A system and method for remotely manipulating cardiac ultrasound

Abstract

This invention relates to the field of remote robotic ultrasound scanning technology, and proposes a cardiac ultrasound teleoperated scanning system and method. The scanning system includes: a dedicated cardiac ultrasound operating handle; a lateral recumbent operating table; a robotic arm; a cardiac ultrasound probe clamping device; a cardiac ultrasound operating terminal computer; a robot control terminal computer; an RGBD camera / LiDAR; and a bed. The scanning method includes the following steps: establishing a safety protection model; supine cardiac ultrasound scanning; and lateral recumbent cardiac ultrasound scanning. Through the above technical solution, the problems of insufficient posture range and difficulty in ensuring safety in existing remote robotic cardiac ultrasound scanning are solved. The adjustable lateral recumbent operating table and cardiac ultrasound probe clamping device address the issue of insufficient posture range in existing remote robotic cardiac ultrasound scanning. Simultaneously, the establishment of a safety protection model for the patient's head and the implementation of safety protection strategies effectively ensure the safety of cardiac ultrasound scanning, resulting in better application effects.

Description

Technical Field

[0001] This invention relates to the field of remote robotic ultrasound scanning technology, specifically to a cardiac ultrasound teleoperated scanning system and method. Background Technology

[0002] Network-based robotic teleoperation technology is playing an increasingly important role in healthcare, especially in robotic remote ultrasound scanning. Cardiac ultrasound scanning is particularly challenging and demanding, as it requires viewing all standard sections of the ultrasound images. This typically necessitates the patient adopting a supine and lateral decubitus position, placing extremely high demands on the robot's end effector's range of motion. Conventional robotic arms with 6 degrees of freedom or less often struggle to meet these requirements. Furthermore, the overall safety of the robotic scanning process must be carefully considered. The application of remote ultrasound scanning helps to alleviate the uneven distribution of healthcare resources across different regions, and remote-controlled examinations bridge the gap in medical resources across different areas.

[0003] For example, the methods mentioned in patents such as CN 114789445B: A hand system and method for operating a remote cardiac ultrasound robot, CN 113499094B: A cardiac ultrasound examination device and method guided by vision and force feedback, and CN113180738A: A virtual probe and diagnostic system for remote cardiac ultrasound, solve the problem of remote operation, but do not solve the difficulties of cardiac ultrasound scanning, such as the large requirements for the robot's end-effector posture range and how to ensure the safety of the scanning.

[0004] Therefore, how to solve the problem of the large requirements for the robot's end-effector posture range in cardiac ultrasound scanning 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] This invention proposes a remotely operated cardiac ultrasound scanning system and method, which solves the problems mentioned in the background art, such as the small posture range and difficulty in ensuring safety of existing remote robotic cardiac ultrasound scanning.

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

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

[0009] The dedicated operating handle for cardiac ultrasound contains posture, position, and force sensors to receive the doctor's cardiac ultrasound scanning techniques and convert the techniques into position, posture, and force information, which is then sent to the cardiac ultrasound operating terminal computer.

[0010] The side-lying operating table has an adjustable support at the bottom, which allows the angle between the side-lying operating table and the tabletop to be adjusted by α (0≤α≤90) degrees. The special operating handle for cardiac ultrasound can be moved on the side-lying operating table.

[0011] The robotic arm, with redundant adjustment capabilities, can effectively avoid joint limitations to reach the designated position and posture. In cardiac ultrasound scanning, it has higher flexibility and collision avoidance capabilities than ordinary robotic arms. The end of the robotic arm is equipped with a cardiac ultrasound probe gripper. It is used to receive control commands from the robot control computer and complete the corresponding movements. It also feeds back position, posture, and force information to the robot control computer.

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

[0013] The cardiac ultrasound operating terminal computer is connected and communicates with the dedicated cardiac ultrasound operating handle to receive position, attitude, and force information, and transmits this information to the robot control terminal computer via wired or wireless communication.

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

[0015] RGBD camera / LiDAR is used to acquire point cloud information of the head of the patient undergoing cardiac ultrasound and RGB images of the surrounding environment, and send this information to the computer controlling the robot.

