An automatic bonding method and apparatus for convex array probes used in ultrasonic robot scanning

Abstract

This invention relates to an automatic bonding method and apparatus for a convex array probe used in ultrasonic robot scanning. The method includes: calculating the image centroid tilt based on real-time acquired ultrasound images during automatic ultrasonic robot scanning; if the image centroid tilt does not meet a first preset condition, planning the rotational offset of the ultrasonic convex array probe around a first coordinate axis of the tool coordinate system based on the image centroid tilt and a preset expected value of the image centroid tilt; calculating the ultrasound window saturation of the ultrasound image after the ultrasonic convex array probe moves according to the rotational offset; if the ultrasound window saturation does not meet a second preset condition, planning the motion displacement of the ultrasonic convex array probe along a second coordinate axis of the tool coordinate system based on the ultrasound window saturation, contact force data, and a preset expected value of the contact force. This invention integrates ultrasound images and contact force data to control the close bonding of the ultrasonic convex array probe with the skin, effectively improving the image quality of automatic ultrasonic robot scanning.

Description

Technical Field

[0001] This invention relates to an automatic bonding method and apparatus for convex array probes used in ultrasonic robot scanning. Background Technology

[0002] In ultrasound examinations, convex array probes are often used to examine organs located deep within the body surface, such as the liver, kidneys, lungs, abdominal cavity, pelvis, and thoracic cavity. During automated scanning by an ultrasound robot, the convex array probe needs to be in close contact with the skin; otherwise, the quality of the ultrasound image will be severely affected, leading to the loss of a large amount of crucial ultrasound information and potentially causing missed diagnoses. Therefore, to improve the imaging quality of automated scanning using convex array probes in ultrasound robots, it is urgently necessary to provide a method for controlling the close contact between the ultrasound convex array probe and the skin. Summary of the Invention

[0003] To ensure close contact between the ultrasound convex array probe and the skin, and effectively improve the image quality of ultrasound scans performed by ultrasound robots, this invention proposes an automatic contact method and apparatus for convex array probes used in ultrasound robot scans. The technical solution proposed by this invention is as follows:

[0004] In a first aspect, the present invention provides an automatic fitting method for a convex array probe used in ultrasonic robot scanning, comprising:

[0005] Throughout the entire movement of the ultrasonic robot, the tilt of the image center of gravity is calculated based on the real-time acquired ultrasonic images;

[0006] If the image centroid tilt does not meet the first preset condition, then the rotation offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system is planned based on the image centroid tilt and the preset image centroid tilt expectation value.

[0007] Acquire an ultrasound image after the ultrasound convex array probe moves according to the rotational offset, and calculate the saturation of the ultrasound window.

[0008] If the saturation of the ultrasonic window does not meet the second preset condition, the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is obtained, and the displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is planned based on the saturation of the ultrasonic window, the contact force data and the preset expected contact force value.

[0009] In one or more embodiments, the image centroid tilt is determined in the following manner:

[0010] The ultrasound image is segmented according to a pre-set number of segments to obtain an image sequence, and the average gray level of all sub-images in the image sequence is calculated to obtain an image gray level average sequence.

[0011] The image grayscale mean sequence is binarized to obtain a binarized sequence;

[0012] The maximum angle of the ultrasound window is obtained, and the image centroid tilt is calculated based on the maximum angle of the ultrasound window and the binarized sequence using the following formula:

[0013]

[0014] In the formula, θ is the image centroid tilt, α is the maximum angle of the ultrasound window, s(j) is the binarized value of the j-th sub-image in the binarization sequence, and n is the number of segments.

[0015] In one or more embodiments, the ultrasonic window saturation is determined in the following manner:

[0016] The ultrasound window saturation is calculated based on the number of segments and the binarized sequence using the following formula:

[0017]

[0018] In the formula, ω represents the saturation of the ultrasound window.

[0019] In one or more embodiments, if the image centroid tilt does not meet the first preset condition, then planning the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system based on the image centroid tilt and the preset expected value of the image centroid tilt includes:

[0020] If the image centroid tilt does not meet the first preset condition, then the image centroid tilt deviation is calculated based on the image centroid tilt and the preset image centroid tilt expectation value.

[0021] Based on the preset planning parameters and the image centroid tilt deviation, the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system is planned.

