Cardiac ultrasonic teleoperation scanning system and method

Abstract

The invention relates to the technical field of remote robot ultrasonic scanning, and provides a cardiac ultrasonic teleoperation scanning system and a cardiac ultrasonic teleoperation scanning method. A side lying operation table; a robot arm; a heart ultrasonic probe clamping device; a cardiac ultrasound operation end computer; a robot control end computer; an RGBD camera / laser radar; and a bed body. The scanning method comprises the following steps: establishing a safety protection model; carrying out flat-lying type heart ultrasonic scanning; and carrying out side-lying type heart ultrasonic scanning. By means of the technical scheme, the problems that in existing remote robot heart ultrasonic scanning, the posture range is too small, and safety is difficult to guarantee are solved; by means of the angle-adjustable side lying operation table and the cardiac ultrasonic probe clamping device, the problem that the posture range of cardiac ultrasonic scanning of an existing remote robot is too small is solved, meanwhile, a safety protection model and a safety protection strategy are established for the head of a patient, the safety of cardiac ultrasonic scanning can be effectively guaranteed, and the application effect is better.

Description

Technical Field

[0001] The present invention relates to the technical field of remote robot ultrasonic scanning, and in particular to a cardiac ultrasonic teleoperation scanning system and method. Background Art

[0002] Network-based robot teleoperation technology plays an increasingly important role in medical treatment, especially in the direction of robot remote ultrasound scanning. In robot remote ultrasound scanning, cardiac ultrasound scanning is the most important and difficult point. Cardiac ultrasound scanning requires seeing all standard sections of ultrasound images. Usually, the patient is required to adopt a lying and side-lying scanning method in turn. This places great demands on the range of the robot's terminal posture. Conventional robotic arms with less than 6 degrees of freedom (including 6 degrees of freedom) are difficult to meet the scanning requirements. In addition, attention must be paid to the safety of the robot's overall scanning process. The application of remote ultrasound scanning is conducive to improving the imbalance of medical care in various regions. The application of remote control inspections breaks the imbalance of medical resources in different regions.

[0003] For example, the methods mentioned in patents such as authorization number CN 114789445B: An operator system and method for a remote cardiac color ultrasound robot, authorization number CN 113499094B: A cardiac color ultrasound examination device and method guided by vision and force feedback, and publication number CN113180738A: A virtual probe and diagnosis and treatment system for remote cardiac ultrasound. The above patents solve the problem of remote operation, but do not solve the difficulties of cardiac ultrasound scanning requiring a large range of robot terminal postures and how to ensure the safety of the scan.

[0004] Therefore, how to solve the problem that cardiac ultrasound scanning requires a large range of robot terminal postures and ensure safety during the scanning process is the technical problem that this application aims to solve.

[0005] Therefore, we propose a cardiac ultrasound teleoperation scanning system and method. Summary of the invention

[0006] The present invention provides a cardiac ultrasound teleoperation scanning system and method, which solves the problem mentioned in the background technology that the existing remote robot cardiac ultrasound scanning posture range is too small and the safety is difficult to ensure.

[0007] The technical solution of the present invention is as follows:

[0008] A cardiac ultrasound teleoperation scanning system, comprising:

[0009] A special operating handle for cardiac ultrasound, which contains posture, position, and force sensors, is used to receive the doctor's cardiac ultrasound scanning technique, convert the technique into position, posture, and force information and send it to the cardiac ultrasound operation terminal computer;

[0010] A side-lying operating table, with an adjustable bracket installed at the bottom, through which the angle between the side-lying operating table and the desktop can be adjusted by α (0≤α≤90) degrees, and a special operating handle for cardiac ultrasound can move on the side-lying operating table;

[0011] The robotic arm has redundant adjustment capabilities and can effectively avoid joint limits to reach a specified position. It has higher flexibility and collision avoidance capabilities than ordinary robotic arms in cardiac ultrasound scanning. The end of the robotic arm is equipped with a cardiac ultrasound probe clamping device; it is used to receive control instructions from the robot control computer and complete the corresponding movement; it feeds back position, posture, and force information to the robot control computer;