[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 includes an upper shell, a fixing plate, a locking device, an unlocking device, a spring-loaded device, and a lower shell; the locking device includes a groove and a protrusion, the unlocking device includes a spring pin, and the spring-loaded device includes a torsion spring; the upper shell is rigidly connected to the fixing plate, and the fixing plate and the lower shell are connected by the spring pin in the unlocking device. When the spring pin is pressed and compressed, the protrusion fixed to it can slide along the trajectory of the groove to complete the unlocking. The torsion spring in the spring-loaded device automatically pulls the lower shell to rotate by β degrees. After the spring pin springs up, it can maintain this angle. The groove and the protrusion fit together to complete the locking. 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, the bottom of the side-lying operating table is equipped with an adjustable bracket. As the patient's position for cardiac ultrasound is adjusted, the angle α between the side-lying operating table and the table can also be adjusted accordingly, with an adjustment range from 0° horizontal placement to 90° vertical placement. The side-lying operating table contains flexible humanoid material, which can provide humanoid force feedback by pressing.

[0019] The present invention also includes a method for remotely manipulating cardiac ultrasound, comprising the following steps:

[0020] Establish a security protection model;

[0021] Lying-down cardiac ultrasound scan;

[0022] Lateral decubitus echocardiography.

[0023] Furthermore, the establishment of the safety protection model includes constructing a virtual wall around the patient's head and a collision detection model between the patient's head and the robotic arm, a function built into the robot control computer.

[0024] Furthermore, a virtual wall is constructed above the patient's head, with the following specific steps:

[0025] RGBD camera / LiDAR acquires the patient's head three-dimensional coordinate set in the camera coordinate system (X). c ,Y c Z c After coordinate system transformation, the coordinate set (X) is... c ,Y c Z c Transform the coordinates into the coordinate set (X) of the robotic arm's base coordinate system. b ,Y b Z b );

[0026] Define the range of motion of each joint of the robotic arm in Cartesian space. (i = 1, 2, ..., n), where n is the number of robotic arm joints, thus constructing a Cartesian virtual wall in the robotic arm's base coordinate system at the patient's head. When any joint of the robotic arm approaches the virtual wall, it will be subject to greater stiffness to prevent it from entering the virtual wall. The robotic arm's arm configuration is adjusted by self-motion using redundancy characteristics, which can effectively avoid collisions with the patient's head and joint limitations, thus 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] RGBD camera / LiDAR acquires the patient's head three-dimensional coordinate set in the camera coordinate system (X). c ,Y c Z cAfter coordinate system transformation, the coordinate set (X) is... c ,Y c Z c Transform the coordinates into the coordinate set (X) of the robotic arm's base coordinate system. b ,Y b Z b );

[0029] Collision bounding boxes are created for the patient's head and the robotic arm, respectively. The collision bounding box for the patient's head is created based on point cloud information, and the collision bounding box for the robotic arm is created based on the 3D model. These include, but are not limited to, sphere swept convex bounding box, axial bounding box (AABB), sphere bounding box (Sphere), orientation bounding box (OBB), discrete orientation polyhedron bounding box (K-DOP), and swept volume bounding box (SSV).

[0030] Taking the ball-sweeping convex bounding box as an example, the bounding box of the patient's head is established as V(r1,P1)=convP1+r1, and the bounding box of the robotic arm is established as V(r2,P2)=convP2+r2, 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 ball-sweeping convex bodies of the patient's head and the robotic arm, respectively.

[0031] The system calculates the shortest distance l between the patient's head and the collision bounding box of the robotic arm in real time, sets a collision threshold l′, and controls the robotic arm to adopt safety protection strategies including but not limited to deceleration, reverse movement, stopping movement, and self-adjustment of the robotic arm configuration when l < l′, in order to protect the patient's safety.

[0032] Furthermore, the specific steps for a supine cardiac ultrasound scan are as follows:

[0033] With the patient lying flat on the bed, adjust the angle between the lower and upper housings of the cardiac ultrasound probe clamping device to 0 degrees, and adjust the angle of the adjustable support of the side-lying operating table to 0 degrees.