[0022] In one or more embodiments, the step of planning the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system based on preset planning parameters and the image centroid tilt deviation includes:

[0023] Based on the preset planning parameters and the image centroid tilt deviation, the rotational offset of the convex array probe around the first coordinate axis of the tool coordinate system is calculated by the following formula; wherein, the preset planning parameters include proportional element parameters, integral element parameters, and differential element parameters;

[0024]

[0025] In the formula, Δθ(t) is the image centroid tilt deviation at time t, rotx(t) is the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system at time t, and k p ki k d These are the parameters of the proportional element, the integral element, and the derivative element, respectively.

[0026] In one or more embodiments, if the ultrasonic window saturation does not meet the second preset condition, the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is obtained, and the motion displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is planned based on the ultrasonic window saturation, the contact force data, and the preset contact force expectation value, including:

[0027] If the ultrasonic window saturation does not meet the second preset condition, then the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system and multiple parameters of the ultrasonic robot are obtained; wherein, the multiple parameters include mass coefficient, damping coefficient and ultrasonic window saturation coefficient;

[0028] Substituting the multiple parameters, the ultrasonic window saturation, the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system, and the preset expected contact force value into the following formula, the displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is obtained:

[0029]

[0030] In the formula, ΔF z (t) represents the contact force deviation at time t, F z (t) represents the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system at time t, F0 is the expected value of the contact force, and K w Let ω(t) be the saturation coefficient of the ultrasound window, and ΔX be the saturation of the ultrasound window at time t. z This represents the displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system. The velocity of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system. Let M be the acceleration of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system, M be the mass coefficient, and B be the damping coefficient.

[0031] Secondly, the present invention provides an automatic fitting device for a convex array probe used in ultrasonic robot scanning, comprising:

[0032] The first calculation module is used to calculate the tilt of the center of gravity of the image based on the real-time acquired ultrasound images during the entire movement of the ultrasonic robot.

[0033] The first planning module is used to plan the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system based on the image centroid tilt and the preset image centroid tilt expectation value if the image centroid tilt does not meet the first preset condition.

[0034] The second calculation module is used to acquire the ultrasound image after the ultrasound convex array probe moves according to the rotation offset, and to calculate the saturation of the ultrasound window.

[0035] The second planning module is used to acquire the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system if the saturation of the ultrasonic window does not meet the second preset condition, and to plan the motion displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system based on the saturation of the ultrasonic window, the contact force data and the preset contact force expectation value.

[0036] Thirdly, the present invention provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the automatic fitting method for a convex array probe used in ultrasonic robot scanning as described in the first aspect.

[0037] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the automatic fitting method for a convex array probe for ultrasonic robot scanning as described in the first aspect.

[0038] Fifthly, 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;

[0039] Memory, used to store computer programs;

[0040] When the processor executes a program stored in the memory, it implements the steps of the automatic fitting method for the convex array probe used in ultrasonic robot scanning as described in the first aspect.

[0041] Based on the above technical solution, the beneficial effects of the present invention compared with the prior art are as follows:

[0042] The present invention provides an automatic contact method for a convex array probe used in ultrasonic robot scanning. During the entire movement of the ultrasonic robot, the image centroid tilt is calculated based on real-time acquired ultrasound images. If the image centroid tilt does not meet a first preset condition, it indicates that one side of the ultrasonic convex array probe is not in contact with the skin. Then, based on the image centroid tilt and a preset expected value for the image centroid tilt, the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system is planned. Next, an ultrasound image of the ultrasonic convex array probe after movement according to the rotational offset is acquired, and the ultrasound window saturation is calculated. If the ultrasound window saturation does not meet a second preset condition, it indicates that the ultrasonic convex array probe is not in complete contact with the skin. Then, contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is acquired. Based on the ultrasound window saturation, contact force data, and a preset expected value for contact force, the movement displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is planned in real time. This invention integrates ultrasound images and contact force data to control the close contact between the ultrasonic convex array probe and the skin, effectively improving the quality of ultrasound scanning images from the ultrasonic robot.

[0043] 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.

[0044] 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

[0045] 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.

[0046] Figure 1 This is a flowchart illustrating the automatic bonding method for a convex array probe used in ultrasonic robot scanning provided in an embodiment of the present invention.

[0047] Figure 2 This is a schematic diagram of an ultrasound robot abdominal scan provided in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the convex array arc-shaped ultrasound image evenly distributed according to an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the contact control achieved by rotating around the X-axis of the tool coordinate system according to an embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of the fully fitted control of the downward movement along the Z-axis of the tool coordinate system provided in an embodiment of the present invention;

[0051] Figure 6 This is a schematic diagram of the automatic bonding device for convex array probes used in ultrasonic robot scanning provided in an embodiment of the present invention;

[0052] Figure 7 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0053] 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.