[0012] A cardiac ultrasound probe clamping device is used to clamp and fix the cardiac ultrasound probe to rotate by β (0≤β≤90) degrees. It is installed at the end of the mechanical arm, and one redundant degree of freedom is added at the end of the mechanical arm to meet the requirements of cardiac ultrasound scanning for the posture of the cardiac ultrasound probe;

[0013] The cardiac ultrasound operation terminal computer is connected and communicated with the cardiac ultrasound special operation handle to receive position, posture and force information, and send this information to the robot control terminal computer through wired or wireless communication;

[0014] The robot control computer is connected and communicated with the robotic arm and the RGBD camera / lidar. According to the position, posture, and force information sent by the cardiac ultrasound operation computer, it calculates the corresponding control instructions and sends them to the robotic arm, while receiving feedback information from the robotic arm.

[0015] RGBD camera / LiDAR, used to obtain the head point cloud information of the patient undergoing cardiac ultrasound and the RGB image of the patient's surroundings, and send this information to the robot control computer;

[0016] The bed is used for patients to lie down or lie on their side.

[0017] As a further technical solution of the present invention, the cardiac ultrasound probe clamping device can achieve multi-angle adjustment, and it includes an upper shell, a fixed plate, a locking device, an unlocking device, a rebound device, and a lower shell; the locking device includes a groove and a protrusion, the unlocking device includes a spring pin, and the rebound device includes a torsion spring; the upper shell is rigidly connected to the fixed plate, and the fixed plate and the lower shell are connected through the spring pin in the unlocking device. When the spring pin is pressed and compressed, the protrusion fixed thereon can slide along the track of the groove to complete the unlocking, and the torsion spring in the rebound device automatically pulls the lower shell to rotate β degrees. After the spring pin bounces up, this angle can be maintained, and the groove and the protrusion fit together to complete the locking, and one end of the upper shell is movably loaded with the end of the robotic arm.

[0018] As a further technical solution of the present invention, an adjustable bracket is installed at the bottom of the side-lying operating table. As the patient's body position for cardiac ultrasound scanning is adjusted, the angle α between the side-lying operating table and the desktop can also be adjusted accordingly, with an adjustment range of 0° horizontal placement to 90° vertical placement; the side-lying operating table contains flexible anthropomorphic material inside, which can provide anthropomorphic force feedback by pressing.

[0019] The present invention also includes a cardiac ultrasound teleoperation scanning method, comprising the following steps:

[0020] Establish a security protection model;

[0021] Lying flat cardiac ultrasound scan;

[0022] Lateral lying cardiac ultrasound scan.

[0023] Furthermore, the establishment of the safety protection model includes constructing a virtual wall on the patient's head and constructing a collision detection model between the patient's head and the robotic arm. This function is established in the robot control end computer.

[0024] Furthermore, a virtual wall is constructed on the patient's head. The specific steps are as follows:

[0025] The RGBD camera / lidar obtains the patient's head 3D coordinate set in the camera coordinate system (X c ,Y c ,Z c ), after the coordinate system conversion, the coordinate set (X c ,Y c ,Z c ) is converted into the coordinate set (X b ,Y b ,Z b );

[0026] Set the range of motion of each joint of the robot arm in Cartesian space. The range of motion is (i=1,2,…,n), where n is the number of joints of the robotic arm, thereby constructing a Cartesian virtual wall in the robotic arm base coordinate system on the patient's head. When any joint of the robotic arm approaches the virtual wall, it will be subject to a large stiffness to prevent it from entering the virtual wall. The redundant characteristics are used to self-motionally adjust the arm configuration of the robotic arm, which can effectively avoid collision with the patient's head and joint limitation, thereby protecting the patient's safety.