[0034] The doctor uses a special cardiac ultrasound operating handle to simulate a cardiac ultrasound scan on a side-lying operating table while lying supine. The special cardiac ultrasound operating handle collects the position, posture, and force information of this technique in real time, and transmits this information to the robot control computer in real time through the cardiac ultrasound operating terminal computer. The robot control computer calculates the desired 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 commands to complete the remote cardiac ultrasound scan of the patient.

[0035] Furthermore, the specific steps for lateral decubitus echocardiography are as follows:

[0036] With the patient lying on their side on the bed, the redundant degrees of freedom of the robotic arm alone cannot meet the requirements of the scanning posture. The other redundant degree of freedom in the execution system is adjusted, namely the tilt angle between the lower and upper housings in the cardiac ultrasound probe clamping device, to meet the workspace requirements of the robotic arm for the lateral cardiac ultrasound scanning. After adjusting the angle, the coordinate system of the robotic arm end tool is recalibrated.

[0037] When doctors perform lateral recumbent echocardiography, the probe is often tilted to 90 degrees. At this time, the 0-degree horizontal lateral recumbent operating table obviously cannot meet the needs of the probe to contact the lateral recumbent operating table. Adjusting the lateral recumbent operating table can adjust the tilt angle of the support to meet the needs of doctors to make normal contact with the lateral recumbent operating table during the lateral recumbent echocardiography technique.

[0038] The doctor uses a special cardiac ultrasound operating handle to simulate a cardiac ultrasound scan on a side-lying operating table. The special cardiac ultrasound operating handle collects the position, posture, and force information of the technique in real time, and transmits this information to the robot control computer in real time through the cardiac ultrasound operating terminal computer. The robot control computer calculates the desired 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 commands to complete the remote operation of cardiac ultrasound scan on the patient.

[0039] The working principle and beneficial effects of this invention are as follows:

[0040] The scanning system and method provided in this invention solves the problem of the limited posture range of existing remote robotic cardiac ultrasound scanning by using an adjustable-angle side-lying operating table and a cardiac ultrasound probe clamping device. At the same time, the establishment of a safety protection model for the patient's head and the implementation of safety protection strategies can effectively ensure the safety of cardiac ultrasound scanning. Attached Figure Description

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

[0042] Figure 1 This is a schematic diagram of the cardiac ultrasound remote scanning system of the present invention;

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

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

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

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

[0047] In the diagram: 10. Cardiac ultrasound operating handle; 20. Side-lying operating table; 21. Adjustable support; 30. Robotic arm; 40. Cardiac ultrasound probe clamping device; 41. Upper housing; 42. Fixing plate; 43. Spring pin; 44. Groove; 45. Lower housing; 46. Protrusion; 47. Torsion spring; 50. Cardiac ultrasound operating terminal computer; 60. Robot control terminal computer; 70. RGBD camera / LiDAR; 80. Bed. Detailed Implementation

[0048] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0049] Example 1

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

[0051] The dedicated operating handle 10 for cardiac ultrasound contains posture, position and force sensors to receive the doctor's cardiac ultrasound scanning techniques and convert the techniques into position, posture and force information, which is then sent to the cardiac ultrasound operating terminal computer 50.

[0052] The side-lying operating table 20 has an adjustable support 21 installed at the bottom. The angle between the side-lying operating table 20 and the table can be adjusted by α (0≤α≤90) degrees through the adjustable support 21. The special operating handle 10 for cardiac ultrasound can move on the side-lying operating table 20.

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

[0054] The cardiac ultrasound probe clamping device 40 is used to clamp and fix the cardiac ultrasound probe for rotation of β (0≤β≤90) degrees. It is installed at the end of the robotic arm 30, and one redundant degree of freedom is added at the end of the robotic arm 30 to meet the requirements of cardiac ultrasound scanning for the posture of the cardiac ultrasound probe.

[0055] The cardiac ultrasound operating terminal computer 50 is connected and communicates with the cardiac ultrasound dedicated operating handle 10 to receive position, attitude and force information, and transmit this information to the robot control terminal computer 60 through wired or wireless communication.

[0056] The robot control computer 60 is connected and communicates with the robotic arm 30 and the RGBD camera / LiDAR 70. Based on the position, posture and force information sent by the cardiac ultrasound operation computer 50, it calculates the corresponding control commands and sends them to the robotic arm 30, while receiving feedback information from the robotic arm 30.

