An autonomous search method and apparatus for an ultrasound robotic scan of the intercostal space of the abdomen

Abstract

The application relates to an autonomous search method and device for an ultrasonic robot to scan an intercostal space of an abdomen, which comprises the following steps: evaluating an ultrasonic image obtained by an ultrasonic probe scanning an upper region of a rib, if the quality of the ultrasonic image does not satisfy a first preset condition, performing an elliptical path search based on a pre-planned displacement vector, if the quality of the ultrasonic image does not satisfy the first preset condition in the process of the elliptical path search, determining a first translation vector based on acquired contact force data, and controlling the ultrasonic probe to perform a swing search according to the first translation vector and a pre-planned first attitude angle vector, if the quality of the ultrasonic image satisfies a second preset condition in the process of the swing search, performing a second search based on a pre-planned scanning method, determining an optimal search attitude corresponding to a maximum value of the quality of the ultrasonic image in the process of the second search, and searching the intercostal space region based on the optimal search attitude. The application effectively improves the efficiency of the intercostal space search by combining the ultrasonic image and the contact force data.

Description

TECHNICAL FIELD

[0001] The present application relates to an autonomous search method and device for an ultrasound robot to scan an abdominal intercostal space. BACKGROUND

[0002] When an ultrasound robot performs liver scanning in the abdomen, it is often blocked by the ribs, resulting in incomplete and clear ultrasound images. Therefore, the intercostal space needs to be searched. The existing method constructs a three-dimensional model of the human anatomy structure with the help of CT images, and registers it with the ultrasound image to obtain the intercostal space region. SUMMARY

[0003] In order to realize the automatic search of the intercostal space region, the present application proposes an autonomous search method and device for an ultrasound robot to scan an abdominal intercostal space. The technical solution of the present application is as follows:

[0004] In the first aspect, the present application provides an autonomous search method for an ultrasound robot to scan an abdominal intercostal space, comprising:

[0005] Evaluating the ultrasound image obtained by scanning the suprasternal region with the ultrasound probe. If the ultrasound image quality does not meet the first preset condition, an elliptical path search is performed based on a pre-planned displacement vector;

[0006] If the ultrasound image quality does not meet the first preset condition during the elliptical path search process, the contact force data of the ultrasound probe is obtained;

[0007] A first translation vector is determined based on the contact force data, and the ultrasound probe is controlled to perform a swing search according to the first translation vector and a pre-planned first attitude angle vector;

[0008] If the ultrasound image quality meets the second preset condition during the swing search process, a re-search is performed based on a pre-planned scanning method, and the optimal search attitude corresponding to the maximum ultrasound image quality during the re-search process is determined to search for the intercostal space region based on the optimal search attitude.

[0009] In one or some embodiments, the ultrasound image quality is determined by the following method:

[0010] The liver contour in the ultrasound image is segmented using a pre-constructed deep learning segmentation network;

[0011] The area of the liver contour and the total number of pixels within the liver contour in the ultrasound image are calculated;

[0012] Based on the area of the liver contour and the total number of pixels within the liver contour, the initial image quality is calculated using the following formula:

[0013] Q i =∝Ai +βP i

[0014] In the formula, Q i Indicates the initial image quality; A i P represents the area of ​​the liver contour; i ∝ represents the sum of pixels within the liver contour; ∝ represents the weighted value of the liver contour area; β represents the weighted value of pixels within the liver contour.

[0015] The initial image quality is filtered based on the following formula to obtain the ultrasound image quality:

[0016]

[0017] In the formula, This indicates the quality of the current filtered ultrasound image; ρ represents the quality of the ultrasound image after the previous filtering; ρ represents the weighting value.

[0018] In one or more embodiments, the elliptical path search based on a pre-planned displacement vector includes:

[0019] Elliptical path search is performed based on the translation of the displacement vector as follows:

[0020] P 11 =(Δp) xtcpi Δp ytcpi Δp ztcpi )

[0021] In the formula, P 11 Represents the displacement vector; Δp xtcpi This indicates the next moment along the X coordinate system of the robotic arm's end-effector tool. t The displacement; Δp ytcpi This indicates the next moment along the Y-axis of the ultrasonic probe in the end-effector tool coordinate system of the robotic arm. t The displacement of the shaft; Δp ztcpi This indicates the next moment along the Z-axis of the ultrasonic probe in the end-effector coordinate system of the robotic arm. t The displacement of the shaft; where,

[0022] Δp xtcpi =d xi *p xstep

[0023] Δp ytcpi =d yi *p xstep *μ

[0024] In the formula, p xstep Indicates the step size; d xi This indicates the ultrasonic probe along the X coordinate system of the robotic arm end-effector.t Direction of motion of the axis; d yi This indicates the ultrasonic probe along the Y-axis of the end effector tool of the robotic arm. t The direction of motion of the axis; μ represents the first proportionality coefficient.

[0025] In one or more embodiments, the contact force data includes the ultrasonic probe along the X coordinate system of the robotic arm end-effector tool. t Force data of the axis and ultrasonic probe along the Z-axis of the robotic arm end-effector tool coordinate system t Force data for the shaft;

[0026] Determining the first translation vector based on the contact force data includes:

[0027] Based on the ultrasonic probe along the X coordinate system of the robotic arm's end-effector. t The force data of the axis is determined by the following formula along the X coordinate system of the robotic arm end-effector. t The amount of displacement of the shaft;

[0028]

[0029] In the formula, Δp fxtcpi This indicates the ultrasonic probe along the X coordinate system of the robotic arm end-effector. t The displacement of the shaft; f x0 Indicates the force threshold; f xi This indicates the ultrasonic probe along the X coordinate system of the robotic arm end-effector. t Force data for the shaft; ε represents the second proportionality coefficient;

[0030] Based on the ultrasonic probe along the Z-coordinate system of the robotic arm's end-effector. t The force data of the axis is used to determine the ultrasonic probe along the Z-axis of the robotic arm end-effector tool coordinate system using a force control algorithm. t The amount of displacement of the shaft;

[0031] According to the ultrasonic probe along the X coordinate system of the robotic arm end tool. t The displacement of the axis and the ultrasonic probe along the Z-axis of the robotic arm end-effector tool coordinate system. t The displacement of the axis is obtained as the first translation vector, as shown in the following formula:

[0032] P 12 =(Δp) fxtcpi ,0,Δp ztcpi )

[0033] In the formula, P 12 Denotes the first translation vector; Δp ztcpi This indicates the ultrasonic probe along the Z coordinate system of the robotic arm end-effector. t The displacement of the shaft.