[0027] Furthermore, a collision detection model is constructed between the patient's head and the robotic arm. The specific steps are as follows:

[0028] The RGBD camera / lidar obtains the patient's head 3D coordinate set in the camera coordinate system (X c ,Y c ,Z c), after the coordinate system conversion, the coordinate set (X c ,Y c ,Z c ) is converted into the coordinate set (X b ,Y b ,Z b );

[0029] Establish collision bounding boxes for the patient's head and the robotic arm respectively, wherein the collision bounding box of the patient's head is established based on the point cloud information, and the collision bounding box of the robotic arm is established based on the three-dimensional model, including but not limited to a spherical swept convex bounding box, an axial bounding box (AABB), a spherical bounding box (Sphere), an directional bounding box (OBB), a discrete directional polyhedron bounding box (K-DOP) and a swept volume bounding box (SSV);

[0030] Taking the ball-swept convex body bounding box as an example, the patient head bounding box V(r1,P1)=convP1+r1 is established, and the robotic arm bounding box V(r2,P2)=convP2+r2 is established, where convP1 and convP2 are the convex bodies formed by the patient's head and the robotic arm, respectively, and r1 and r2 are the allowable error terms of the patient's head and the robotic arm's ball-swept convex bodies, respectively;

[0031] The shortest distance l between the patient's head and the robotic arm collision bounding box is calculated in real time, and the collision threshold l' is set. When l<l', the robotic arm is controlled to adopt a safety protection strategy including but not limited to deceleration, reverse movement, stop movement, and self-motion adjustment of the robotic arm configuration to protect the patient's safety.

[0032] Further, the specific steps of lying-down cardiac ultrasound scanning are as follows:

[0033] The patient lies flat on the bed, the angle between the lower shell and the upper shell of the cardiac ultrasound probe clamping device is adjusted to 0 degrees, and the angle of the adjustable bracket of the side-lying operating table is adjusted to 0 degrees;

[0034] The doctor holds the special operating handle for cardiac ultrasound and uses the lying cardiac ultrasound scanning technique to simulate the scan on the side-lying operating table. The special operating handle for cardiac ultrasound collects the position, posture, and strength information of the technique in real time, and transmits the information to the robot control end computer through the cardiac ultrasound operating end computer in real time. The robot control end computer calculates the expected position, posture or speed, and angular velocity of the robotic arm based on the technique information, and inputs it into the safety protection model to generate real-time control instructions to complete the patient's cardiac ultrasound remote operation scan.

[0035] Further, the specific steps of lateral cardiac ultrasound scanning are as follows:

[0036] The patient lies on his side in bed. At this time, the redundant degree of freedom of the robot arm alone cannot meet the requirements of the scanning posture. Another redundant degree of freedom in the execution system, that is, the angle between the lower shell and the upper shell in the cardiac ultrasound probe clamping device, is adjusted to meet the robot arm's requirements for the working space required for side-lying cardiac ultrasound scanning. After adjusting the angle, the tool coordinate system at the end of the robot arm is recalibrated.

[0037] When doctors perform side-lying cardiac ultrasound scanning, the probe is often tilted to 90 degrees. At this time, the side-lying operating table placed horizontally at 0 degrees obviously cannot meet the need for the probe to touch the side-lying operating table. The tilt angle of the adjustable bracket of the side-lying operating table is adjusted to meet the need of the doctor's special cardiac ultrasound operating handle to normally touch the side-lying operating table during the side-lying cardiac ultrasound scanning technique;

[0038] The doctor holds the special operating handle for cardiac ultrasound and uses the side-lying cardiac ultrasound scanning technique to simulate the scan on the side-lying operating table. The special operating handle for cardiac ultrasound collects the position, posture, and strength information of the technique in real time, and transmits the information to the robot control end computer through the cardiac ultrasound operating end computer in real time. The robot control end computer calculates the expected position, posture or speed, and angular velocity of the robotic arm based on the technique information, and inputs it into the safety protection model to generate real-time control instructions to complete the patient's cardiac ultrasound remote operation scan.