[0057] RGBD camera / LiDAR 70 is used to acquire point cloud information of the head of the patient undergoing cardiac ultrasound and RGB images of the surrounding environment, and send this information to the robot control computer 60.

[0058] The bed is 80cm long and is used for patients to lie down or lie on their side.

[0059] The cardiac ultrasound probe clamping device 40 is adjustable at multiple angles and includes an upper housing 41, a fixing plate 42, a locking device, an unlocking device, a spring-loaded device, and a lower housing 45. The locking device includes a groove 44 and a protrusion 46, the unlocking device includes a spring pin 43, and the spring-loaded device includes a torsion spring 47. The upper housing 41 is rigidly connected to the fixing plate 42, and the fixing plate 42 and the lower housing 45 are connected by the spring pin 43 in the unlocking device. When the spring pin 43 is pressed and compressed, the protrusion 46 fixed to it can slide along the trajectory of the groove 44 to complete the unlocking. The torsion spring 47 in the spring-loaded device automatically pulls the lower housing 45 to rotate by β degrees. After the spring pin 43 springs up, it can maintain this angle. The groove 44 and the protrusion 46 fit together to complete the locking. One end of the upper housing 41 is movably loaded with the end of the robotic arm 30.

[0060] The side-lying operating table 20 is equipped with an adjustable support 21 at its bottom. As the patient's position during the cardiac ultrasound scan is adjusted, the angle α between the side-lying operating table 20 and the table can also be adjusted accordingly, ranging from 0° horizontal placement to 90° vertical placement. The side-lying operating table 20 contains flexible humanoid material, which can provide human-like force feedback when pressed.

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

[0062] Example 2

[0063] like Figures 1-5 As shown, based on Example 1, a method for remotely manipulating cardiac ultrasound is also proposed, including the following steps:

[0064] Establish a security protection model;

[0065] Lying-down cardiac ultrasound scan;

[0066] Lateral decubitus echocardiography.

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

[0068] Furthermore, a virtual wall is constructed above the patient's head, with the following specific steps:

[0069] RGBD camera / LiDAR 70 acquires the patient's head three-dimensional coordinate set in the camera coordinate system (X) c ,Y c Z c After coordinate system transformation, the coordinate set (X) is... c ,Y c Z c Transform the coordinates into the coordinate set (X) of the robotic arm's base coordinate system. b ,Y b Z b );

[0070] The range of motion of each of the 30 joints of the robotic arm in Cartesian space is set, and this range of motion is: (i = 1, 2, ..., n), where n is the number of robotic arm joints, thus constructing a Cartesian virtual wall in the robotic arm base coordinate system at 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 redundancy characteristics, which can effectively avoid collisions with the patient's head and joint limitation, thus protecting the patient's safety.

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

[0072] RGBD camera / LiDAR 70 acquires the patient's head three-dimensional coordinate set in the camera coordinate system (X) c ,Y c Z c After coordinate system transformation, the coordinate set (X) is... c ,Y c Z c Transform the coordinates into the coordinate set (X) of the robotic arm's base coordinate system. b ,Y b Z b );

[0073] Collision bounding boxes are created for the patient's head and the robotic arm 30, respectively. The collision bounding box for the patient's head is created based on point cloud information, and the collision bounding box for the robotic arm 30 is created based on the 3D model. These include, but are not limited to, sphere swept convex bounding box, axial bounding box (AABB), sphere bounding box (Sphere), orientation bounding box (OBB), discrete orientation polyhedron bounding box (K-DOP), and swept volume bounding box (SSV).

[0074] Taking the ball-sweeping convex bounding box as an example, the bounding box of the patient's head is established as V(r1,P1)=convP1+r1, and the bounding box of the robotic arm 30 is established as V(r2,P2)=convP2+r2, where convP1 and convP2 are the convex bodies formed by the patient's head and the robotic arm 30, respectively, and r1 and r2 are the allowable error terms of the ball-sweeping convex bodies of the patient's head and the robotic arm 30, respectively.