[0054] 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.

[0055] The inventors discovered that existing methods primarily focus on the adhesion of linear array probes, adjusting the probe's orientation using external cameras and image confidence maps to achieve adaptive adhesion. Unlike linear array probes, convex array probes have curved surfaces, making it impossible to achieve tight adhesion solely through orientation adjustments. Furthermore, the resulting fan-shaped image makes calculating the missing adhesion area complex and fails to meet the inventors' expectations. Therefore, the inventors further developed an automatic adhesion method and device for convex array probes used in ultrasonic robotic scanning. This method can be used for automatic adhesion control of convex array probes during ultrasonic scanning, such as during automated ultrasonic robotic scanning of abdominal organs. This method eliminates the need for an external camera, controlling the tight adhesion between the ultrasonic convex array probe and the skin by fusing ultrasonic images and contact force data, effectively improving the image quality of ultrasonic robotic scans.

[0056] Example 1

[0057] This invention provides an automatic bonding method for a convex array probe used in ultrasonic robot scanning, referring to... Figure 1 As shown, it includes:

[0058] S101. During the entire ultrasonic robot movement process, the tilt of the image center of gravity is calculated based on the real-time acquired ultrasonic images.

[0059] When an ultrasound robot moves an ultrasound convex array probe to scan a region such as the abdomen, it is necessary to assess the degree of contact between the probe and the skin to determine if they are adequately in contact. This invention, throughout the movement of the ultrasound robot, analyzes the ultrasound images and calculates the image centroid tilt angle θ and the ultrasound window saturation ω in real time to assess whether the ultrasound convex array probe is adequately in contact with the skin. If the image centroid tilt angle θ does not meet a first preset condition, or the ultrasound window saturation ω does not meet a second preset condition, or if both the image centroid tilt angle θ and the ultrasound window saturation ω do not meet the second preset condition, it indicates that the ultrasound convex array probe is not adequately in contact with the skin, and the probe needs to be controlled to move in contact with the skin at the scanned area.

[0060] S102. If the image centroid tilt does not meet the first preset condition, then the rotation offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system is planned based on the image centroid tilt and the preset image centroid tilt expectation value.

[0061] When the ultrasound convex array probe contacts the skin, the tilt of the ultrasound image's center of gravity is calculated. It is then determined whether this tilt meets a first preset condition. If the tilt does not meet this condition, it indicates that one side of the ultrasound convex array probe is not in contact with the skin. In this case, the ultrasound convex array probe needs to be rotated around the first axis of the tool coordinate system. Based on the tilt of the image's center of gravity and a preset expected value, a rotational offset of the ultrasound convex array probe around the first axis of the tool coordinate system is planned, allowing the probe to rotate around this offset to achieve contact control. If the tilt of the image's center of gravity meets the first preset condition, no rotation of the ultrasound convex array probe is required.

[0062] S103. Obtain the ultrasound image after the ultrasound convex array probe moves according to the rotation offset, and calculate the ultrasound window saturation.

[0063] If the image centroid tilt meets the first preset condition, then since the ultrasound convex array probe does not need to rotate, the ultrasound image after the rotational offset is the ultrasound image in S101 above, and the ultrasound window saturation of this ultrasound image is calculated. If the image centroid tilt does not meet the first preset condition, after the ultrasound convex array probe rotates around the first coordinate axis of the tool coordinate system according to the above rotational offset, the ultrasound convex array probe initially adheres to the skin. The ultrasound image after the ultrasound convex array probe moves according to the said rotational offset is acquired, and the ultrasound window saturation of this ultrasound image is calculated.

[0064] S104. If the saturation of the ultrasonic window does not meet the second preset condition, the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is obtained, and the displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is planned based on the saturation of the ultrasonic window, the contact force data and the preset contact force expectation value.

[0065] The ultrasound image's ultrasonic window saturation is assessed to determine if it meets a second preset condition. If so, it indicates the ultrasonic convex array probe's acoustic window surface is in complete contact with the skin, and the ultrasound image quality meets expectations, requiring no further adjustment. If the saturation does not meet the second preset condition, it means the probe's acoustic window surface is not in complete contact with the skin, necessitating increased contact force between the probe and skin to ensure full skin coverage and adequate contact. Based on the ultrasonic window saturation, contact force data, and a preset expected contact force value, the displacement of the ultrasonic convex array probe along the second axis of the tool coordinate system is planned. The probe is then controlled to move downwards along the second axis of the tool coordinate system according to the planned displacement, ensuring complete contact between the probe's acoustic window surface and the skin. The contact force data along the second axis of the tool coordinate system can be acquired using a force sensor mounted on the ultrasonic robot arm.