[0034] In one or more embodiments, the controlled ultrasound probe performs a swing search according to the first translation vector and a pre-planned first attitude angle vector, including:

[0035] Control the ultrasonic probe to revolve around the end-effector tool coordinate system Y according to the first translation vector and the first attitude angle vector as shown below. t The axis performs a swing search:

[0036] R 12 = (0, Δr) yi ,0)

[0037] In the formula, R 12 Represents the first attitude angle vector; Δr yi This indicates that the ultrasonic probe needs to rotate around the end effector tool coordinate system Y at the next moment. t The angle of axis oscillation; where,

[0038] Δr yi =d ryi *r ystep

[0039] In the formula, r ystep Represents the Y-coordinate system of the end effector of the robotic arm. t Angular step size of axis oscillation; d ryi This indicates the ultrasonic probe along the Y-axis of the end effector tool of the robotic arm. t The direction of the axis's swing.

[0040] In one or more embodiments, the re-search based on the pre-planned scanning method, determining the optimal search posture corresponding to the maximum ultrasound image quality during the re-search process, and searching for the intercostal space region based on the optimal search posture, includes:

[0041] Control the ultrasonic probe to move along the X coordinate system of the robotic arm end-effector according to the pre-planned second translation vector. t The axis is translated, and the first motion position corresponding to the maximum ultrasound image quality during the translation motion is obtained;

[0042] The ultrasonic probe is controlled to return to the first motion position and rotate around the end-effector tool coordinate system Z according to the pre-planned second attitude angle vector. t The axis is used to perform a variable rotation axis swing search to obtain the second motion posture corresponding to the maximum ultrasound image quality during the variable rotation axis swing search process.

[0043] The ultrasonic probe is controlled to return to the second motion posture, and then rotates around the end-effector tool coordinate system Y according to the pre-planned third posture angle vector. t Axis swing search to obtain the Y-coordinate system around the end effector of the robotic arm. tThe optimal search posture corresponding to the maximum ultrasound image quality during the axis swing search is used to search for the intercostal space region based on the optimal search posture.

[0044] In one or more embodiments, the controlled ultrasonic probe returns to the first motion position and orbits the robotic arm end-effector coordinate system Z according to a pre-planned second attitude angle vector. t The axis performs a variable rotation axis swing search to obtain the second motion posture corresponding to the maximum ultrasound image quality during the variable rotation axis swing search process, including:

[0045] The ultrasound image is divided into blocks, and the position of the new rotation axis is determined by summing the image pixels of each block.

[0046] The ultrasound probe is controlled to return to the first motion position, and a variable rotation axis oscillation search is performed according to the second attitude angle vector and the new rotation axis position as follows:

[0047] R 22 = (0, 0, Δr) zi )

[0048] P ztcp =(0,Δp) yoffset ,0)

[0049] In the formula, R 22 Represents the second attitude angle vector; Δr zi This indicates that the ultrasonic probe needs to rotate around the Z-axis of the robotic arm's end effector tool in the next moment. t The angle of axis swing, P ztcp Indicates the position of the new axis of rotation; Δp yoffset This indicates the new rotation axis in the Y-coordinate system of the robotic arm's end-effector tool. t Position along the axis;

[0050] Obtain the second motion posture corresponding to the maximum ultrasound image quality during the variable rotation axis swing search process.

[0051] In one or more embodiments, the controlled ultrasonic probe returns to the second motion posture and revolves around the end-effector tool coordinate system Y according to a pre-planned third posture angle vector. t Axis swing search to obtain the Y-coordinate system around the end effector of the robotic arm. t The optimal search posture corresponding to the maximum ultrasound image quality during the axial swing search process is used to search for the intercostal space region based on the optimal search posture, including:

[0052] Control the ultrasonic probe to revolve around the end-effector tool coordinate system Y according to the second motion posture and the third posture angle vector as shown in the following formula. t Axis oscillation search:

[0053] R 23 = (0, Δr) yi , Δr fzi )

[0054] In the formula, R 23 Represents the third attitude angle vector; Δr yi This indicates that the ultrasonic probe needs to rotate around the end effector tool coordinate system Y at the next moment. t The angle of axis swing; Δr fzi This indicates that the ultrasonic probe needs to rotate around the Z-axis of the robotic arm's end effector tool in the next moment. t The angle of the axis swing;

[0055] in,

[0056] Δr yi =d ryi *r ystep

[0057] In the formula, r ystep Represents the Y-coordinate system of the end effector of the robotic arm. t Angular step size of axis oscillation; d ryi This indicates the ultrasonic probe along the Y-axis of the end effector tool of the robotic arm. t The direction of the axis's swing;

[0058]

[0059] In the formula, t zi Represents the coordinate system Z around the end effector of the robotic arm. t Torque on the shaft; t z0 Indicates the torque threshold; τ represents the torque proportionality coefficient;

[0060] Obtain the Y coordinate system of the end effector of the robotic arm t The optimal search posture corresponding to the maximum ultrasound image quality during the axis swing search is used to search for the intercostal space region based on the optimal search posture.

[0061] Secondly, the present invention provides an autonomous search device for ultrasound robot scanning of the intercostal spaces in the abdomen, comprising:

[0062] The elliptical path search module is used to evaluate the ultrasound image obtained by scanning the rib region with an ultrasound probe. If the quality of the ultrasound image does not meet the first preset condition, an elliptical path search is performed based on the pre-planned displacement vector.

[0063] The force data acquisition module is used to acquire the contact force data of the ultrasonic probe if the ultrasonic image quality does not meet the first preset condition during the elliptical path search process.

[0064] The swing search module is used to determine a first translation vector based on the contact force data, and control the ultrasonic probe to swing search according to the first translation vector and a pre-planned first attitude angle vector.

[0065] The optimal search posture determination module is used to perform a second search based on a pre-planned scanning method if the ultrasound image quality meets the second preset condition during the swing search process, and to determine the optimal search posture corresponding to the maximum ultrasound image quality during the second search process, so as to search for the intercostal space region based on the optimal search posture.

[0066] Thirdly, the present invention provides an electronic device, including 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;

[0067] Memory, used to store computer programs;

[0068] The processor, when executing a program stored in memory, implements the steps of the autonomous search method for scanning the intercostal spaces of the abdomen using an ultrasound robot as described in the first aspect.

[0069] Based on the above technical solution, the beneficial effects of the present invention compared with the prior art are as follows:

[0070] The present invention provides an autonomous search method for abdominal intercostal spaces using an ultrasound robot. If the ultrasound image quality does not meet a first preset condition during the elliptical path search, a first translation vector is determined based on the acquired contact force data of the ultrasound probe. The ultrasound probe is then controlled to swing and search according to the first translation vector and a pre-planned first posture angle vector. By utilizing the contact force data, a lateral zero-force compliance method is adopted, allowing the robotic arm to automatically move the ultrasound probe according to the lateral force on the probe, enabling the probe to automatically enter the intercostal space, thus improving the success rate of finding the intercostal space. If an ultrasound image with quality meeting a second preset condition exists during the swing search, it indicates that the liver has been found. However, if the ultrasound image quality is not yet up to standard, a second search is performed based on the pre-planned scanning path to find the optimal ultrasound image of the liver. The optimal search posture corresponding to the maximum ultrasound image quality during the second search is determined, i.e., the optimal search posture corresponding to the optimal ultrasound image. The intercostal space region is then searched based on the optimal search posture, thereby obtaining the optimal ultrasound image. This invention integrates ultrasound images and contact force data, effectively improving the efficiency of intercostal space search. Based on the searched intercostal spaces, the optimal ultrasound image can be obtained, thus improving the quality of the ultrasound images.