[0075] The system calculates the shortest distance l between the patient's head and the collision enclosure of the robotic arm ball 30 in real time, sets a collision threshold l′, and controls the robotic arm 30 to adopt safety protection strategies including but not limited to deceleration, reverse movement, stopping movement, and self-motion adjustment of the robotic arm 30 configuration to protect the patient's safety.

[0076] Furthermore, the specific steps for a supine cardiac ultrasound scan are as follows:

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

[0078] The doctor uses a supine position to perform a cardiac ultrasound scan on a side-lying operating table 20, holding a dedicated cardiac ultrasound operating handle 10. The cardiac ultrasound operating handle 10 collects the position, posture, and force information of this technique in real time, and transmits this information to the robot control computer 60 in real time via the cardiac ultrasound operating terminal computer 50. The robot control computer 60 calculates the desired position, posture, speed, or angular velocity of the robotic arm 30 based on the technique information, and inputs it into the safety protection model to generate real-time control commands, thus completing the remote cardiac ultrasound scan of the patient.

[0079] Furthermore, the specific steps for lateral decubitus echocardiography are as follows:

[0080] With the patient lying on their side on the bed, the redundant degrees of freedom of the robotic arm 30 alone cannot meet the requirements of the scanning posture. The other redundant degree of freedom in the execution system is adjusted, namely the angle between the lower housing 45 and the upper housing 41 in the cardiac ultrasound probe clamping device 40 is adjusted to about 70° to meet the workspace requirements of the robotic arm 30 for the lateral cardiac ultrasound scanning. After adjusting the angle, the coordinate system of the end tool of the robotic arm 30 is recalibrated.

[0081] When doctors perform lateral recumbent echocardiography, the probe is often tilted to 90 degrees. At this time, the lateral recumbent operating table 20, which is placed horizontally at 0 degrees, obviously cannot meet the requirements for the probe to contact the lateral recumbent operating table 20. The angle of the adjustable support 21 of the lateral recumbent operating table 20 is adjusted to about 70 degrees to meet the requirements for doctors to have the dedicated echocardiography operating handle 10 to normally contact the lateral recumbent operating table 20 during the lateral recumbent echocardiography technique.

[0082] The doctor uses a special cardiac ultrasound operating handle 10 to simulate a cardiac ultrasound scan on a side-lying operating table 20 using a lateral decubitus technique. The special cardiac ultrasound operating handle 10 collects the position, posture, and force information of this technique in real time, and transmits this information to the robot control computer 60 in real time via the cardiac ultrasound operating terminal computer 50. The robot control computer 60 calculates the desired position, posture, speed, or angular velocity of the robotic arm 30 based on the technique information, and inputs it into the safety protection model to generate real-time control commands, thus completing the remote cardiac ultrasound scan of the patient.

[0083] In this embodiment, the patient's heart can be scanned during remote operation in both lying and side-lying positions. In practical applications, this can effectively scan the patient's heart while ensuring that no harm is caused to the patient due to device movement, and at the same time, it can effectively increase the robot's end-effector posture range.

[0084] The above are merely 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 within the protection scope of the present invention.