[0066] The automatic bonding method for convex array probes used in ultrasonic robot scanning provided in this invention analyzes and calculates the tilt angle θ and saturation ω of the ultrasonic image center of gravity in real time during the entire movement of the ultrasonic robot. This is used to assess whether the ultrasonic convex array probe is sufficiently bonded to the skin. Based on the planned rotation offset and motion displacement, the ultrasonic convex array probe is controlled in real time to perform bonding movement on the area to be scanned. By fusing ultrasonic images and contact force data, the ultrasonic convex array probe is controlled to fit tightly to the skin, effectively improving the quality of ultrasonic scanning images from the ultrasonic robot.

[0067] In an optional embodiment, the image centroid tilt in this invention is determined in the following manner:

[0068] S201. The ultrasound image is segmented according to a preset number of segments to obtain an image sequence, and the average gray value of all sub-images in the image sequence is calculated to obtain an image gray value sequence.

[0069] Reference Figure 3As shown, for a convex arc-shaped ultrasound image, starting from the arc center O and the central axis U, with a fixed included angle Δθ, the image is divided into 2n equal parts on both sides. The resulting image sequence is denoted as A = [x(-n), x(-(n-1)), ..., x(-1), x(1), ..., x(n-1), x(n)]. Then, the mean gray value of all sub-images in image sequence A is calculated using the following method:

[0070]

[0071] In the formula, Let be the average grayscale value of the sub-image, m be the number of pixels in the sub-image, and x be the mean grayscale value. i Let be the gray value of the i-th pixel in the sub-image. The image gray-level mean sequence is obtained by calculating the mean of the image sequence A.

[0072] The included angle Δθ can be set according to the actual segmentation needs. For example, the included angle Δθ can be set to 0.005 rad, and n is calculated based on the maximum angle α of the ultrasound window and the included angle Δθ.

[0073] S202, the image grayscale mean sequence Binarization is performed using the following method:

[0074]

[0075] In the formula, ε is the pixel mean threshold, which can be set according to the actual binarization needs, such as 20.

[0076] Image grayscale mean sequence After binarization, we get the binarized sequence C = [s(-n), s(-(n-1)), ..., s(-1), s(1), ..., s(n-1), s(n)].

[0077] S203. Obtain the maximum angle of the ultrasound window, and calculate the image centroid tilt based on the maximum angle α of the ultrasound window and the binarized sequence C using the following formula:

[0078]

[0079] In the formula, θ is the image centroid tilt, α is the maximum angle of the ultrasound window, s(j) is the binarized value of the j-th sub-image in the binarized sequence C, and n is the number of segments. The maximum angle α of the ultrasound window is related to the ultrasound equipment and its parameters; refer to... Figure 3 As shown, the maximum angle α of the ultrasound window is the angle between the rays from x(-n) to x(n), which can be...

[0080] In an optional embodiment, the ultrasonic window saturation in this invention is determined in the following manner:

[0081] Based on the number of segments n and the binarized sequence C, the ultrasound window saturation is calculated using the following formula:

[0082]

[0083] In the formula, ω represents the saturation of the ultrasound window.

[0084] This invention controls the ultrasonic convex array probe for reference. Figure 2 The tool coordinate system {T} shown performs a contact motion on the area to be scanned. The aforementioned tool coordinate system refers to the tool coordinate system along the end effector of the robotic arm, and the first and second coordinate axes respectively correspond to... Figure 2 The X-axis and Z-axis in the diagram.

[0085] In an optional embodiment, if the image centroid tilt does not meet the first preset condition, it indicates that one side of the ultrasonic convex array probe is not in contact with the skin. In this case, it is necessary to control the ultrasonic convex array probe to rotate around the X-axis of the tool coordinate system (refer to...). Figure 4 As shown, based on the image centroid tilt and the preset image centroid tilt expectation value, the rotation offset of the ultrasonic convex array probe around the X-axis of the tool coordinate system is planned, so that the ultrasonic convex array probe rotates around the X-axis of the tool coordinate system according to the above rotation offset to achieve fit control.