[0071] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0072] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0073] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0074] Figure 1 This is a schematic diagram of an ultrasound probe used for abdominal liver scanning.

[0075] Figure 2 A flowchart illustrating the autonomous search method for ultrasound robot scanning of the intercostal spaces in the abdomen;

[0076] Figure 3a This is a schematic diagram of the coordinate system of the end effector of the robotic arm;

[0077] Figure 3b This is a schematic diagram of elliptical path search;

[0078] Figure 4 A schematic diagram illustrating the scanning method for the human liver region;

[0079] Figure 5 To wrap around Y t A schematic diagram of the state during the axis swing search process;

[0080] Figure 6 This is a schematic diagram of the process of searching for the optimal ultrasound image of the liver.

[0081] Figure 7 A schematic diagram of rotation about the Zt axis;

[0082] Figure 8a To wrap around Y t A side view of the ultrasound probe and ribs during the axial swing search process;

[0083] Figure 8b To wrap around Y t A top-view diagram of the ultrasound probe and ribs during the axial swing search process;

[0084] Figure 9A schematic diagram of the structure of an autonomous search device for ultrasound robot scanning the intercostal spaces in the abdomen;

[0085] Figure 10 This is a schematic diagram of the electronic device. Detailed Implementation

[0086] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be 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.

[0087] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0088] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0089] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0090] Reference Figure 1As shown, when performing abdominal liver scans with an ultrasound robot, in cases a, b, and c, complete and clear ultrasound images are often not obtained due to rib obstruction. The inventors discovered that existing methods utilize CT images to construct a three-dimensional model of the human anatomical structure and register it with ultrasound images to obtain the intercostal space regions. However, acquiring CT images is costly and lacks versatility. Other methods analyze image obstruction areas to determine intercostal space search strategies; however, these methods rely solely on image features, and their search efficiency and effectiveness are insufficient to meet clinical needs and the inventors' expectations. Therefore, the inventors conducted further research and development, resulting in this invention. This invention proposes an autonomous search method for abdominal intercostal spaces using an ultrasound robot, allowing the ultrasound probe to enter the intercostal spaces. This method integrates ultrasound images and force data, effectively improving the efficiency and image quality of intercostal space search.

[0091] Example 1

[0092] This invention provides an autonomous search method for an ultrasound robot to scan the intercostal spaces in the abdomen, specifically for the process of an ultrasound robot autonomously scanning the liver in the abdomen. (See also...) Figure 2 As shown, the method specifically includes:

[0093] S1. Evaluate the ultrasound image obtained by scanning the rib area with the ultrasound probe. If the quality of the ultrasound image does not meet the first preset condition, then perform an elliptical path search based on the pre-planned displacement vector.

[0094] When an ultrasound robot scans the supracostal region of a human body with an ultrasound probe, the quality of the acquired ultrasound images needs to be evaluated in real time to determine whether the optimal cross-section has been reached. This invention measures the quality of the current ultrasound image by weighting the area of ​​the liver contour and the pixel values ​​within that contour. Specifically:

[0095] 1) The liver contour in the ultrasound image was segmented using a pre-built deep learning segmentation network such as Unet;

[0096] 2) Calculate the area of ​​the liver contour in the ultrasound image, denoted as A. i Calculate the sum of pixels within the liver contour, denoted as P. i ;

[0097] 3) Area A based on the liver contour i The sum of pixels within the liver outline P i The initial image quality is calculated using the following formula:

[0098] Q i =∝A i +βP i Formula 1

[0099] In the formula, Qi Indicates the initial image quality; A i P represents the area of ​​the liver contour; i The sum of pixels within the liver outline is represented by ∝; ∝ represents the weighted value of the liver outline area, which can be set according to the requirements of ultrasound image quality evaluation, such as 1 / 150000; β represents the weighted value of pixels within the liver outline, which can be set according to the requirements of ultrasound image quality evaluation, such as 1 / 1000000. This formula means that the larger the liver outline area in the ultrasound image, the higher the liver brightness and the higher the image quality.

[0100] 4) To avoid the influence of accidental factors such as human respiration, the initial image quality calculated in 3) above is filtered to improve the stability of image quality judgment. Specifically, the initial image quality is filtered based on the following formula to obtain the ultrasound image quality:

[0101]

[0102] In the formula, This indicates the quality of the current filtered ultrasound image; This indicates the quality of the ultrasound image after the previous filtering; ρ represents the weighting value, which can be set according to actual filtering needs, such as 0.6.

[0103] The first preset condition mentioned above is the quality of the ultrasound image after filtering. Greater than or equal to Q min (Q min (This is the set minimum threshold for image quality). The minimum image quality threshold can be set according to the actual needs of image quality, such as 0.01. The human liver is located below the ribs. When an ultrasound probe scans the suprasternal region, if the quality of the currently filtered ultrasound image is... This indicates that the ultrasound probe has not scanned the liver region. In this case, X and Y direction translation and Y-direction oscillation are required to search for the liver. First, based on controlling the ultrasound probe along the X-axis of the robotic arm's end-effector coordinate system... t and Y t Simultaneously perform translational motion in the direction of elliptical path search. (Refer to...) Figure 3a The diagram shown is a schematic of the coordinate system of the robotic arm's end effector; refer to... Figure 3b The diagram shown is a schematic of elliptical path search.

[0104] S2. If the ultrasound image quality does not meet the first preset condition during the elliptical path search process, then obtain the contact force data of the ultrasound probe.

[0105] During the elliptical path search, the ultrasonic image obtained after each displacement is evaluated according to the ultrasonic quality evaluation method in S1 above to determine whether the ultrasonic image quality meets the first preset condition. If an ultrasonic image that meets the first preset condition is still not found through the above XY translation search, then a search is performed around the Y coordinate system of the robotic arm end effector. t The axis swing search, i.e., the ultrasonic probe position is stationary, and only the axis of rotation around the tool coordinate system Y of the robotic arm end effector is performed. t The oscillation of the axis.

[0106] S3. Based on the contact force data, determine the first translation vector, and control the ultrasonic probe to swing and search according to the first translation vector and the pre-planned first attitude angle vector.

[0107] To improve the success rate of locating the interrib space, in the above-mentioned Y-shaped... t During the axial swing search, a lateral zero-force compliance method is employed, enabling the robotic arm to automatically move the ultrasonic probe according to its lateral force, thus allowing the probe to automatically conform into the interrib space. By adopting the lateral zero-force compliance method, referencing... Figure 5 As shown, the ultrasonic probe moves from its initial state around the Y-axis. t The axis oscillates, eventually reaching a state where it conforms to the interrib space. To enable the robotic arm to automatically move the ultrasonic probe based on the lateral force applied to it, it is necessary to acquire the contact force data of the ultrasonic probe. (Refer to...) Figure 4 The image shows a schematic diagram of an ultrasound robot scanning the liver region of a human body. The robotic arm is equipped with a six-dimensional force sensor, capable of collecting contact force data from the ultrasound probe. Based on this contact force data, the scanning direction around the Y-axis is determined. t The translation vector during the axis oscillation process is denoted as the first translation vector P. 12 .