[0039] The working principle and beneficial effects of the present invention are:

[0040] The scanning system and method provided in the present invention solve the problem of the small posture range of existing remote robot cardiac ultrasound scanning through an angle-adjustable side-lying operating table and a cardiac ultrasound probe clamping device. At the same time, a safety protection model and a safety protection strategy are established for the patient's head, which can effectively ensure the safety of cardiac ultrasound scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0042] Figure 1 A schematic diagram of a cardiac ultrasound teleoperation scanning system according to the present invention;

[0043] Figure 2 It is a partial schematic diagram of the cardiac ultrasound teleoperation scanning system of the present invention;

[0044] Figure 3 It is a schematic diagram of the cardiac ultrasound probe clamping device of the present invention;

[0045] Figure 4 It is a structural schematic diagram of the side-lying operating table of the present invention;

[0046] Figure 5 It is a system block diagram of the present invention.

[0047] In the figure: 10, special operating handle for cardiac ultrasound; 20, side-lying operating table; 21, adjustable bracket; 30, mechanical arm; 40, clamping device for cardiac ultrasound probe; 41, upper shell; 42, fixing plate; 43, spring pin; 44, groove; 45, lower shell; 46, bump; 47, torsion spring; 50, cardiac ultrasound operating terminal computer; 60, robot control terminal computer; 70, RGBD camera / lidar; 80, bed. DETAILED DESCRIPTION

[0048] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example 1

[0050] like Figure 1 to Figure 5 As shown, this embodiment proposes a cardiac ultrasound teleoperation scanning system, which includes:

[0051] A dedicated cardiac ultrasound operating handle 10, which contains a posture, position, and force sensor, is used to receive the doctor's cardiac ultrasound scanning technique, convert the technique into position, posture, and force information and send it to the cardiac ultrasound operating terminal computer 50;

[0052] A side-lying operating table 20 is provided with an adjustable bracket 21 at the bottom, and the angle between the side-lying operating table 20 and the desktop can be adjusted by α (0≤α≤90) degrees through the adjustable bracket 21, and the cardiac ultrasound special operating handle 10 can move on the side-lying operating table 20;

[0053] The robot arm 30 has a redundant adjustment capability, can effectively avoid joint limits to reach a specified position, and has higher flexibility and collision avoidance capability than ordinary robot arms in cardiac ultrasound scanning. The end of the robot arm 30 is equipped with a cardiac ultrasound probe clamping device 40; it is used to receive control instructions from the robot control end computer 60 and complete corresponding movements; and feed back information on position, posture, and force to the robot control end computer 60;

[0054] The cardiac ultrasound probe clamping device 40 is used to clamp and fix the cardiac ultrasound probe to rotate by β (0≤β≤90) degrees, which is installed at the end of the mechanical arm 30, and one redundant degree of freedom is added at the end of the mechanical arm 30 to meet the requirements of cardiac ultrasound scanning on the posture of the cardiac ultrasound probe;

[0055] The cardiac ultrasound operation terminal computer 50 is connected to the cardiac ultrasound special operation handle 10 for communication, and is used to receive position, posture, and force information, and send the information to the robot control terminal computer 60 via wired or wireless communication;

[0056] The robot control end computer 60 is connected and communicated with the robot arm 30 and the RGBD camera / lidar 70, and calculates the corresponding control instructions according to the position, posture and force information sent by the cardiac ultrasound operation end computer 50 and sends them to the robot arm 30, and receives feedback information from the robot arm 30;

[0057] RGBD camera / lidar 70, used to obtain the head point cloud information of the patient undergoing cardiac ultrasound and the RGB image of the patient's surroundings, and send this information to the robot control terminal computer 60;

[0058] The bed 80 is used for the patient to lie down or lie on his side.

[0059] The cardiac ultrasound probe clamping device 40 can achieve multi-angle adjustment, which includes an upper shell 41, a fixed plate 42, a locking device, an unlocking device, a rebound device, and a lower shell 45; the locking device includes a groove 44 and a protrusion 46, the unlocking device includes a spring pin 43, and the rebound device includes a torsion spring 47; the upper shell 41 is rigidly connected to the fixed plate 42, and the fixed plate 42 and the lower shell 45 are connected through the spring pin 43 in the unlocking device. When the spring pin 43 is pressed and compressed, the protrusion 46 fixed thereon can slide along the track of the groove 44 to complete the unlocking, and the torsion spring 47 in the rebound device automatically pulls the lower shell 45 to rotate by β degrees. After the spring pin 43 bounces up, this angle can be maintained, and the groove 44 and the protrusion 46 fit together to complete the locking, and one end of the upper shell 41 is movably loaded with the end of the mechanical arm 30.