[0086] The first preset condition can be set to an image centroid tilt angle less than or equal to a preset angle threshold, or an image centroid tilt angle within a preset angle range, or an image centroid tilt angle θ = 0. The preset angle threshold and preset angle range can be set according to the requirements of the ultrasound image quality. Taking the first preset condition of image centroid tilt angle θ = 0 as an example, when the image centroid tilt angle θ ≠ 0, it indicates that one side of the ultrasound convex array probe is not in contact with the skin. In this case, it is necessary to control the ultrasound convex array probe to rotate around the X-axis of the tool coordinate system.

[0087] In S102 above, if the image centroid tilt does not meet the first preset condition, then the rotational offset of the ultrasonic convex array probe around the X-axis of the tool coordinate system is planned based on the image centroid tilt and the preset expected value of the image centroid tilt, specifically including the following steps:

[0088] S1021. If the image centroid tilt does not meet the first preset condition, the image centroid tilt deviation is calculated based on the image centroid tilt and the preset expected image centroid tilt value using the following formula:

[0089] Δθ(t)=θ(t)-θ d Formula 5

[0090] In the formula, θ(t) is the image centroid tilt at time t, Δθ(t) is the image centroid tilt deviation at time t, and θ d This represents the expected value of the image's centroid tilt. The expected value of the image's centroid tilt is θ. d The settings can be adjusted according to the desired ultrasound image quality, such as setting it to 0.

[0091] S1022. Based on the preset planning parameters and the image centroid tilt deviation, the rotation offset of the ultrasonic convex array probe around the X-axis of the tool coordinate system is planned.

[0092] The aforementioned preset planning parameters refer to the PID controller parameters that control the rotation of the ultrasonic robot. The PID controller achieves precise control of the output deviation by adjusting the parameters of its proportional, integral, and derivative components. A function is constructed based on the preset planning parameters of the ultrasonic robot and the image centroid tilt deviation to determine the rotational offset of the ultrasonic convex array probe around the X-axis of the tool coordinate system. After the function is constructed, the image centroid tilt deviation determined in S1021 is input into this function to obtain the rotational offset of the ultrasonic convex array probe around the X-axis of the tool coordinate system. After determining the rotational offset, the planned rotational offset is converted into a control command and sent to the ultrasonic robot's control system. Upon receiving the command, the control system drives the ultrasonic convex array probe to rotate around the X-axis of the tool coordinate system.

[0093] In an optional embodiment, the step of planning the rotational offset of the ultrasonic convex array probe around the X-axis of the tool coordinate system based on preset planning parameters and the image centroid tilt deviation includes:

[0094] Based on the preset planning parameters and the image centroid tilt deviation, the rotational offset of the ultrasonic convex array probe around the X-axis of the tool coordinate system is calculated using the following formula; wherein, the preset planning parameters include proportional element parameters, integral element parameters, and differential element parameters;

[0095]

[0096] In the formula, rotx(t) is the rotational offset of the ultrasonic convex array probe about the X-axis of the tool coordinate system at time t, and k p k i k d These are the parameters of the proportional element, the integral element, and the derivative element, respectively.

[0097] In controlling the deflection of the ultrasonic robot, the parameters of the proportional, integral, and derivative components, namely k (as described above), are adjusted. p k i k d This allows for precise control of output deviation. Specifically, the settings can be configured based on the rotational performance and stability requirements of the ultrasonic robot. pk i k d They can be set to 0.01, 0.001, and 0.02 respectively.

[0098] In an optional embodiment, the second preset condition can be set to an ultrasound window saturation less than or equal to a preset saturation threshold, or an ultrasound window saturation within a preset saturation range, or an ultrasound window saturation ω = 1. The preset saturation threshold and preset saturation range can be set according to the requirements of ultrasound image quality. Taking the second preset condition set to an ultrasound window saturation ω = 1 as an example, when the ultrasound window saturation ω ≠ 1, it indicates that the ultrasound convex array probe's acoustic window surface is not in complete contact with the skin. It is necessary to increase the contact force between the ultrasound convex array probe and the skin surface to ensure the skin fully covers the ultrasound convex array probe, achieving full contact. (Refer to...) Figure 5 As shown, at this time, the probe moves downward along the Z-axis of the tool coordinate system according to the planned displacement, so that the acoustic window of the ultrasonic convex array probe is in complete contact with the skin.