Claims

1. A cardiac ultrasound teleoperated scanning system, comprising: Respectively comprising: A heart ultrasound special operation handle (10) containing posture, position, force sensors, for receiving the doctor's heart ultrasound scanning method, converting the method into position, posture, force information and sending it to the heart ultrasound operation end computer (50); The side-lying operation table (20) is provided with an adjustable support (21) at the bottom, and the included angle between the side-lying operation table (20) and the desktop can be adjusted by 0-90 degrees through the adjustable support (21) , wherein the value range of the adjustable support (21) is 0-90 degrees, and the heart ultrasound special operation handle (10) can move on the side-lying operation table (20). A mechanical arm (30) with redundant adjustment capability, which can effectively avoid joint limits to reach the specified position, and the mechanical arm (30) is loaded with a heart ultrasound probe clamping device (40); The mechanical arm (30) is used to receive control instructions from the robot control end computer (60) and complete the corresponding movement; The heart ultrasound operation end computer (50) feeds back the position, posture, and force information to the robot control end computer (60); The application discloses a cardiac ultrasound probe clamping device (40) for clamping a cardiac ultrasound probe to perform rotation, wherein The value range of the angle is 0-90 degrees, the device is installed at the end of a mechanical arm (30), and one redundant freedom degree is added at the end of the mechanical arm (30), namely, the angle between a lower shell (45) and an upper shell (41) of the cardiac ultrasound probe clamping device (40) is adjusted to an inclination angle, so as to meet the requirement of cardiac ultrasound scanning on the posture of the cardiac ultrasound probe; the cardiac ultrasound probe clamping device (40) can realize multi-angle adjustment and comprises the upper shell (41), a fixed plate (42), a locking device, an unlocking device, a rebound device and the lower shell (45); the upper shell (41) is rigidly connected with the fixed plate (42); and the fixed plate (42) and the lower shell (45) are connected through a spring pin shaft (43) in the unlocking device. A heart ultrasound operation end computer (50) connected with the heart ultrasound special operation handle (10) for receiving position, posture, and force information and sending it to the robot control end computer (60) through wired or wireless communication; A robot control end computer (60) connected with the mechanical arm (30) and the RGBD camera / laser radar (70), which calculates the corresponding control instructions according to the position, posture, and force information sent by the heart ultrasound operation end computer (50) and sends them to the mechanical arm (30), while receiving feedback information from the mechanical arm (30); An RGBD camera / laser radar (70) for obtaining head point cloud information of a patient undergoing heart ultrasound and RGB images of the patient's surrounding environment and sending the information to the robot control end computer (60); A bed body (80) for the patient to lie or lie on.

2. The cardiac ultrasound teleoperated scanning system of claim 1, wherein, The locking device comprises a groove (44) and a protrusion (46), the unlocking device comprises a spring pin shaft (43), and the rebound device comprises a torsion spring (47); when the spring pin shaft (43) is pressed and compressed, the protrusion (46) fixed thereon can slide along the track of the groove (44), the unlocking is completed, the torsion spring (47) in the rebound device automatically pulls the lower shell (45) to rotate by an angle of 45 degrees, the angle is kept after the spring pin shaft (43) is popped up, the locking is completed through the engagement of the groove (44) and the protrusion (46), and one end of the upper shell (41) is movably loaded with the end of the mechanical arm (30). the locking device comprises a groove (44) and a protrusion (46), the unlocking device comprises a spring pin shaft (43), and the rebound device comprises a torsion spring (47); when the spring pin shaft (43) is pressed and compressed, the protrusion (46) fixed thereon can slide along the track of the groove (44), the unlocking is completed, the torsion spring (47) in the rebound device automatically pulls the lower shell (45) to rotate by an angle of 45 degrees, the angle is kept after the spring pin shaft (43) is popped up, the locking is completed through the engagement of the groove (44) and the protrusion (46), and one end of the upper shell (41) is movably loaded with the end of the mechanical arm (30). the locking device comprises a groove (44) and a protrusion (46), the unlocking device comprises a spring pin shaft (43), and the rebound device comprises a torsion spring (47 3. The cardiac teleoperated ultrasound scanning system of claim 1, wherein, The bottom of the side-lying operation table (20) is provided with an adjustable support (21). With the adjustment of the patient's body position for cardiac ultrasound scanning, the included angle between the side-lying operation table (20) and the desktop The included angle can also be adjusted, and the adjustment range is from 0° horizontal placement to 90° vertical placement; the inside of the side-lying operation table (20) is provided with flexible human-simulating materials, and human-simulating force feedback can be provided by pressing.

4. A method of cardiac ultrasound teleoperation scanning, using the cardiac ultrasound teleoperation scanning system of any one of claims 1-3, characterized in that, The method comprises the following steps: Establishing a safety protection model; Flat lying heart ultrasound scanning; Side lying heart ultrasound scanning.

5. The cardiac ultrasound teleoperated scanning method of claim 4, wherein, 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 mechanical arm (30), which is established in the robot control end computer (60).

