based transverse and longitudinal scanning when scanning the thyroid gland. During scanning, the discomfort caused to the human body, such as the trachea and clavicle, is not considered during the transverse-to-longitudinal conversion process, resulting in a poor experience for the patient and failing to meet the inventor's expectations. In order to realize automatic switching between transverse and longitudinal scanning and improve the experience of the human body during the transverse-to-longitudinal conversion process, an ultrasonic robot thyroid transverse-to-longitudinal scanning method is urgently needed. The inventor has made further research and development to make this application.

[0077] Embodiment one

[0078] The embodiment of the present application provides a thyroid transverse-to-longitudinal scanning method for an ultrasonic robot, as shown in Figure 1 , which comprises:

[0079] S101, according to the thyroid profile image in the thyroid transverse scanning process, the superior thyroid position, the inferior thyroid position and the maximum thyroid area position are obtained, and the ultrasonic probe is controlled to move to the maximum thyroid area position.

[0080] The ultrasonic robot scans the thyroid gland in the manner shown in Figure 2 . During the process of scanning the thyroid gland by the ultrasonic robot, the Unet deep learning model is used to segment the thyroid profile in the ultrasonic image, and the minimum circumscribed rectangle is used to fit the thyroid profile to obtain the center point P c (x c ,y c ) of the thyroid profile. The fitting process of the thyroid profile can refer to the description in the prior art, which will not be repeated here. The PID algorithm is used to control the movement of the ultrasonic probe, so that the thyroid profile moves to the central region of the ultrasonic image, ensuring that the ultrasonic image meeting the diagnostic requirements is obtained. Specifically, the ultrasonic probe is controlled to move along the X t , Y t and Z t axes of the end-of-arm tool coordinate system, as shown in Figure 3 .

[0081] In the thyroid transverse scanning process, the displacement of the ultrasound probe along the mechanical arm end tool coordinate system Y t axis is determined by the following formula:

[0082] First, the current position and the desired position of the thyroid profile center point are obtained, and the displacement of the ultrasound probe along the mechanical arm end tool coordinate system Y t axis is determined by the following formula:

[0083] Δy tcp = PID(x c -x ct ), formula 1;

[0084] In the formula, Δy tcp is the displacement of the ultrasound probe along the mechanical arm end tool coordinate system Y t axis, x c is the current position of the thyroid profile center point, and x ct is the desired position of the thyroid profile center point.

[0085] In the thyroid transverse scanning process, the thyroid profile needs to be moved to the central region of the ultrasound image, so the desired position x ct of the thyroid profile center point is set to the center of the ultrasound image.

[0086] In the thyroid transverse scanning process, the displacement of the ultrasound probe along the mechanical arm end tool coordinate system X t axis is determined by the following formula:

[0087] Δx tcp = dir*(Δx tcp0 -α|Δy tcp |–β(f tcp-x –f 01 )), formula 2;

[0088] In the formula, Δx tcp is the displacement of the ultrasound probe along the mechanical arm end tool coordinate system X t axis; dir is the motion direction, taking values of 1 or -1; Δx tcp0 is the initial X t axis displacement, which is a fixed value, such as 0.4 mm; α is the displacement proportionality coefficient in the Y t direction, which is a fixed value, such as 0.1; Δy tcp is the displacement of the ultrasound probe along the mechanical arm end tool coordinate system Y t axis; β is the force proportionality coefficient, which is a fixed value, such as 0.0001; f tcp-x is the force of the ultrasound probe along the mechanical arm end tool coordinate system Xt the contact force in the direction of the X axis of the end-effector coordinate system of the robot arm; 01 is a first contact force threshold.

[0089] the above-mentioned term a|Δy tcp represents that when the center point of the thyroid profile deviates from the expected position by a relatively large amount, the corresponding |Δy tcp is also relatively large, at which time the value of Δx tcp needs to be reduced, that is, the displacement amount in the Y t direction is adjusted preferentially, so as to avoid the thyroid profile from deviating from the central region of the image.

[0090] the above-mentioned term β(f tcp-x -f 01 ) represents that when the contact force of the ultrasound probe in the X t direction of the end-effector coordinate system of the robot arm is greater than the first contact force threshold f 01 , the moving speed needs to be reduced, so as to avoid causing discomfort to the human body.