[0108] Additionally, based on the current swing direction and the Y-coordinate system of the end effector tool around the robotic arm... t The angular step size of the axis swing determines the next moment when the ultrasonic probe needs to rotate around the Y-axis of the robotic arm's end-effector tool. t The angle Δr of the axis swing yi Thus, we obtain the Y-axis t The attitude angle vector of the axis oscillation (0, Δr) yi Let R be the first attitude angle vector, 0). 12 .

[0109] Control the ultrasound probe according to the first translation vector P 12 and the first attitude angle vector R 12 Around the Y coordinate system of the robotic arm end effector t The axis performs a swing search.

[0110] S4. If the ultrasound image quality meets the second preset condition during the swing search process, a second search is performed based on the pre-planned scanning method. The optimal search posture corresponding to the maximum ultrasound image quality during the second search is determined, and the intercostal space region is obtained based on the optimal search posture.

[0111] During the S3 swing search process, the ultrasound image obtained after each swing is evaluated according to the ultrasound quality evaluation method described in S1 above to determine whether the ultrasound image quality meets the second preset condition. The second preset condition refers to the ultrasound image quality after the current filtering. and Q max Q is the maximum ultrasound image quality threshold that is set. max The actual ultrasonic quality evaluation needs to be set, such as 1.0. If obtained... This indicates that a liver ultrasound image that meets the requirements has been found. If and This indicates that the liver has been detected, but the quality of the liver ultrasound image is not yet satisfactory. Therefore, a search for the optimal liver ultrasound image is required. A second search is performed based on a pre-planned scanning method. The optimal search posture corresponding to the maximum ultrasound image quality during this second search is determined. The region searched based on this optimal search posture is the intercostal space. The optimal ultrasound image is obtained by performing an ultrasound scan on this region.

[0112] The autonomous search method for scanning intercostal spaces in the abdomen using an ultrasound robot provided in this invention evaluates the ultrasound images obtained by the ultrasound probe scanning the supracostal region. If the ultrasound image quality does not meet a first preset condition, an elliptical path search is performed based on a pre-planned displacement vector. If the ultrasound image quality does not meet the first preset condition during the elliptical path search, a first translation vector is determined using the acquired ultrasound probe contact force data. The ultrasound probe is then controlled to swing and search according to the first translation vector and a pre-planned first posture angle vector. By using contact force data to determine the first translation vector during the swing search, a lateral zero-force compliance method can be adopted, allowing the robotic arm to automatically move the ultrasound probe according to the lateral force on the probe, thereby automatically guiding the ultrasound probe into the intercostal space and improving the success rate of finding the intercostal space. If an ultrasound image with quality meeting a second preset condition exists during the swing search, it indicates that the liver has been found. However, if the ultrasound image quality is not yet up to standard, a second search is performed based on the pre-planned scanning path to find the optimal ultrasound image for the liver. The optimal search posture corresponding to the maximum ultrasound image quality during the second search is determined. The optimal search posture corresponds to the intercostal space region, thus obtaining the optimal ultrasound image. This invention integrates ultrasonic images and contact force data, effectively improving the efficiency of interrib search. Furthermore, the optimal ultrasonic image can be obtained based on the searched interrib space, thus improving the quality of the ultrasonic image.

[0113] In an optional embodiment, during the elliptical path search process in S1 above, the displacement vector P of the ultrasonic probe in the tool coordinate system of the robotic arm at the next moment is determined based on the contact force data acquired in real time. 11 =(Δp) xtcpi Δp ytcpi Δp ztcpi The ultrasonic probe is controlled according to the determined displacement vector P. 11 Along the X coordinate system of the robotic arm end-effector t and Y t Simultaneously, the direction is translated to perform an elliptical path search until the search is complete. Δp xtcpi This indicates the next moment along the X coordinate system of the robotic arm's end-effector tool. t The displacement; Δp ytcpi This indicates the next moment along the Y-axis of the ultrasonic probe in the end-effector tool coordinate system of the robotic arm. t The displacement of the shaft; Δp ztcpi This indicates the next moment along the Z-axis of the ultrasonic probe in the end-effector coordinate system of the robotic arm. t The displacement of the shaft. Wherein,

[0114] Δp xtcpi =d xi *p xstep Formula 3

[0115] Δpytcpi =d yi *p xstep *μ, Equation 4

[0116] In the formula, p xstep Indicates the step size; d xi This indicates the ultrasonic probe along the X coordinate system of the robotic arm end-effector. t The direction of motion of the axis takes the value 1 or -1; d yi This indicates the ultrasonic probe along the Y-axis of the end effector tool of the robotic arm. t The direction of axis movement, with a value of 1 or -1; μ represents the first proportional coefficient, which can be set according to search needs, such as 0.1.

[0117] The above Δp ztcpi The displacement is the output of the force control algorithm. The force control algorithm moves the ultrasonic probe along the Z-axis of the end effector tool coordinate system of the robotic arm. t Force data f of the shaft zi This is converted to the ultrasonic probe along the Z coordinate system of the robotic arm end-effector tool. t Displacement of the shaft Δp ztcpi For details, please refer to the description in the existing technology, which will not be repeated here.

[0118] During the elliptical path search process, the above d yi =d xi The above d xi The initial value is 1. During the search process, according to Real-time calculation of the total distance p currently moved along the Xt axis xtcpi When d xi *p xtcpi >p xmax At that time, d xi =-d xi Search in reverse order until the reverse search reaches p. xmax Search complete. xmax Indicates along X t The maximum range of axis search, p xmax You can set it according to your actual search needs, such as 6mm.

[0119] Based on the above displacement vector P 11 =(Δp) xtcpi Δp ytcpi Δp ztcpi This enables position control of the ultrasonic probe at the end of the robotic arm during the elliptical path search process.

[0120] In an optional embodiment, during the above-described S3 swing search process, it is necessary to determine in real time the next moment when the ultrasonic probe needs to rotate around the end-effector coordinate system Y. t The angle Δr of the axis swing yi Δryi The calculation formula is as follows:

[0121] Δr yi =d ryi *r ystep Formula 5

[0122] In the formula, r ystep Represents the Y-coordinate system of the end effector of the robotic arm. t The angular step size of the axis swing can be set according to the required swing amplitude, such as 0.02 rad; d ryi This indicates the ultrasonic probe along the Y-axis of the end effector tool of the robotic arm. t The direction of the axis swing, with a value of 1 or -1.

[0123] The above d ryi The initial value is 1. During the swing search process, according to Real-time calculation of current Y-axis t The total angle r of the axis rotation yi When d ryi *r yi >r ymax At that time, d ryi =-d ryi That is, the search is reversed until the reverse search reaches r. ymax r ymax Indicates around Y t The maximum range for axis search can be set according to actual search needs, such as 0.4 rad.