[0060] An adjustable bracket 21 is installed at the bottom of the side-lying operating table 20. As the patient's body position for cardiac ultrasound scanning is adjusted, the angle α between the side-lying operating table 20 and the desktop can also be adjusted accordingly, with an adjustment range of 0° horizontal placement to 90° vertical placement; the side-lying operating table 20 contains flexible anthropomorphic material inside, which can provide anthropomorphic force feedback by pressing.

[0061] In this embodiment, a cardiac ultrasound teleoperation scanning system is proposed that can realize remote operation scanning, has a larger multi-angle free scanning range, and can meet the requirements of multi-angle scanning during cardiac ultrasound teleoperation.

[0062] Example 2

[0063] like Figure 1 to Figure 5 As shown, based on Example 1, a cardiac ultrasound teleoperation scanning method is also proposed, comprising the following steps:

[0064] Establish a security protection model;

[0065] Lying flat cardiac ultrasound scan;

[0066] Lateral lying cardiac ultrasound scan.

[0067] Furthermore, the establishment of the safety protection model includes constructing a virtual wall on the patient's head and constructing a collision detection model between the patient's head and the robotic arm 30 . This function is established in the robot control terminal computer 60 .

[0068] Furthermore, a virtual wall is constructed on the patient's head. The specific steps are as follows:

[0069] The RGBD camera / lidar 70 obtains the patient's head three-dimensional coordinate set (X c ,Y c ,Z c ), after the coordinate system conversion, the coordinate set (X c ,Y c ,Z c ) is converted into the coordinate set (X b ,Y b ,Z b );

[0070] Set the range of motion of each joint of the robot arm 30 in Cartesian space, which is (i=1,2,…,n), where n is the number of joints of the robotic arm, thereby constructing a Cartesian virtual wall in the robotic arm base coordinate system on the patient's head. When any joint of the robotic arm 30 approaches the virtual wall, it will be subject to a greater stiffness to prevent it from entering the virtual wall, and the arm configuration of the robotic arm 30 is adjusted by self-motion using the redundant characteristics, which can effectively avoid collision with the patient's head and joint limitation, thereby protecting the patient's safety.

[0071] Furthermore, a collision detection model is constructed between the patient's head and the robotic arm 30, and the specific steps are as follows:

[0072] The RGBD camera / lidar 70 obtains the patient's head three-dimensional coordinate set (X c ,Y c ,Z c ), after the coordinate system conversion, the coordinate set (X c ,Y c ,Z c ) is converted into the coordinate set (X b ,Y b ,Z b );

[0073] Establish collision bounding boxes for the patient's head and the robotic arm 30 respectively, wherein the collision bounding box of the patient's head is established based on the point cloud information, and the collision bounding box of the robotic arm 30 is established based on the three-dimensional model, including but not limited to a spherical swept convex bounding box, an axial bounding box (AABB), a spherical bounding box (Sphere), an directional bounding box (OBB), a discrete directional polyhedron bounding box (K-DOP) and a swept volume bounding box (SSV);

[0074] Taking the ball-swept convex body bounding box as an example, establish the patient head bounding box V(r1, P1) = convP1 + r1, and establish the robot arm 30 bounding box V(r2, P2) = convP2 + r2, where convP1 and convP2 are the convex bodies formed by the patient head and the robot arm 30, respectively, and r1 and r2 are the allowable error terms of the patient head and the robot arm 30 ball-swept convex body, respectively;

[0075] The shortest distance l between the patient's head and the collision bounding box of the robotic arm ball 30 is calculated in real time, and a collision threshold l' is set. When l<l', the robotic arm 30 is controlled to adopt a safety protection strategy including but not limited to deceleration, reverse movement, stop movement, and self-motion adjustment of the arm configuration of the robotic arm 30 to protect the safety of the patient.