[0099] In S104 above, if the saturation of the ultrasonic window does not meet the second preset condition, the contact force data of the ultrasonic convex array probe along the Z-axis of the tool coordinate system is obtained, and the motion displacement of the ultrasonic convex array probe along the Z-axis of the tool coordinate system is planned based on the ultrasonic window saturation, the contact force data, and the preset expected contact force value. This specifically includes the following steps:

[0100] S1041. If the ultrasonic window saturation does not meet the second preset condition, then acquire the contact force data of the ultrasonic convex array probe along the Z-axis of the tool coordinate system and multiple parameters of the ultrasonic robot; wherein, the multiple parameters include the mass coefficient M, the damping coefficient B, and the ultrasonic window saturation coefficient K. w .

[0101] S1042. Substituting the multiple parameters, the ultrasonic window saturation, the contact force data of the ultrasonic convex array probe along the Z-axis of the tool coordinate system, and the preset expected contact force value into the following formula, the displacement of the ultrasonic convex array probe along the Z-axis of the tool coordinate system is obtained:

[0102]

[0103] In the formula, ΔF z (t) represents the contact force deviation at time t, F z (t) represents the contact force data of the ultrasonic convex array probe along the Z-axis of the tool coordinate system at time t, F0 is the expected value of the contact force, and K w Let ω(t) be the saturation coefficient of the ultrasound window, and ΔX be the saturation of the ultrasound window at time t. z This represents the displacement of the ultrasonic convex array probe along the Z-axis of the tool coordinate system. The velocity of the ultrasonic convex array probe along the Z-axis of the tool coordinate system. Let M be the acceleration of the ultrasonic convex array probe along the Z-axis of the tool coordinate system, M be the mass coefficient, and B be the damping coefficient.

[0104] The above F0, K w M and B are fixed parameters, and the above ultrasound window saturation coefficient K w The value can be obtained from the technical manual of the ultrasound robot, or set according to actual needs, such as 10. The expected contact force F0 can be set according to the specific area to be scanned, while ensuring the patient's comfort; for example, it can be 10N.

[0105] The mass coefficient M directly affects the interaction between the ultrasound robot and human skin, thus influencing the control of the contact force. The mass coefficient M can be set according to actual needs to ensure accurate contact. The damping coefficient B determines the magnitude of the damping force between the ultrasound robot and human skin, affecting the stability of the ultrasound robot's movement and the control of the contact force. A larger damping coefficient B can increase stability, allowing the ultrasound robot to stop or slow down more quickly, reducing oscillations and overshoot. However, an excessively large damping coefficient B may also cause the robot's movement to be less smooth, affecting operational flexibility. In human-robot collaborative tasks, the setting of the damping coefficient B needs to consider the operating habits and feelings of the doctor or operator. A smaller damping coefficient B can make it easier for the operator to control the robot, but may reduce system stability. Therefore, the mass coefficient M and damping coefficient can be set according to the requirements for controlling the contact force of the ultrasound robot; for example, the mass coefficient M can be 50, and the damping coefficient B can be 5.

[0106] This invention uses the first preset condition of image centroid tilt θ = 0 and the second preset condition of ultrasound window saturation ω = 1 as an example to illustrate the process of controlling the ultrasound convex array probe to perform contact movement on the area to be scanned:

[0107] Throughout the entire movement of the ultrasonic robot, the tilt angle θ of the ultrasonic image's center of gravity is calculated in real time. It is then determined whether the tilt angle θ of the ultrasonic image's center of gravity is 0.

[0108] If the image centroid tilt θ = 0, calculate the ultrasound window saturation ω of the ultrasound image and determine if ω equals 1. If ω ≠ 1, it indicates that the ultrasound convex array probe's acoustic window surface is not in complete contact with the skin. The contact force between the ultrasound convex array probe and the skin surface needs to be increased to ensure the skin fully covers the probe and achieves adequate contact. Based on the calculated ultrasound window saturation ω and the acquired contact force data F... z (t) and the preset expected contact force value are used to plan the displacement ΔX of the ultrasonic convex array probe along the Z-axis of the tool coordinate system using Equation 7 above. zAfter determining the displacement, move downwards along the Z-axis of the tool coordinate system according to that displacement (refer to...). Figure 5 As shown, ensure the acoustic window of the ultrasound array probe is in complete contact with the skin. If the ultrasound window saturation ω = 1, it indicates that the acoustic window of the ultrasound array probe has fully adhered to the skin.