[0124] This yields the coordinate system Y around the end effector of the robotic arm. t The attitude angle vector of the axis oscillation is denoted as the first attitude angle vector R. 12 = (0, Δr) yi ,0).

[0125] The contact force data mentioned in S3 above includes the ultrasonic probe along the X coordinate system of the robotic arm end-effector tool. t Force data f of the shaft xi And the ultrasonic probe along the Z-axis of the robotic arm end-effector tool coordinate system t Force data f of the shaft zi f xi and f zi The force data is collected by a six-dimensional force sensor at the end effector of the robotic arm. The determination of the first translation vector based on the contact force data specifically includes:

[0126] S31, Based on the ultrasonic probe along the X coordinate system of the robotic arm's end-effector tool. t The force data of the axis is determined by the following formula along the X coordinate system of the robotic arm end-effector. t Displacement of the shaft Δp fxtcpiThis item indicates the distance the ultrasound probe travels along the X-ray path due to lateral force. t The distance the axis moves;

[0127]

[0128] In the formula, f x0 This represents the force threshold, which can be set according to actual needs, such as 1N. ε represents the second proportionality coefficient, which is set according to the conversion relationship between lateral force and displacement, such as 0.0001.

[0129] S32, Based on the ultrasonic probe along the Z-coordinate system of the robotic arm's end-effector tool. t The force data of the shaft is processed by a force control algorithm to determine f. zi Converted to the Z coordinate system of the ultrasonic probe along the end-effector tool of the robotic arm t Displacement of the shaft Δp ztcpi ;

[0130] This yields the coordinate system Y around the end effector of the robotic arm. t The displacement vector of the axis oscillation, i.e., the first translation vector P mentioned above. 12 P 12 =(Δp) fxtcpi ,0,Δp ztcpi ).

[0131] Based on the aforementioned first attitude angle vector R 12 = (0, Δr) yi ,0), the first translation vector P mentioned above 12 =(Δp) fxtcpi ,0,Δp ztcpi ), to achieve Y-axis t Position control of the ultrasonic probe at the end of the robotic arm during axis swing.

[0132] In an optional embodiment, the pre-planned scanning method described in S4 above is used for a second search to determine the optimal search posture corresponding to the maximum ultrasound image quality during the second search. The intercostal space region is then searched based on the optimal search posture, with reference to... Figure 6 As shown, it specifically includes:

[0133] S41. Control the ultrasonic probe to move along the pre-planned second translation vector along the X coordinate system of the robotic arm's end-effector. t The axis is translated, and the first motion position corresponding to the maximum ultrasound image quality during the translation motion is obtained;

[0134] During the translational motion, the position of the ultrasonic probe along the X coordinate system of the robotic arm's end effector is determined in real time at the next moment. t displacement Δp xtcpi And the ultrasonic probe along the Z coordinate system of the robotic arm end effector at the next moment.t displacement Δp ztcpi Δp xtcpi The calculation formula is as follows:

[0135] Δp xtcpi =d xi *p xstep Formula 7

[0136] In the formula, p xstep Indicates the step size; d xi This indicates the ultrasonic probe along the X coordinate system of the robotic arm end-effector. t The direction of motion of the axis, with a value of 1 or -1.

[0137] The above d xi The initial value is 1. During the translation search process, according to Real-time calculation of the current X-axis t The total distance p of axis movement xtcpi When d xi *p xtcpi >p xmax At that time, d xi =-d xi Search in reverse order until the reverse search reaches p. xmax Search complete. xmax Indicates along X t The maximum range of axis search, p xmax The settings can be adjusted according to actual search needs, such as 6mm.

[0138] The above Δp ztcpi The displacement is the output of the force control algorithm. The force control algorithm moves the ultrasonic probe along the Z-axis of the end effector tool coordinate system of the robotic arm. t Force data f of the shaft zi This is converted to the ultrasonic probe along the Z coordinate system of the robotic arm end-effector tool. t Displacement of the shaft Δp ztcpi For details, please refer to the description in the existing technology, which will not be repeated here.

[0139] Therefore, the translation vector of the robotic arm at the next moment, i.e., the second translation vector mentioned above, is (Δp). xtcpi ,0,Δp ztcpi Based on the second translation vector (Δp) xtcpi ,0,Δp ztcpi Realize the coordinate system X of the end effector of the robotic arm. t Position control of the ultrasonic probe at the end of the robotic arm during the translational motion of the axis.

[0140] Throughout the translation process, the ultrasound image quality of each image acquired after each translation is evaluated according to the ultrasound quality evaluation method described in S1 above. The maximum ultrasound image quality and its corresponding position for the liver ultrasound image are updated and denoted as follows: After the translational motion is completed, control the ultrasound probe to return to the recorded P position. max Position, referred to here as the first motion position.

[0141] S42. Control the ultrasound probe to return to the first motion position, and follow the pre-planned second attitude angle vector (denoted as R). 22 (Z) around the end-effector coordinate system of the robotic arm t The axis is used to perform a variable rotation axis swing search to obtain the second motion posture corresponding to the maximum ultrasound image quality during the variable rotation axis swing search process.

[0142] Based on S41, a swing search is performed around the Zt axis. First, the ultrasound probe is controlled to return to the first motion position mentioned above, and then according to the pre-planned second attitude angle vector R... 22 Around the Z coordinate system of the robotic arm end effector t The axis undergoes a variable rotation axis oscillation search. Throughout the oscillation search process, the ultrasound image quality of the ultrasound image obtained after each oscillation is evaluated according to the ultrasound quality evaluation method described in S1 above. The maximum ultrasound image quality and corresponding orientation of the liver ultrasound image during the oscillation process are then updated and denoted as... Around Z t After the axial oscillation motion is completed, the ultrasound is controlled to return to the recording posture R. zmax This is referred to here as the second movement posture.

[0143] The attitude angle vector during the aforementioned oscillation around the Zt axis, i.e., the aforementioned second attitude angle vector R. 22 Determined in the following manner:

[0144] During the oscillation around the Zt axis, the next moment's required oscillation of the ultrasonic probe around the end-effector coordinate system Zt is determined in real time. t The angle Δr of the axis swing zi Δr zi The calculation formula is as follows:

[0145] Δr zi =d rzi *r zstep Formula 8

[0146] In the formula, r zstep Represents the coordinate system Z around the end effector of the robotic arm. t The angular step size of the axis oscillation can be set according to actual oscillation requirements, such as 0.03 rad. rzi This indicates the ultrasonic probe along the Z coordinate system of the robotic arm end-effector. tThe direction of the axis swing, with a value of 1 or -1.

[0147] The above d rzi The initial value is 1. During the search process, according to Real-time calculation of the total angle r of the current rotation around the Zt axis zi When d rzi *r zi >r zmax At that time, d rzi =-d rzi The search proceeds in reverse order until the reverse search reaches r. zmax Search complete. zmax Indicates revolving around Z t The maximum range of the axis search, r zmax You can set it according to your actual search needs, such as 0.3 rad.