[0091] When the thyroid profile is not in the center of the ultrasound image, the thyroid profile is preferentially pulled to the center of the ultrasound image. By reducing the displacement amount Δx t of the ultrasound probe in the X tcp axis of the end-effector coordinate system of the robot arm, the scanning speed is reduced. The present application realizes variable speed processing in the transverse scanning, and can adaptively change the speed when the image quality does not meet the requirements or the force is large.

[0092] The displacement amount Δz t of the ultrasound probe in the Z tcp axis of the end-effector coordinate system of the robot arm is determined by the force control algorithm, and the force control algorithm can be realized by using a PID controller or an impedance controller. Details can be referred to the description in the prior art, which will not be described here.

[0093] The displacement vector in the end-effector coordinate system of the robot arm is (Δx tcp , Δy tcp , Δz tcp ) obtained through the above description, and the thyroid transverse scanning is realized according to the displacement vector. In the thyroid transverse scanning process, the second contact force data of the ultrasound probe, that is, the contact force f t of the ultrasound probe in the X tcp-x direction of the end-effector coordinate system of the robot arm, is acquired in real time. If f tcp-x >f 02 , it indicates that the ultrasound probe scans to a preset human body part, at which time the position P col of the preset human body part is recorded. f 02 is a second contact force threshold, which represents a contact force threshold of the preset human body part and is a fixed value. The above-mentioned preset human body part can be a human clavicle or neck, etc. Taking the position of the human clavicle as an example, the above-mentioned f02 This represents the contact force threshold when the collarbone is touched, which can be 2N.

[0094] During the transverse scan, the position P of the superior thyroid gland is recorded based on the presence or absence of the thyroid outline. up P, a lower-level position of the thyroid gland down And, record the location P where the thyroid gland has the largest area. max , denoted as P max . Reference Figure 4 As shown, P is located above the thyroid gland. up P, a lower-level position of the thyroid gland down These represent the upper and lower boundaries of the thyroid gland's outline, respectively. The location of the largest thyroid area is P. max This is the location where the thyroid gland's outline area is largest. Determine the location P where the thyroid gland's area is largest. max Then, control the ultrasound probe to move to the location P, where the thyroid gland has the largest area. max .

[0095] S102, According to the aforementioned superior location P of the thyroid gland up and the lower thyroid position P down Determine the rotation angle θ required to convert a transverse to a longitudinal thyroid section. z .

[0096] First, obtain the current attitude matrix R of the ultrasonic probe. cur According to the above-recorded superior position P of the thyroid gland up P, a lower-level position of the thyroid gland down and the current attitude matrix R cur The required rotation angle θ for converting a transverse to a longitudinal thyroidectomy can be calculated using the following formula. z :

[0097]

[0098] In the formula, P up and P down These represent the superior and inferior positions of the thyroid gland, respectively. up-tcp P, located above the thyroid gland up In the coordinate system of the robotic arm's end-effector, P is represented as... up-tcp-y For P up-tcp Y t Axis coordinates, P up-tcp-x For P up-tcp X t Axis coordinates, P down-tcp P is a lower-level position of the thyroid gland. down In the coordinate system of the robotic arm's end-effector, P is represented as... down-tcp-x For P down-tcp X t Axis coordinates, P down-tcp-y For PY of down-tcp t Axis coordinate, P up-tcp =R cur T *P up , P down-tcp =R cur T *P down , R cur is a current attitude matrix, R cur T represents the transpose of the current attitude matrix R cur . During the movement of the robot arm, the above-mentioned current attitude matrix R cur can be obtained by obtaining the attitude of the ultrasonic probe at the end of the robot arm in real time.

[0099] Obtained by installing an attitude sensor on the ultrasonic probe. The above-mentioned contact forces can be obtained by installing a force sensor on the ultrasonic probe.

[0100] The above-mentioned P up-tcp , P down-tcp can be calculated by the conversion formula between the world coordinate system and the tool coordinate system at the end of the robot arm. For details, refer to the description in the prior art, which will not be repeated here.