[0109] If the image centroid tilt θ≠0, it indicates that the ultrasound convex array probe is not in contact with the skin on one side, and it is necessary to control the ultrasound convex array probe to rotate around the X-axis of the tool coordinate system. First, based on the image centroid tilt and the preset expected image centroid tilt value, the rotational offset rotx(t) of the ultrasound convex array probe around the X-axis of the tool coordinate system is planned using equations 5 and 6 above. Then, the ultrasound convex array probe is controlled to rotate around the X-axis of the tool coordinate system according to this rotational offset (refer to...). Figure 4 (As shown). Acquire an ultrasound image after the ultrasound convex array probe has moved according to the stated rotational offset. Calculate the ultrasound window saturation ω of this ultrasound image and determine if the ultrasound window saturation ω is equal to 1. If the ultrasound window saturation ω ≠ 1, it indicates that the ultrasound window surface of the ultrasound convex array probe is not in complete contact with the skin. It is necessary to increase the contact force between the ultrasound convex array probe and the skin surface to ensure that the skin fully covers the ultrasound convex array probe and achieves full contact. Based on the ultrasound window saturation ω and contact force data F... z (t) and the preset expected contact force value are used to plan the displacement ΔX of the ultrasonic convex array probe along the Z-axis of the tool coordinate system using Equation 7 above. z Then, according to the planned motion displacement ΔX z Move downwards along the Z-axis of the tool coordinate system (refer to) Figure 5 As shown, ensure the acoustic window of the ultrasound array probe is in complete contact with the skin. If the ultrasound window saturation ω = 1, it indicates that the acoustic window of the ultrasound array probe has fully adhered to the skin.

[0110] Example 2

[0111] This invention provides an automatic bonding device for a convex array probe used in ultrasonic robot scanning, referring to... Figure 6 As shown, it includes:

[0112] The first calculation module 301 is used to calculate the tilt of the center of gravity of the image based on the real-time acquired ultrasound images during the entire movement of the ultrasonic robot.

[0113] The first planning module 302 is used to plan the rotation offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system based on the image centroid tilt and the preset image centroid tilt expectation value if the image centroid tilt does not meet the first preset condition.

[0114] The second calculation module 303 is used to acquire the ultrasound image after the ultrasound convex array probe moves according to the rotation offset, and to calculate the saturation of the ultrasound window.

[0115] The second planning module 304 is used to acquire the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system if the saturation of the ultrasonic window does not meet the second preset condition, and to plan the motion displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system based on the saturation of the ultrasonic window, the contact force data and the preset contact force expectation value.

[0116] The automatic bonding device for convex array probes for ultrasonic robot scanning provided in this embodiment of the invention has a similar implementation principle and technical effect to the aforementioned method embodiments, and will not be repeated here.

[0117] Example 3

[0118] This invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the automatic bonding method for an ultrasonic robot scanning convex array probe as described in the foregoing method embodiments.

[0119] Example 4

[0120] This invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the automatic bonding method for an ultrasonic robot scanning convex array probe as described in the foregoing method embodiments.

[0121] The computer-readable storage medium may be included in the device / apparatus described in the above embodiments; or it may exist independently and not assembled into the device / apparatus. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of the present invention.

[0122] According to embodiments of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0123] Example 5

[0124] This invention provides an electronic device, with reference to... Figure 7As 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.

[0125] Memory 113 is used to store computer programs;

[0126] When the processor 111 executes the program stored in the memory 113, it implements the steps of the automatic bonding method for the convex array probe used for ultrasonic robot scanning as described in the foregoing method embodiments.

[0127] 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.

[0128] 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.

[0129] 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 process, method, article, or apparatus.

[0130] 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.

[0131] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0132] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0133] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0134] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the function specified in one or more boxes.

[0135] 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. An automatic bonding method for a convex array probe used in ultrasonic robot scanning, characterized in that, include: Throughout the entire movement of the ultrasonic robot, the tilt of the image center of gravity is calculated based on the real-time acquired ultrasonic images; If the image centroid tilt does not meet the first preset condition, then the rotation offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system is planned based on the image centroid tilt and the preset image centroid tilt expectation value. Acquire an ultrasound image after the ultrasound convex array probe moves according to the rotational offset, and calculate the saturation of the ultrasound window. If the saturation of the ultrasonic window does not meet the second preset condition, then the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is obtained. Based on the ultrasonic window saturation, the contact force data, and the preset expected contact force value, the motion displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is planned. The image centroid tilt is determined in the following way: The ultrasound image is segmented according to a pre-set number of segments to obtain an image sequence, and the average gray level of all sub-images in the image sequence is calculated to obtain an image gray level average sequence. The image grayscale mean sequence is binarized to obtain a binarized sequence; The maximum angle of the ultrasound window is obtained, and the image centroid tilt is calculated based on the maximum angle of the ultrasound window and the binarized sequence using the following formula: In the formula, The tilt of the image's center of gravity. This is the maximum angle of the ultrasound viewing window. For the binarized sequence, the first... Binarized values ​​of each sub-image The number of segments.