6. The cardiac ultrasound teleoperated scanning method of claim 5, wherein, The specific steps of constructing a virtual wall on the patient's head are as follows: RGBD camera / laser radar (70) obtains a set of three-dimensional coordinates of the patient's head in the camera coordinate system (x, y, z) , and after coordinate system conversion, the set of coordinates (x, y, z) ) is converted into a set of coordinates (x, y, z) in the base coordinate system of the robot arm ); The motion range of each joint of the mechanical arm (30) in the Cartesian space is set as ) , wherein n is the number of joints of the mechanical arm, so that a virtual wall in the Cartesian space under the mechanical arm base coordinate system is constructed on the patient's head, any joint of the mechanical arm (30) approaching the virtual wall will be stopped by a large stiffness to prevent it from entering the virtual wall, and the arm configuration of the mechanical arm (30) is adjusted by self-motion using the redundancy characteristics, which can effectively avoid collision with the patient's head and joint limiting, and protect the safety of the patient.

7. The cardiac ultrasound teleoperated scanning method of claim 5, wherein, The specific steps of constructing a collision detection model between the patient's head and the mechanical arm (30) are as follows: RGBD camera / laser radar (70) obtains a set of three-dimensional coordinates of the patient's head in the camera coordinate system (x, y, z) , and after coordinate system conversion, the set of coordinates (x, y, z) is converted into a set of coordinates (x, y, z) in the base coordinate system of the robot arm ; Collision bounding boxes are established for the patient's head and the mechanical arm (30), respectively, wherein the collision bounding box of the patient's head is established based on point cloud information, and the collision bounding box of the mechanical arm (30) is established based on a three-dimensional model, including a ball-swept convex bounding box, an axis-aligned bounding box (AABB), a sphere bounding box (Sphere), an oriented bounding box (OBB), a discrete direction polyhedron bounding box (K-DOP), and a sweep volume bounding box (SSV); Real-time calculation of the shortest distance between the patient's head and the collision bounding box of the robot arm (30) Setting a collision threshold When , the robot arm (30) is controlled to adopt a safety protection strategy including deceleration, reverse movement, stop movement, self-motion adjustment of the robot arm (30) arm configuration to protect the safety of the patient.

8. The cardiac ultrasound teleoperated scanning method of claim 4, wherein, The specific steps of flat lying heart ultrasound scanning are as follows: The patient lies flat on the bed, adjusts the angle between the lower shell (45) and the upper shell (41) of the heart ultrasound probe clamping device (40) to 0 degrees, and adjusts the angle of the adjustable support (21) of the side lying operation table (20) to 0 degrees; The doctor holds the heart ultrasound special operation handle (10) to simulate scanning on the side lying operation table (20) using the flat lying heart ultrasound scanning method. The heart ultrasound special operation handle (10) collects the position, posture, force information of the method in real time, and transmits the information to the robot control end computer (60) through the heart ultrasound operation end computer (50) in real time. The robot control end computer (60) calculates the expected position, posture or speed, angular velocity of the mechanical arm (30) according to the method information, and inputs it into the safety protection model to generate real-time control instructions, and completes the remote operation scanning of the patient's heart ultrasound.

9. The cardiac ultrasound teleoperation scanning method of claim 4, wherein, The specific steps of the side lying heart ultrasound scanning are as follows: The patient lies on the bed, adjusts 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 heart ultrasound probe clamping device (40) is adjusted to tilt the angle, to meet the requirements of the mechanical arm (30) for the working space required for the side lying heart ultrasound scanning. After adjusting the angle, the end tool coordinate system of the mechanical arm (30) is recalibrated; When the doctor performs the side lying heart ultrasound scanning, the adjustable support (21) of the side lying operation table (20) is adjusted to meet the requirements of the doctor in the side lying heart ultrasound scanning method that the heart ultrasound special operation handle (10) can normally contact the side lying operation table (20); The doctor holds the heart ultrasound special operation handle (10) to simulate scanning on the side lying operation table (20) using the side lying heart ultrasound scanning method. The heart ultrasound special operation handle (10) collects the position, posture, force information of the method in real time, and transmits the information to the robot control end computer (60) through the heart ultrasound operation end computer (50) in real time. The robot control end computer (60) calculates the expected position, posture or speed, angular velocity of the mechanical arm (30) according to the method information, and inputs it into the safety protection model to generate real-time control instructions, and completes the remote operation scanning of the patient's heart ultrasound.

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