[0101] Determine the rotation angle θ z required for the transverse incision of the thyroid to the longitudinal incision t , control the ultrasonic probe to rotate the above-mentioned θ z angle around the Z z axis of the tool coordinate system at the end of the robot arm, and further perform the following S103-S106 processing during the rotation until the above-mentioned θ t angle is reached.

[0102] S103, control the ultrasonic probe to rotate according to the rotation angle, and obtain the first contact force data of the ultrasonic probe and the current position of the probe in real time during the rotation.

[0103] During the rotation, in order to avoid the ultrasonic probe contacting the preset part of the human body, causing the human body part to be uncomfortable, the first contact force data of the ultrasonic probe is obtained in real time, that is, the contact force f tcp-y of the ultrasonic probe along the Y tcp-y axis of the tool coordinate system at the end of the robot arm, which is used to determine whether the ultrasonic probe contacts the preset part of the human body. However, due to the difference in human bones, it may not be accurate enough to determine whether the ultrasonic probe contacts the preset part of the human body only by referring to the first contact force data. The current position of the probe is also obtained, which is combined with the first contact force data to determine whether the ultrasonic probe contacts the preset part of the human body. Taking the human clavicle as an example, if f 03If so, it is determined that the ultrasound probe is in contact with the human clavicle. For f tcp-y Less than or equal to the third contact force threshold f 03 In some cases, the clavicle may be relatively flat, which could lead to contact with the clavicle. The aforementioned third contact force threshold f... 03 It is a fixed value, such as 2N.

[0104] S104. Determine whether the ultrasonic probe is in contact with a preset part of the human body based on the first contact force data and the current position of the probe.

[0105] If the first contact force data is greater than the third contact force threshold f 03 If the first contact force data is less than or equal to the third contact force threshold f, it is determined that the ultrasound probe is in contact with the human clavicle. 03 In such cases, it is necessary to further determine whether the ultrasound probe is in contact with the preset part of the human body based on the relative distance between the current position of the probe and the preset part of the human body.

[0106] S105. If the ultrasound probe comes into contact with the preset part of the human body, the retraction distance is determined according to the first contact force data, and the ultrasound probe is controlled to retract according to the retraction distance.

[0107] During the rotation, refer to Figure 6 As shown, if the ultrasound probe comes into contact with a predetermined part of the human body, it is necessary to change the rotation axis and perform avoidance maneuvers. Specifically, the retraction distance is determined based on the first contact force data, and the ultrasound probe is controlled to retract according to the retraction distance, so as to no longer come into contact with the predetermined part of the human body.

[0108] S106. Determine a new rotation axis based on the retraction distance, and control the ultrasound probe to rotate along the new rotation axis until the rotation angle θ is reached. z .

[0109] After retraction, the ultrasonic probe continues to rotate around the Z-axis. t When the axis rotates, it is necessary to update the Z-axis rotation. t The rotation axis is adjusted according to the new axis to prevent thyroid tissue loss during rotation. While rotating along the new axis, steps S103-S106 are continued, with real-time monitoring to ensure the ultrasound probe is in contact with the pre-defined area of ​​the body. If contact is made, a retraction distance is determined and the probe is retracted. A new rotation axis is then determined based on this retraction distance, and rotation continues until the required rotation angle θ for the transverse to longitudinal thyroid incision is achieved. z It automatically switches between cross-cutting and longitudinal cutting.

[0110] The application provides a thyroid cross-section to longitudinal section scanning method for an ultrasonic robot, which can obtain a superior thyroid position, an inferior thyroid position and a thyroid maximum area position according to a thyroid profile image in a thyroid cross-section scanning process, can determine a rotation angle required for thyroid cross-section to longitudinal section conversion according to the superior thyroid position and the inferior thyroid position, can control the ultrasonic probe to rotate according to the rotation angle after the ultrasonic probe moves to the thyroid maximum area position, and can determine a retreat distance according to first contact force data or a current position of the probe during the rotation process if the ultrasonic probe contacts a preset part of the human body, and can determine a new rotation axis according to the retreat distance after retreat, so that the ultrasonic probe can rotate according to the new rotation axis, thereby avoiding thyroid loss during the rotation process. z The application realizes automatic switching between cross-section and longitudinal section in the ultrasonic scanning process, can avoid discomfort caused by contact between the ultrasonic probe and the preset part of the human body during the rotation process, i.e., the cross-section to longitudinal section switching process, and effectively improves the experience of the human body in the automatic thyroid scanning process. The rotation at the thyroid maximum area position can ensure that the longitudinal section of the thyroid is relatively large after the conversion to the longitudinal section scanning, thereby solving the problem of poor thyroid section scanning in the prior art.