[0148] This yields the robot arm's attitude angle vector at the next moment during the swing search around the Z-axis, which is the aforementioned second attitude angle vector R. 22 = (0, 0, Δr) zi ).

[0149] Around Z t During the axis swing, the coordinates of the ultrasonic probe along the Z-axis of the robotic arm end-effector tool at the next moment are determined in real time. t displacement Δp ztcpi The aforementioned Δp ztcpi The displacement is the output of the force control algorithm. The force control algorithm moves the ultrasonic probe along the Z-axis of the end effector tool coordinate system of the robotic arm. t Force data f of the shaft zi This is converted to the ultrasonic probe along the Z coordinate system of the robotic arm end-effector tool. t Displacement of the shaft Δp ztcpi For details, please refer to the description in the existing technology, which will not be repeated here.

[0150] This yields the translation vector (0, 0, Δp) of the robotic arm at the next moment during the oscillation search around the Z-axis. ztcpi ).

[0151] To better avoid rib obstruction, this invention employs a Z-shaped approach. t The strategy for changing the axis to a rotation axis is referred to... Figure 7 As shown. First, the ultrasound image is divided into sector blocks, and the sum of the image pixels within each block is calculated, denoted as S. j j = 1, 2, ..., n, where n is the number of blocks. The number of blocks can be set according to actual needs, such as 8 blocks. The position P of the new rotation axis is determined by summing the image pixels of each block. ztcp .

[0152] Based on the aforementioned second attitude angle vector R22 = (0, 0, Δr) zi Translation vector (0, 0, Δp) ztcpi ) and the position p of the new axis of rotation ztcp To achieve Z-axis rotation t The pose control of the ultrasonic probe at the end of the robotic arm during the axis swing process.

[0153] S43. Control the ultrasound probe to return to the second motion posture, and follow the pre-planned third posture angle vector (denoted as R). 23 ) around the end-effector coordinate system Y t Axis swing search to obtain the Y-coordinate system around the end effector of the robotic arm. t The optimal search posture corresponding to the maximum ultrasound image quality during the axis swing search is used to search for the intercostal space region based on the optimal search posture.

[0154] Based on S42, along Y t Axis swing search. First, control the ultrasound probe to return to the second motion posture described above. Then, control it according to the third posture angle vector R. 23 Around the Y coordinate system of the robotic arm end effector t Axis oscillation search. The maximum ultrasound image quality and corresponding orientation of the liver ultrasound image during the oscillation process are updated, denoted as . Around Y t After the axis swing motion is completed, control the robotic arm to return to the recorded posture R. ymax This is referred to as the optimal search posture. The location corresponding to this optimal search posture is the intercostal space region. Scanning this intercostal space region yields the optimal ultrasound image.

[0155] The above-mentioned Y-shaped t The attitude angle vector during the axis oscillation process, i.e., the third attitude angle vector R mentioned above. 23 Determined in the following manner:

[0156] Around Y t During the axis swing, the next moment requires the ultrasonic probe to rotate around the Y coordinate system of the robotic arm's end effector tool. t The angle Δr of the axis swing yi Δr yi The calculation formula is as follows:

[0157] Δr yi =d ryi *r ystep Formula 9

[0158] In the formula, r ystep Represents the Y-coordinate system of the end effector of the robotic arm. t Angular step size of axis oscillation; d ryi This indicates the ultrasonic probe along the Y-axis of the end effector tool of the robotic arm.t The direction of the axis's swing. (Referring to the aforementioned d) ryi The initial value is 1. During the swing search process, according to Real-time calculation of current Y-axis t The total angle r of the axis rotation yi When d ryi *r yi >r ymax At that time, d ryi =-d ryi That is, the search is reversed until the reverse search reaches r. ymax r ymax Indicates around Y t The maximum range for axis search can be set according to actual search needs, such as 0.4 rad.

[0159] To ensure the ultrasonic probe is more parallel to the interrib space, this invention employs a Z-shaped approach. t Zero-force control method for axial torque, refer to Figure 8a and Figure 8b As shown, the current Z-axis will be rotated. t The torque on the axis is converted into the torque required by the ultrasonic probe to rotate around the Z-axis of the robotic arm's end-effector tool in the next moment. t The angle Δr of the axis swing fzi Control the ultrasound probe according to Δr fzi Rotate the probe until it is parallel to the interrib space. Δr fzi The calculation formula is as follows:

[0160]

[0161] In the formula, t zi Represents the coordinate system Z around the end effector of the robotic arm. t The torque on the axis is acquired by a six-dimensional force sensor at the end of the robotic arm. z0 This represents the torque threshold, such as 0.1 Nm. τ represents the torque proportionality coefficient, which is set according to the relationship between torque and swing angle, such as 0.1.

[0162] Therefore, we obtain the Y-axis. t The attitude angle vector of the robotic arm at the next moment during axis swing search, i.e., the third attitude angle vector R mentioned above. 23 = (0, Δr) yi , Δr fzi ).

[0163] Around Y t During the axis swing, the coordinates of the ultrasonic probe along the Z-axis of the robotic arm end-effector tool at the next moment are determined in real time. t displacement Δp ztcpi The aforementioned Δp ztcpiThe displacement is the output of the force control algorithm. The force control algorithm moves the ultrasonic probe along the Z-axis of the end effector tool coordinate system of the robotic arm. t Force data f of the shaft zi This is converted to the ultrasonic probe along the Z coordinate system of the robotic arm end-effector tool. t Displacement of the shaft Δp ztcpi For details, please refer to the description in the existing technology, which will not be repeated here.

[0164] Therefore, we obtain the Y-axis. t During the axis swing search, the translation vector of the robotic arm at the next moment is (0, 0, Δp). ztcpi ).

[0165] Based on the aforementioned third attitude angle vector R 23 = (0, Δr) yi , Δr fzi Translation vector (0, 0, Δp) ztcpi ), to achieve Y-axis t Position control of the ultrasonic probe at the end of the robotic arm during axis swing.

[0166] In an optional embodiment, the position P of the new rotation axis is determined by summing the image pixels of each block in S42 above. ztcp The specific process is as follows:

[0167] S421. Calculate the pixel center p of the ultrasound image by summing the pixels of each image block using the following formula. w :

[0168]

[0169] In the formula, S max S represents the maximum sum of the image pixels in each block; j This represents the sum of image pixels in the j-th block; n represents the number of blocks.

[0170] S422, Pixel center p based on ultrasound image w The position P of the new rotation axis is calculated using the following formula. ztcp :

[0171] P ztcp =(0,Δp) yoffset ,0), Equation 12

[0172] Δp yoffset =L / 2-L*p w / n, Equation 13

[0173] Reference Figure 7 As shown, Δp yoffset This indicates the new rotation axis in the Y-coordinate system of the robotic arm's end-effector tool. tThe position in the axial direction is the distance between the new rotation axis and the probe's central axis; L represents the width of the ultrasonic probe.