[0076] Further, the specific steps of lying-down cardiac ultrasound scanning are as follows:

[0077] The patient lies flat on the bed, and the angle between the lower shell 45 and the upper shell 41 of the cardiac ultrasound probe clamping device 40 is adjusted to 0 degrees, and the angle of the adjustable bracket 21 of the side-lying operating table 20 is adjusted to 0 degrees;

[0078] The doctor holds the special cardiac ultrasound operating handle 10 and uses the flat-lying cardiac ultrasound scanning technique to simulate the scanning on the side-lying operating table 20. The special cardiac ultrasound operating handle 10 collects the position, posture, and force information of the technique in real time, and transmits the information to the robot control end computer 60 in real time through the cardiac ultrasound operating end computer 50. The robot control end computer 60 calculates the expected position, posture or speed, and angular velocity of the robot arm 30 based on the technique information, and inputs it into the safety protection model to generate real-time control instructions to complete the patient's cardiac ultrasound remote operation scanning.

[0079] Further, the specific steps of lateral cardiac ultrasound scanning are as follows:

[0080] The patient lies on his side on the bed. At this time, the redundant degree of freedom of the robot arm 30 alone cannot meet the requirements of the scanning posture. Another redundant degree of freedom in the execution system is adjusted, that is, the angle between the lower shell 45 and the upper shell 41 in the cardiac ultrasound probe clamping device 40 is adjusted to about 70° to meet the requirements of the robot arm 30 for the working space required for the side-lying cardiac ultrasound scanning. After adjusting the angle, the tool coordinate system at the end of the robot arm 30 is recalibrated;

[0081] When the doctor performs a side-lying cardiac ultrasound scan, the probe is often tilted to 90 degrees. At this time, the side-lying operating table 20 placed horizontally at 0 degrees obviously cannot meet the need for the probe to contact the side-lying operating table 20. The angle of the adjustable bracket 21 of the side-lying operating table 20 is adjusted to about 70 degrees to meet the doctor's need for the cardiac ultrasound dedicated operating handle 10 to normally contact the side-lying operating table 20 during the side-lying cardiac ultrasound scanning technique.

[0082] The doctor holds the special cardiac ultrasound operating handle 10 and uses the side-lying cardiac ultrasound scanning technique to simulate the scanning on the side-lying operating table 20. The special cardiac ultrasound operating handle 10 collects the position, posture, and force information of the technique in real time, and transmits the information to the robot control end computer 60 in real time through the cardiac ultrasound operating end computer 50. The robot control end computer 60 calculates the expected position, posture or speed, and angular velocity of the robot arm 30 based on the technique information, and inputs it into the safety protection model to generate real-time control instructions to complete the patient's cardiac ultrasound remote operation scanning.

[0083] In this embodiment, the patient's heart can be scanned by remote control while the patient is lying or lying on his side. In actual application, the patient's heart scan can be effectively completed, which effectively ensures that the patient will not be harmed due to the movement of the equipment, and at the same time can effectively increase the posture range of the robot's terminal.

[0084] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A cardiac ultrasound teleoperation scanning system, characterized in that: They include: A special cardiac ultrasound operating handle (10) containing a posture, position and force sensor for receiving a doctor's cardiac ultrasound scanning technique, converting the technique into position, posture and force information and sending it to a cardiac ultrasound operating terminal computer (50); A side-lying operating table (20) is provided with an adjustable bracket (21) at the bottom, and the angle between the side-lying operating table (20) and the desktop can be adjusted by α (0≤α≤90) degrees through the adjustable bracket (21), and a special operating handle (10) for cardiac ultrasound can move on the side-lying operating table (20); The robot arm (30) has a redundant adjustment capability, can effectively avoid joint limits to reach a specified position, and has higher flexibility and collision avoidance capability than ordinary robot arms in cardiac ultrasound scanning. The end of the robot arm (30) is equipped with a cardiac ultrasound probe clamping device (40); it is used to receive control instructions from a robot control end computer (60) and complete corresponding movements; and feed back information on position, posture, and force to the robot control end computer (60); A cardiac ultrasound probe clamping device (40) is used to clamp and fix the cardiac ultrasound probe to rotate by β (0≤β≤90) degrees, and is installed at the end of a mechanical arm (30). One redundant degree of freedom is added to the end of the mechanical arm (30) to meet the requirements of cardiac ultrasound scanning for the posture of the cardiac ultrasound probe; The cardiac ultrasound operation terminal computer (50) is connected to the cardiac ultrasound special operation handle (10) for communication, and is used to receive position, posture, and force information, and send the information to the robot control terminal computer (60) via wired or wireless communication; The robot control end computer (60) is connected to the robot arm (30) and the RGBD camera / laser radar (70) for communication, and calculates corresponding control instructions based on the position, posture, and force information sent by the cardiac ultrasound operation end computer (50) and sends them to the robot arm (30), while receiving feedback information from the robot arm (30); An RGBD camera / laser radar (70) is used to obtain the head point cloud information of the patient undergoing cardiac ultrasound and the RGB image of the patient's surroundings, and send this information to the robot control end computer (60); The bed body (80) is used for patients to lie down or lie on their side.