[0111] In an optional embodiment, the determination of whether the ultrasonic probe contacts the preset part of the human body according to the first contact force data and the current position of the probe in S104 specifically includes:

[0112] S1041, acquiring a third contact force threshold f corresponding to the preset part of the human body 03 ; if yes, the ultrasonic probe contacts the preset part of the human body; if no, S1042 is performed; 03

[0113] S1042, acquiring a position of the preset part of the human body, and determining whether the ultrasonic probe contacts the preset part of the human body according to the current position P cur of the probe and the position of the preset part of the human body.

[0114] If the first contact force data is greater than the third contact force threshold f 03 , it indicates that the ultrasonic probe contacts the preset part of the human body. For the case that the first contact force data is less than or equal to the third contact force threshold f 03 , the preset part of the human body can also be contacted. At this time, the position P col ​and the current position of the probe to determine whether the ultrasound probe has contacted the preset part of the human body.

[0115] In an optional embodiment, the current position P cur of the probe is determined according to the current position P tcp-y of the probe and the position of the preset part of the human body, and specifically includes:

[0116] S10421, acquiring the current attitude matrix of the ultrasound probe and the distance from the center point of the ultrasound probe to the boundary.

[0117] During the movement of the mechanical arm, the current attitude matrix can be obtained by acquiring the attitude of the ultrasound probe at the end of the mechanical arm in real time. Referring to Figure 5 , the distance from the center point of the ultrasound probe to the boundary is d tcp-y . The probe boundary position P r is the position of the rightmost boundary of the probe.

[0118] S10422, determining the probe boundary position according to the current position P cur of the probe, the distance d tcp-y from the center point of the ultrasound probe to the boundary, and the current attitude matrix R cur by the following formula:

[0119]

[0120] In the formula, d tcp-y is the distance from the center point of the ultrasound probe to the boundary, P r is the probe boundary position, P cur is the current position of the probe, R cur is the current attitude matrix, and D tcp is the position of the boundary of the ultrasound probe in the tool coordinate system at the end of the mechanical arm.

[0121] S10423, determining whether the ultrasound probe contacts the preset part of the human body based on the probe boundary position P r , the position P col of the preset part of the human body, and the preset distance threshold d0 by the following formula:

[0122]

[0123] In the formula, P ry and P coly are the probe boundary position P r and the position P col of the preset part of the human body in the Y b axis coordinate of the world coordinate system, respectively, d0 is the preset distance threshold, which is a fixed value and can be 3mm.

[0124] Equation 5 is used to determine whether the ultrasound probe is in contact with the preset part of the human body. If it is in contact, it needs to be moved along the Y-axis of the end-effector tool system of the robotic arm. t Retract in the positive direction of the axis until, according to Equation 5, it is determined that the ultrasound probe is not in contact with the preset part of the human body.

[0125] In an optional embodiment, the first contact force data mentioned in S105 above is the ultrasonic probe along the Y coordinate system of the robotic arm end tool. t The contact force in the direction; as described in S105 above, if the ultrasound probe contacts the preset part of the human body, the retraction distance is determined according to the first contact force data or the current position of the probe, and the ultrasound probe is controlled to retract according to the retraction distance, specifically including:

[0126] If the ultrasound probe contacts the preset part of the human body, and the ultrasound probe is aligned with the Y-axis of the end-effector tool coordinate system of the robotic arm... t If the contact force in the direction is greater than the third contact force threshold, then based on the ultrasonic probe along the Y-axis of the robotic arm end-effector tool coordinate system... t Contact force in direction and the third contact force threshold f 03 The retraction distance Δy is determined by the following formula. back And control the ultrasonic probe according to the retraction distance Δy back Rollback:

[0127] Δy back =μ(f tcp-y -f 03 Equation 6;

[0128] In the formula, Δy back f is the back-off distance, μ is the first proportionality coefficient, and f is the first proportionality coefficient. tcp-y Let the ultrasonic probe be along the Y-coordinate system of the end effector of the robotic arm. t Contact force in the direction, f 03 This is the third contact force threshold.