[0174] Example 2

[0175] Based on the same inventive concept, embodiments of the present invention provide an autonomous search device for ultrasound robot scanning of abdominal intercostal spaces, referring to... Figure 9 As shown, it includes:

[0176] Elliptical path search module 501 is used to evaluate the ultrasound image obtained by scanning the rib region with an ultrasound probe. If the quality of the ultrasound image does not meet the first preset condition, an elliptical path search is performed based on a pre-planned displacement vector.

[0177] The force data acquisition module 502 is used to acquire the contact force data of the ultrasonic probe if the ultrasonic image quality does not meet the first preset condition during the elliptical path search process.

[0178] The swing search module 503 is used to determine a first translation vector based on the contact force data and control the ultrasonic probe to swing search according to the first translation vector and a pre-planned first attitude angle vector.

[0179] The optimal search posture determination module 504 is used to perform a second search based on a pre-planned scanning method if the ultrasound image quality meets the second preset condition during the swing search process, and determine the optimal search posture corresponding to the maximum value of the ultrasound image quality during the second search process, so as to search for the intercostal space region based on the optimal search posture.

[0180] The autonomous search device for scanning the intercostal spaces of the abdomen using an ultrasound robot provided in this embodiment of the invention has a similar implementation principle and technical effect to the aforementioned method embodiment, and will not be repeated here.

[0181] Example 3

[0182] This invention provides an electronic device, with reference to... Figure 10 As shown, it 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 communicate with each other through the communication bus 114.

[0183] Memory 113 is used to store computer programs;

[0184] When the processor 111 executes the program stored in the memory 113, it implements the steps of the autonomous search method for scanning the intercostal spaces of the abdomen by an ultrasound robot provided in the aforementioned method embodiments.

[0185] The electronic device provided in this embodiment of the invention has a similar implementation principle and technical effect to the aforementioned method embodiment, and will not be repeated here.

[0186] The aforementioned memory 113 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Memory 113 has storage space for program code used to perform any of the method steps described above. For example, the storage space for program code may include individual program codes for implementing the various steps in the methods described above. This program code can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, optical discs (CDs), memory cards, or floppy disks. Such computer program products are typically portable or fixed storage units. The storage unit may have storage segments or storage spaces arranged similarly to the memory 113 in the aforementioned electronic device. The program code may be compressed, for example, in a suitable form. Typically, the storage unit includes programs for performing the method steps according to embodiments of the invention, i.e., code that can be read by, for example, processor 111, which, when run by the electronic device, causes the electronic device to perform the various steps in the methods described above.

[0187] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. The terms "upper," "lower," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0188] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other. This invention is not limited to any single aspect, nor to any single embodiment, nor to any combination and / or substitution of these aspects and / or embodiments. Each aspect and / or embodiment of this invention can be used alone, or in combination with one or more other aspects and / or other embodiments.

[0189] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention 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 still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for autonomously searching intercostal spaces in the abdomen using an ultrasound robot, characterized in that, include: Evaluate the ultrasound image obtained by scanning the rib region with an ultrasound probe. If the quality of the ultrasound image does not meet the first preset condition, then perform an elliptical path search based on the pre-planned displacement vector. If the ultrasound image quality does not meet the first preset condition during the elliptical path search process, the contact force data of the ultrasound probe is obtained. Based on the contact force data, a first translation vector is determined, and the ultrasonic probe is controlled to swing and search according to the first translation vector and the pre-planned first attitude angle vector. If the ultrasound image quality meets the second preset condition during the swing search process, a second search is performed based on the pre-planned scanning method. The optimal search posture corresponding to the maximum ultrasound image quality during the second search is determined, and the intercostal space region is obtained based on the optimal search posture, wherein: The contact force data includes the force data of the ultrasonic probe along the Xt axis of the end-tool coordinate system of the robotic arm and the force data of the ultrasonic probe along the Zt axis of the end-tool coordinate system of the robotic arm. Determining the first translation vector based on the contact force data includes: The displacement of the ultrasonic probe along the Xt axis of the end-tool coordinate system of the robotic arm is determined by the following formula based on the force data of the ultrasonic probe along the Xt axis of the end-tool coordinate system of the robotic arm. ； In the formula, fx0 represents the displacement of the ultrasonic probe along the Xt axis of the end-effector coordinate system of the robotic arm; fxi represents the force threshold; ɛ represents the force data of the ultrasonic probe along the Xt axis of the end-effector coordinate system of the robotic arm; ɛ represents the second proportionality coefficient. The displacement of the ultrasonic probe along the Zt axis of the end-tool coordinate system of the robotic arm is determined by a force control algorithm based on the force data of the ultrasonic probe along the Zt axis of the end-tool coordinate system of the robotic arm. Based on the displacement of the ultrasonic probe along the Xt axis of the robotic arm end-effector coordinate system and the displacement of the ultrasonic probe along the Zt axis of the robotic arm end-effector coordinate system, the first translation vector is obtained as follows: ； In the formula, Indicates the first translation vector; This represents the displacement of the ultrasonic probe along the Zt axis of the tool coordinate system at the end of the robotic arm.

2. The autonomous search method for abdominal intercostal spaces using an ultrasound robot according to claim 1, characterized in that, The quality of the ultrasound image is determined in the following manner: The liver contour in the ultrasound image was segmented using a pre-built deep learning segmentation network; Calculate the area of ​​the liver contour and the sum of the pixels within the liver contour in the ultrasound image; Based on the area of ​​the liver contour and the sum of the pixels within the liver contour, the initial image quality is calculated using the following formula: ； In the formula, Qi represents the initial image quality; Ai represents the area of ​​the liver contour; and Pi represents the sum of pixels within the liver contour. The weighted value representing the area of ​​the liver contour; This represents the weighted value of the pixels within the liver contour. The initial image quality is filtered based on the following formula to obtain the ultrasound image quality: ； In the formula, This indicates the quality of the current filtered ultrasound image; This indicates the quality of the ultrasound image after the previous filtering. This represents the weighted value.

3. The autonomous search method for abdominal intercostal spaces using an ultrasound robot according to claim 1, characterized in that, The elliptical path search based on the pre-planned displacement vector includes: Elliptical path search is performed based on the translation of the displacement vector as follows: ； In the formula, Represents the displacement vector; This represents the displacement of the ultrasonic probe along the Xt coordinate system of the robotic arm's end-effector at the next moment; This represents the displacement of the ultrasonic probe along the Yt axis of the end-effector coordinate system of the robotic arm at the next moment; This represents the displacement of the ultrasonic probe along the Zt axis of the robotic arm's end-effector coordinate system at the next moment; where, ； In the formula, pxstep represents the step size of the movement; This indicates the direction of motion of the ultrasonic probe along the Xt axis of the end-effector coordinate system of the robotic arm; The direction of motion of the ultrasonic probe along the Yt axis of the end-effector coordinate system of the robotic arm is indicated; µ represents the first proportionality coefficient.