2. The automatic bonding method for a convex array probe used in ultrasonic robot scanning according to claim 1, characterized in that, The saturation of the ultrasound viewing window is determined as follows: The ultrasound window saturation is calculated based on the number of segments and the binarized sequence using the following formula: In the formula, This represents the saturation of the ultrasound window.

3. The automatic bonding method for a convex array probe used in ultrasonic robot scanning according to claim 1, characterized in that, If the image centroid tilt does not meet the first preset condition, then the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system is planned based on the image centroid tilt and the preset expected value of the image centroid tilt, including: If the image centroid tilt does not meet the first preset condition, then the image centroid tilt deviation is calculated based on the image centroid tilt and the preset image centroid tilt expectation value. Based on the preset planning parameters and the image centroid tilt deviation, the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system is planned.

4. The automatic bonding method for a convex array probe used in ultrasonic robot scanning according to claim 3, characterized in that, The step of planning the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system based on preset planning parameters and the image centroid tilt deviation includes: Based on the preset planning parameters and the image centroid tilt deviation, the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system is calculated by the following formula; wherein, the preset planning parameters include proportional element parameters, integral element parameters, and differential element parameters; In the formula, For the first Image centroid tilt deviation at time [time] For the first The rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system at any given time. These are the parameters of the proportional element, the integral element, and the derivative element, respectively.

5. The automatic bonding method for a convex array probe used in ultrasonic robot scanning according to claim 1, characterized in that, If the saturation of the ultrasonic window does not meet the second preset condition, then the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is obtained, and the motion displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is planned based on the ultrasonic window saturation, the contact force data, and the preset contact force expectation value, including: If the ultrasonic window saturation does not meet the second preset condition, then the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system and multiple parameters of the ultrasonic robot are obtained; wherein, the multiple parameters include mass coefficient, damping coefficient and ultrasonic window saturation coefficient; Substituting the aforementioned parameters, the ultrasonic window saturation, the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system, and the preset expected contact force value into the following formula, the displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system is calculated: In the formula, For the first Contact force deviation at any moment For the first Contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system at any given time. For the expected value of the contact force, This represents the saturation coefficient of the ultrasound viewing window. For the first Ultrasonic window saturation at any given time. This represents the displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system. The velocity of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system. The acceleration of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system. For quality coefficient, is the damping coefficient.

6. An automatic bonding device for a convex array probe used in ultrasonic robot scanning, characterized in that, include: The first calculation module is used to calculate the tilt of the center of gravity of the image based on the real-time acquired ultrasound images during the entire movement of the ultrasonic robot. The first planning module is used to plan the rotational offset of the ultrasonic convex array probe around the first coordinate axis of the tool coordinate system based on the image centroid tilt and a preset expected value of the image centroid tilt if the image centroid tilt does not meet the first preset condition. The image centroid tilt is determined in the following way: The ultrasound image is segmented according to a pre-set number of segments to obtain an image sequence, and the average gray level of all sub-images in the image sequence is calculated to obtain an image gray level average sequence. The image grayscale mean sequence is binarized to obtain a binarized sequence; The maximum angle of the ultrasound window is obtained, and the image centroid tilt is calculated based on the maximum angle of the ultrasound window and the binarized sequence using the following formula: In the formula, The tilt of the image's center of gravity. This is the maximum angle of the ultrasound viewing window. For the binarized sequence, the first... Binarized values ​​of each sub-image The number of segments; The second calculation module is used to acquire the ultrasound image after the ultrasound convex array probe moves according to the rotation offset, and to calculate the saturation of the ultrasound window. The second planning module is used to acquire the contact force data of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system if the saturation of the ultrasonic window does not meet the second preset condition, and to plan the motion displacement of the ultrasonic convex array probe along the second coordinate axis of the tool coordinate system based on the saturation of the ultrasonic window, the contact force data and the preset contact force expectation value.

7. A computer program product comprising a computer program / instructions, characterized in that, When executed by a processor, the computer program / instructions implement the steps of the automatic bonding method for a convex array probe for ultrasonic robot scanning as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the steps of the automatic bonding method for convex array probes for ultrasonic robot scanning as described in any one of claims 1-5.

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; When the processor executes the program stored in the memory, it implements the steps of the automatic bonding method for the convex array probe for ultrasonic robot scanning as described in any one of claims 1-5.

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