2. The cardiac ultrasound teleoperation scanning system according to claim 1, characterized in that: The cardiac ultrasound probe clamping device (40) can realize multi-angle adjustment, and comprises an upper shell (41), a fixing plate (42), a locking device, an unlocking device, a rebound device, and a lower shell (45); the locking device comprises a groove (44) and a convex block (46); the unlocking device comprises a spring pin (43); and the rebound device comprises a torsion spring (47); the upper shell (41) is rigidly connected to the fixing plate (42); the fixing plate (42) and the lower shell (45) are unlocked. The spring pin (43) in the device is connected. When the spring pin (43) is pressed and compressed, the protrusion (46) fixed thereon can slide along the track of the groove (44) to complete the unlocking. The torsion spring (47) in the rebound device automatically pulls the lower shell (45) to rotate by β degrees. After the spring pin (43) bounces up, this angle can be maintained. The groove (44) and the protrusion (46) fit together to complete the locking. One end of the upper shell (41) is movably loaded with the end of the mechanical arm (30).

3. The cardiac ultrasound teleoperation scanning system according to claim 1, characterized in that: An adjustable bracket (21) is installed at the bottom of the side-lying operating table (20). As the patient's body position for cardiac ultrasound scanning is adjusted, the angle α between the side-lying operating table (20) and the tabletop can also be adjusted accordingly, with an adjustment range of 0° horizontal placement to 90° vertical placement. The side-lying operating table (20) contains a flexible anthropomorphic material inside, which can provide anthropomorphic force feedback by pressing.

4. A cardiac ultrasound teleoperation scanning method, using the cardiac ultrasound teleoperation scanning system according to any one of claims 1 to 3, characterized in that: The following steps are involved: Establish a security protection model; Lying flat cardiac ultrasound scan; Lateral lying cardiac ultrasound scan.

5. The cardiac ultrasound teleoperation scanning method according to claim 4, characterized in that: The establishment of the safety protection model includes constructing a virtual wall on the patient's head and constructing a collision detection model between the patient's head and the robot arm (30). This function is established in the robot control end computer (60).

6. The cardiac ultrasound teleoperation scanning method according to claim 5, characterized in that: Build a virtual wall on the patient's head. The specific steps are as follows: The RGBD camera / lidar (70) obtains the patient's head three-dimensional coordinate set (X c ,Y c ,Z c ), after the coordinate system conversion, the coordinate set (X c ,Y c ,Z c ) is converted into the coordinate set (X b ,Y b ,Z b ); The motion range of each joint of the robot arm (30) in Cartesian space is set to be Where n is the number of joints of the robotic arm, thereby constructing a Cartesian virtual wall in the robotic arm base coordinate system on the patient's head. When any joint of the robotic arm (30) approaches the virtual wall, it will be subject to greater stiffness to prevent it from entering the virtual wall. The arm configuration of the robotic arm (30) is adjusted by self-motion using the redundant characteristics, which can effectively avoid collision with the patient's head and joint limitation, thereby protecting the patient's safety.