4. The autonomous search method for abdominal intercostal spaces using an ultrasound robot according to claim 1, characterized in that, The control ultrasound probe performs a swing search according to the first translation vector and the pre-planned first attitude angle vector, including: The ultrasonic probe is controlled to swing and search around the Yt axis of the robotic arm end-effector coordinate system according to the first translation vector and the first attitude angle vector as shown in the following formula: ； In the formula, Represents the first attitude angle vector; This represents the angle by which the ultrasonic probe needs to swing around the Yt axis of the robotic arm's end-effector coordinate system at the next moment; where, ； In the formula, rystep represents the angular step size of the swing around the Yt axis of the tool coordinate system at the end of the robotic arm; This indicates the direction in which the ultrasonic probe swings along the Yt axis of the end-effector coordinate system of the robotic arm.

5. The autonomous search method for abdominal intercostal spaces using an ultrasound robot according to claim 1, characterized in that, The re-search based on the pre-planned scanning method, determining the optimal search posture corresponding to the maximum ultrasound image quality during the re-search process, includes: The ultrasound probe is controlled to translate along the Xt axis of the end-effector coordinate system of the robotic arm according to a pre-planned second translation vector, and the first motion position corresponding to the maximum ultrasound image quality during the translation process is obtained. The ultrasound probe is controlled to return to the first motion position, and a variable rotation axis swing search is performed around the Zt axis of the end tool coordinate system of the robotic arm according to the pre-planned second posture angle vector, so as to obtain the second motion posture corresponding to the maximum ultrasound image quality during the variable rotation axis swing search. The ultrasound probe is controlled to return to the second motion posture, and then swings around the Yt axis of the end-effector coordinate system of the robotic arm according to the pre-planned third posture angle vector to obtain the optimal search posture corresponding to the maximum ultrasound image quality during the swing search around the Yt axis of the end-effector coordinate system of the robotic arm.

6. The autonomous search method for abdominal intercostal spaces using an ultrasound robot according to claim 5, characterized in that, The control ultrasound probe returns to the first motion position and performs a variable rotation axis swing search around the Zt axis of the robotic arm end tool coordinate system according to the pre-planned second posture angle vector, and obtains the second motion posture corresponding to the maximum ultrasound image quality during the variable rotation axis swing search process, including; The ultrasound image is divided into blocks, and the position of the new rotation axis is determined by summing the image pixels of each block. The ultrasound probe is controlled to return to the first motion position, and a variable rotation axis oscillation search is performed according to the second attitude angle vector and the new rotation axis position as follows: ； In the formula, Represents the second attitude angle vector; This indicates the angle by which the ultrasonic probe needs to swing around the Zt axis of the robotic arm's end-effector coordinate system at the next moment. Indicates the position of the new axis of rotation; This indicates the position of the new rotation axis in the Yt-axis direction of the end-effector coordinate system of the robotic arm; Obtain the second motion posture corresponding to the maximum ultrasound image quality during the variable rotation axis swing search process.

7. The autonomous search method for abdominal intercostal spaces using an ultrasound robot according to claim 6, characterized in that, The controlled ultrasound probe oscillates and searches around the Yt axis of the robotic arm's end-effector coordinate system according to the second motion posture and a pre-planned third posture angle vector. The optimal search posture corresponding to the maximum ultrasound image quality during the oscillation search around the Yt axis is obtained. The intercostal space region is then searched based on this optimal search posture, including: Control the ultrasonic probe to swing and search around the Yt axis of the robotic arm end-effector coordinate system according to the second motion posture and the third posture angle vector as shown in the following formula: ； In the formula, Represents the third attitude angle vector; This indicates the angle by which the ultrasonic probe needs to swing around the Yt axis of the end-effector coordinate system at the next moment; This indicates the angle by which the ultrasonic probe needs to swing around the Zt axis of the end-effector coordinate system at the next moment; in, ； In the formula, rystep represents the angular step size of the swing around the Yt axis of the tool coordinate system at the end of the robotic arm; This indicates the direction in which the ultrasonic probe swings along the Yt axis of the end-effector coordinate system of the robotic arm; ； In the formula, This represents the torque about the Zt axis of the tool coordinate system at the end of the robotic arm; Indicates the torque threshold; Indicates the torque proportionality coefficient; The optimal search posture corresponding to the maximum ultrasound image quality during the swing search process around the Yt axis of the end-effector tool coordinate system is obtained, and the intercostal space region is searched based on the optimal search posture.

8. An autonomous search device for scanning the intercostal spaces of the abdomen using an ultrasonic robot, characterized in that, include: The elliptical path search module is used to evaluate the ultrasound image obtained by scanning the rib region with an ultrasound probe. If the quality of the ultrasound image does not meet the first preset condition, an elliptical path search is performed based on the pre-planned displacement vector. The force data acquisition module is used to acquire the contact force data of the ultrasonic probe if the ultrasonic image quality does not meet the first preset condition during the elliptical path search process. The contact force data includes the force data of the ultrasonic probe along the Xt axis of the end-tool coordinate system of the robotic arm and the force data of the ultrasonic probe along the Zt axis of the end-tool coordinate system of the robotic arm. The swing search module is used to determine a first translation vector based on the contact force data, and control the ultrasonic probe to swing and search according to the first translation vector and a pre-planned first attitude angle vector. The determination of the first translation vector based on the contact force data includes: The displacement of the ultrasonic probe along the Xt axis of the end-tool coordinate system of the robotic arm is determined by the following formula based on the force data of the ultrasonic probe along the Xt axis of the end-tool coordinate system of the robotic arm. ； In the formula, fx0 represents the displacement of the ultrasonic probe along the Xt axis of the end-effector coordinate system of the robotic arm; fxi represents the force threshold; ɛ represents the force data of the ultrasonic probe along the Xt axis of the end-effector coordinate system of the robotic arm; ɛ represents the second proportionality coefficient. The displacement of the ultrasonic probe along the Zt axis of the end-tool coordinate system of the robotic arm is determined by a force control algorithm based on the force data of the ultrasonic probe along the Zt axis of the end-tool coordinate system of the robotic arm. Based on the displacement of the ultrasonic probe along the Xt axis of the robotic arm end-effector coordinate system and the displacement of the ultrasonic probe along the Zt axis of the robotic arm end-effector coordinate system, the first translation vector is obtained as follows: ； In the formula, Indicates the first translation vector; This represents the displacement of the ultrasonic probe along the Zt axis of the tool coordinate system at the end of the robotic arm; The optimal search posture determination module is used to perform a second search based on a pre-planned scanning method if the ultrasound image quality meets the second preset condition during the swing search process, and to determine the optimal search posture corresponding to the maximum ultrasound image quality during the second search process, so as to search for the intercostal space region based on the optimal search posture.

9. 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; The processor, when executing a program stored in memory, implements the steps of the autonomous search method for scanning the intercostal spaces of the abdomen using an ultrasound robot as described in any one of claims 1-7.

Images