[0129] If the ultrasound probe comes into contact with the preset part of the human body, it needs to be aligned along the Y-axis of the end effector of the robotic arm. t The machine retracts along the positive axis, with a retraction distance Δy. back The first proportional coefficient μ is calculated using Equation 6. This first proportional coefficient μ is a fixed value and can be set according to actual rollback requirements; for example, it can be 0.0002.

[0130] If the ultrasound probe contacts the preset part of the human body, and the ultrasound probe is aligned with the Y-axis of the end-effector tool coordinate system of the robotic arm... t If the contact force in the direction is less than or equal to the third contact force threshold, the position of the preset part of the human body is obtained, the retraction distance is determined based on the current position of the probe and the position of the preset part of the human body, and the ultrasound probe is controlled to retract according to the retraction distance.

[0131] The ultrasonic probe is located along the Y-axis of the end effector of the robotic arm. t The contact force in the direction is less than or equal to the third contact force threshold, but based on the current probe position P cur The position of the ultrasound probe relative to the preset body part is determined by Equation 5 above. Then, the retraction distance Δy is obtained by calculating the relative distance between the current position of the probe and the position of the preset body part. back The ultrasonic probe is controlled according to the retraction distance Δy back Go back.

[0132] In an optional embodiment, the step S106 above, which involves determining a new rotation axis based on the retraction distance to control the ultrasound probe to rotate along the new rotation axis until the rotation angle is reached, specifically includes:

[0133] According to the back-off distance Δy back The new rotation axis is determined by the following formula to control the ultrasound probe to rotate along the new rotation axis until the rotation angle is reached:

[0134] P tcp-z =(0,-Δy) back ,0)

[0135] In the formula, Δy back P is the backtracking distance. tcp-z For the new axis of rotation.

[0136] During rotation, the system continuously monitors whether the ultrasound probe is in contact with a preset part of the human body. If the ultrasound probe is in contact with the preset part of the human body, the retraction distance Δy is determined based on the first contact force data. back And after reversing, based on the reversal distance Δy back Determine a new axis of rotation, and then rotate according to the new axis of rotation. (Refer to...) Figure 7 The figures show the previous and new rotation axes, respectively. The process of determining whether the ultrasound probe is in contact with the preset part of the body is repeated until the aforementioned rotation angle θ is reached. z This enables automatic switching between transverse and longitudinal sections during ultrasonic scanning. After switching from transverse to longitudinal section, the ultrasonic probe is controlled to move along the Y-axis of the robotic arm's end-effector. t The axis moves up and down to complete a longitudinal thyroid scan.

[0137] Example 2

[0138] This invention provides a thyroid transverse to longitudinal scanning device for ultrasound robots, referring to... Figure 8 As shown, it includes:

[0139] The position acquisition module 201 is configured to acquire a superior thyroid position, an inferior thyroid position and a maximum thyroid area position according to a thyroid profile image in a thyroid transverse scanning process, and control the ultrasonic probe to move to the maximum thyroid area position.

[0140] The rotation angle determination module 202 is configured to determine a rotation angle required for transverse-to-longitudinal conversion of the thyroid according to the superior thyroid position and the inferior thyroid position.

[0141] The data acquisition module 203 is configured to control the ultrasonic probe to rotate according to the rotation angle, and acquire first contact force data and a current probe position of the ultrasonic probe in real time during the rotation.

[0142] The judgment module 204 is configured to determine whether the ultrasonic probe contacts a preset part of the human body according to the first contact force data and the current probe position.

[0143] The back-off distance determination module 205 is configured to determine a back-off distance according to the first contact force data or the current probe position if the ultrasonic probe contacts the preset part of the human body.

[0144] The rotation axis determination module 206 is configured to determine a new rotation axis according to the back-off distance, so as to control the ultrasonic probe to rotate according to the new rotation axis until the rotation angle is reached.

[0145] The thyroid transverse-to-longitudinal conversion scanning device for the ultrasonic robot provided by the embodiment of the present application has similar implementation principles and technical effects to any one of the method embodiments, and thus will not be described here.