7. The cardiac ultrasound teleoperation scanning method according to claim 5, characterized in that: A collision detection model is constructed between the patient's head and the robotic arm (30), and the specific steps are as follows: The RGBD camera / lidar (70) obtains the patient's head three-dimensional coordinate set (X c ,Y c ,Z c ), after the coordinate system conversion, the coordinate set (X c ,Y c ,Z c ) is transformed into the coordinate set (X b ,Y b ,Z b ); Establish collision bounding boxes for the patient's head and the robotic arm (30) respectively, wherein the collision bounding box of the patient's head is established based on the point cloud information, and the collision bounding box of the robotic arm (30) is established based on the three-dimensional model, including but not limited to a spherical swept convex bounding box, an axial bounding box (AABB), a spherical bounding box (Sphere), an directional bounding box (OBB), a discrete directional polyhedron bounding box (K-DOP) and a swept volume bounding box (SSV); The shortest distance l between the patient's head and the collision bounding box of the robotic arm (30) is calculated in real time, and a collision threshold l' is set. When l<l', the robotic arm (30) is controlled to adopt a safety protection strategy including but not limited to deceleration, reverse movement, stop movement, and self-motion adjustment of the arm configuration of the robotic arm (30) to protect the safety of the patient.

8. The cardiac ultrasound teleoperation scanning method according to claim 4, characterized in that: The specific steps of lying-flat cardiac ultrasound scanning are as follows: The patient lies flat on the bed, the angle between the lower shell (45) and the upper shell (41) of the cardiac ultrasound probe clamping device (40) is adjusted to 0 degrees, and the angle of the adjustable bracket (21) of the side-lying operating table (20) is adjusted to 0 degrees; The doctor holds the dedicated cardiac ultrasound operating handle (10) and uses the flat-lying cardiac ultrasound scanning technique to simulate scanning on the side-lying operating table (20). The dedicated cardiac ultrasound operating handle (10) collects the position, posture, and force information of the technique in real time, and transmits the information to the robot control end computer (60) in real time through the cardiac ultrasound operating end computer (50). The robot control end computer (60) calculates the expected position, posture or speed, and angular velocity of the robot arm (30) based on the technique information, and inputs it into the safety protection model to generate real-time control instructions, thereby completing the cardiac ultrasound teleoperation scanning of the patient.

9. The cardiac ultrasound teleoperation scanning method according to claim 4, characterized in that: The specific steps of lateral recumbent cardiac ultrasound scanning are as follows: The patient lies on his side in bed. At this time, the redundant degree of freedom of the mechanical arm (30) alone cannot meet the requirements of the scanning posture. Another redundant degree of freedom in the execution system, that is, the angle between the lower shell (45) and the upper shell (41) in the cardiac ultrasound probe clamping device (40) is adjusted to adjust the tilt angle to meet the requirements of the mechanical arm (30) for the working space required for the side-lying cardiac ultrasound scanning. After the angle is adjusted, the tool coordinate system at the end of the mechanical arm (30) is recalibrated; When the doctor performs a side-lying cardiac ultrasound scan, the probe is often tilted to 90 degrees. At this time, the side-lying operating table (20) placed horizontally at 0 degrees obviously cannot meet the requirement of the probe contacting the side-lying operating table (20). The tilt angle of the adjustable bracket (21) of the side-lying operating table (20) is adjusted to meet the doctor's requirement that the cardiac ultrasound special operating handle (10) can normally contact the side-lying operating table (20) during the side-lying cardiac ultrasound scanning technique; The doctor holds the dedicated cardiac ultrasound operating handle (10) and uses the side-lying cardiac ultrasound scanning technique to simulate scanning on the side-lying operating table (20). The dedicated cardiac ultrasound operating handle (10) collects the position, posture, and force information of the technique in real time, and transmits the information to the robot control end computer (60) in real time through the cardiac ultrasound operating end computer (50). The robot control end computer (60) calculates the expected position, posture or speed, and angular velocity of the robot arm (30) based on the technique information, and inputs it into the safety protection model to generate real-time control instructions, thereby completing the cardiac ultrasound teleoperation scanning of the patient.

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