[0146] Embodiment three

[0147] The embodiment of the present application provides an electronic device, referring to Figure 9 As shown in the figure, the electronic device includes a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112 and the memory 113 complete mutual communication through the communication bus 114.

[0148] The memory 113 is configured to store a computer program.

[0149] The processor 111 is configured to execute the program stored in the memory 113, and realize the steps of the thyroid transverse-to-longitudinal conversion scanning method for the ultrasonic robot provided by any one of the method embodiments.

[0150] The electronic device provided by the embodiment of the present application has similar implementation principles and technical effects to the method embodiments, and thus will not be described here.

[0151] The memory 113 described above can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. The memory 113 has a storage space for program codes for executing any of the method steps described above. For example, the storage space for program codes can include individual program codes for implementing individual steps in the above methods, respectively. The program codes can be read from or written to one or more computer program products. The computer program products include program code carriers such as a hard disk, a compact disc (CD), a memory card, or a floppy disk. Such computer program products are typically portable or stationary storage units. The storage unit can have a storage section or a storage space, etc., arranged similarly to the memory 113 in the electronic device described above. The program codes can be compressed in an appropriate form, for example. Typically, the storage unit includes programs for executing the method steps according to the embodiments of the present application, i.e., codes that can be read by the processor 111, which, when executed by the electronic device, cause the electronic device to perform the individual steps in the methods described above.

[0152] Embodiment Four

[0153] The embodiments of the present application provide a computer readable storage medium, which stores a computer program. The program is executed by a processor to implement the steps of the thyroid transverse-to-longitudinal scanning method for ultrasound robot as described in the foregoing method embodiments.

[0154] The computer readable storage medium can be included in the device / apparatus described in the foregoing embodiments; or can exist separately without being assembled into the device / apparatus. The computer readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present application.

[0155] According to the embodiments of the present application, the computer readable storage medium can be a non-volatile computer readable storage medium, which can include, but is not limited to, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any appropriate combination thereof. In the present application, the computer readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in connection with an instruction execution system, apparatus, or device.

[0156] Embodiment Five

[0157] The embodiment of the present application provides a computer program product, comprising computer programs / instructions, which, when executed by a processor, implement the steps of the thyroid transverse-to-longitudinal scanning method for an ultrasonic robot as described in the foregoing method embodiment.

[0158] In this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "upper," "lower," and the like refer to directions in the figures to which the application is illustrated and are for convenience only in describing the application and its positioning on the drawings, and are not intended to limit the application or any embodiment thereof to any particular orientation or configuration. The terms "coupled" and "connected," along with derivatives thereof, can be used to express the relationship between or among two or more elements or to express that any two elements are in some way currently in communication or proximate to each other. These terms are not necessarily intended to limit the direct or indirect physical or electrical connection or coupling between or among the elements.

[0159] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the difference from other embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application is not limited to any single aspect or any single embodiment, and is not limited to any combination or permutation of aspects and / or embodiments. Each aspect and / or embodiment of the present application can be used alone or in combination with one or more other aspects and / or embodiments.

[0160] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present application, used to illustrate the technical solutions of the present application, and are not intended to limit the present application. The protection scope of the present application is not limited thereto, and although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can make modifications or easily think of changes to the technical solutions recorded in the foregoing embodiments within the technical scope disclosed by the present application, or make equivalent replacements to some of the technical features; and such modifications, changes or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for transverse to longitudinal thyroid scan using an ultrasound robot, characterized in that, include: Based on the thyroid contour image during the thyroid transverse scanning process, the upper thyroid position, lower thyroid position, and the position of the largest thyroid area are obtained, and the ultrasound probe is controlled to move to the position of the largest thyroid area. The required rotation angle for converting a transverse to a longitudinal thyroid incision is determined based on the superior and inferior positions of the thyroid gland. The ultrasonic probe is controlled to rotate according to the rotation angle, and the first contact force data and the current position of the ultrasonic probe are acquired in real time during the rotation. Based on the first contact force data and the current position of the probe, determine whether the ultrasound probe is in contact with a preset part of the human body; If the ultrasound probe comes into contact with the preset part of the human body, the retraction distance is determined based on the first contact force data or the current position of the probe, and the ultrasound probe is controlled to retract according to the retraction distance. A new rotation axis is determined based on the retraction distance to control the ultrasound probe to rotate along the new rotation axis until the rotation angle is reached.

2. The method for transverse to longitudinal thyroid scan using an ultrasound robot according to claim 1, characterized in that, The determination of the rotation angle required for the transverse to longitudinal incision of the thyroid gland based on the superior and inferior positions of the thyroid gland includes: Obtain the current attitude matrix of the ultrasonic probe; Based on the superior position of the thyroid gland, the inferior position of the thyroid gland, and the current posture matrix, the rotation angle required to convert the transverse to longitudinal section of the thyroid gland is calculated using the following formula: In the formula, For rotation angle, P up and P down These are the superior and inferior positions of the thyroid gland, respectively. The superior position of the thyroid gland P up Representation in the coordinate system of the robotic arm's end effector for Y t Axis coordinates for X t Axis coordinates The lower part of the thyroid gland P down Representation in the coordinate system of the robotic arm's end effector for X t Axis coordinates for Y t Axis coordinates , This is the current attitude matrix.

3. The method for transverse to longitudinal thyroid scan using an ultrasound robot according to claim 1, characterized in that, Before obtaining the superior thyroid position, inferior thyroid position, and maximum thyroid area position based on the thyroid contour image obtained during the thyroid transverse scanning process, and controlling the ultrasound probe to move to the maximum thyroid area position, the method further includes: The X-axis of the ultrasound probe along the end-effector coordinate system during the thyroid transverse scan is determined by the following formula. t Displacement of the shaft: In the formula, Δ x tcp Let the ultrasonic probe be located along the X coordinate system of the robotic arm end-effector. t Displacement of the shaft, dir Δ represents the direction of motion. x tcp0 For the initial X t Axial displacement α For Y t Displacement proportionality coefficient in the direction, Δ y tcp Let the ultrasonic probe be located in the coordinate system y of the end effector of the robotic arm. t Displacement of the shaft, This is the force ratio coefficient. f tcp-x Let the ultrasonic probe be located along the X coordinate system of the robotic arm end-effector. t Contact force in direction, f 01 This is the first contact force threshold.

4. The method for transverse to longitudinal thyroid scan using an ultrasound robot according to claim 3, characterized in that, Before obtaining the superior thyroid position, inferior thyroid position, and maximum thyroid area position based on the thyroid contour image obtained during the thyroid transverse scanning process, and controlling the ultrasound probe to move to the maximum thyroid area position, the method further includes: The ultrasound probe along the Y-coordinate system of the robotic arm end-effector during the thyroid transverse scan was determined in the following manner. t Displacement of the shaft: Obtain the current and desired position of the center point of the thyroid contour; Based on the current and desired positions of the thyroid contour center point, the ultrasound probe along the Y coordinate system of the robotic arm end-effector is determined using the following formula. t Displacement of the shaft: In the formula, Δ y tcp Let the ultrasonic probe be along the Y-coordinate system of the end effector of the robotic arm. t Displacement of the axis, x c The current position of the center point of the thyroid contour, x ct The desired location is the center of the thyroid contour, which is the center of the ultrasound image.

5. The method for transverse to longitudinal thyroid scan using an ultrasound robot according to claim 1, characterized in that, The method further includes: During the transverse thyroid scan, the second contact force data of the ultrasound probe is acquired in real time. If the second contact force data is greater than the second contact force threshold, the current position is recorded as the position of the preset part of the human body. The second contact force data is the contact force of the ultrasound probe along the Xt direction of the tool coordinate system at the end of the robotic arm. The step of determining whether the ultrasound probe is in contact with a preset part of the human body based on the first contact force data and the current position of the probe includes: Obtain the third contact force threshold corresponding to the preset part of the human body, and determine whether the first contact force data is greater than the third contact force threshold. If so, the ultrasound probe will contact the preset part of the human body; If not, the position of the preset part of the human body is obtained, and the ultrasonic probe is determined to be in contact with the preset part of the human body based on the current position of the probe and the position of the preset part of the human body.

6. The method for transverse to longitudinal thyroid scan using an ultrasound robot according to claim 5, characterized in that, The step of determining whether the ultrasound probe is in contact with the preset part of the human body based on the current position of the probe and the position of the preset part of the human body includes: Obtain the current attitude matrix of the ultrasonic probe and the distance from the center point of the ultrasonic probe to the boundary; Based on the current position of the probe, the distance from the center point of the ultrasonic probe to the boundary, and the current attitude matrix, the probe boundary position is determined by the following formula: In the formula, d tcp-y This is the distance from the center point of the ultrasound probe to the boundary. P r This is the probe boundary position. P cur This is the current position of the probe. R cur The current attitude matrix, D tcp This represents the position of the ultrasonic probe boundary in the coordinate system of the robotic arm's end-effector. Based on the probe boundary position, the position of the preset human body part, and a preset distance threshold, the following formula is used to determine whether the ultrasound probe is in contact with the preset human body part: In the formula, and These are the probe boundary positions. P r and the position of the body's pre-set parts P col In the world coordinate system Y b Axis coordinates This is a preset distance threshold.

7. The method for transverse to longitudinal thyroid scan using an ultrasound robot according to claim 6, characterized in that, The first contact force data is the ultrasonic probe along the Y-coordinate system of the end effector of the robotic arm. t The contact force in the direction; if the ultrasound probe contacts the preset part of the human body, then the retraction distance is determined according to the first contact force data or the current position of the probe, and the ultrasound probe is controlled to retract according to the retraction distance, including: If the ultrasound probe contacts the preset part of the human body, and the ultrasound probe is aligned with the Y-axis of the end-effector tool coordinate system of the robotic arm... t If the contact force in the direction is greater than the third contact force threshold, then based on the ultrasonic probe along the Y-axis of the robotic arm end-effector tool coordinate system... t The contact force in the direction and the third contact force threshold are used to determine the retraction distance using the following formula, and the ultrasound probe is controlled to retract according to the retraction distance: In the formula, For the backtracking distance, The first proportionality coefficient, Let the ultrasonic probe be along the Y-coordinate system of the end effector of the robotic arm. t Contact force in direction, This is the third contact force threshold; If the ultrasound probe contacts the preset part of the human body, and the ultrasound probe is aligned with the Y-axis of the end-effector tool coordinate system of the robotic arm... t If the contact force in the direction is less than or equal to the third contact force threshold, the position of the preset part of the human body is obtained, the retraction distance is determined based on the current position of the probe and the position of the preset part of the human body, and the ultrasound probe is controlled to retract according to the retraction distance.

8. The method for transverse to longitudinal thyroid scan using an ultrasound robot according to claim 1, characterized in that, The step of determining a new rotation axis based on the retraction distance, and controlling the ultrasound probe to rotate along the new rotation axis until the rotation angle is reached, includes: Based on the retraction distance, a new rotation axis is determined using the following formula, to control the ultrasound probe to rotate along the new rotation axis until the rotation angle is reached: In the formula, For the backtracking distance, For the new axis of rotation.

9. A transverse-to-longitudinal scanning device for thyroid glands using an ultrasound robot, characterized in that, include: The position acquisition module is used to acquire the upper position, lower position and maximum area position of the thyroid gland based on the thyroid contour image during the thyroid transverse scanning process, and control the ultrasound probe to move to the maximum area position of the thyroid gland; The rotation angle determination module is used to determine the rotation angle required for the transverse to longitudinal section of the thyroid gland based on the upper and lower positions of the thyroid gland. The data acquisition module is used to control the ultrasonic probe to rotate according to the rotation angle, and to acquire the first contact force data and the current position of the ultrasonic probe in real time during the rotation process; The judgment module is used to determine whether the ultrasound probe is in contact with a preset part of the human body based on the first contact force data and the current position of the probe; The retraction distance determination module is used to determine the retraction distance based on the first contact force data or the current position of the probe if the ultrasound probe comes into contact with a preset part of the human body, and to control the ultrasound probe to retract according to the retraction distance; The rotation axis determination module is used to determine a new rotation axis based on the retraction distance, so as to control the ultrasound probe to rotate according to the new rotation axis until the rotation angle is reached.

10. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When executing a program stored in memory, the processor implements the steps of the transverse-to-longitudinal thyroid scan method for an ultrasound robot as described in any one of claims 1-8.

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