Mechanical arm ultrasonic scanning method and system based on contact force control and storage medium

Abstract

The embodiment of the invention discloses a mechanical arm ultrasonic scanning method and system based on contact force control and a storage medium, and the method comprises the steps: calculating the real-time contact force between an ultrasonic probe and the surface of a human body, and adjusting the contact force between the ultrasonic probe and the surface of the human body according to a preset contact force and the real-time contact force; therefore, the image acquired by the ultrasonic probe is always the image meeting the ultrasonic scanning definition requirement, and the human body safety is ensured by controlling the contact force between the ultrasonic probe and the human body surface. According to the method, the scanning track of the ultrasonic probe is dynamically adjusted according to the preset ultrasonic scanning track, the preset contact force and the real-time contact force, the ultrasonic scanning image of the target part of the human body is obtained, dynamic adjustment of the ultrasonic scanning track under the condition that the contact force is reasonable is achieved, and the accuracy of ultrasonic scanning is improved. And the scanning area of the ultrasonic probe can cover the human body target scanning part. The system is high in automation degree, easy and convenient to operate, high in imaging quality and good in safety.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of ultrasonic scanning technology, and in particular to a robotic arm ultrasonic scanning method, system and storage medium based on contact force control. Background Art

[0002] Ultrasound scanning, also known as ultrasound examination or ultrasound examination, uses high-frequency sound waves to create images of organs and structures in the body. Ultrasound waves propagate at different speeds in tissues of different densities. When they encounter boundaries, they are reflected. These reflections are received and converted into images. The existing ultrasound scanning scheme is that doctors or technicians operate the ultrasound probe to keep it in proper contact with the surface of the human body and move the ultrasound probe to obtain clear images at different angles. However, the existing ultrasound scanning scheme is affected by human factors such as the operator's work experience, and the imaging quality is unstable, the operation is complicated, the stability is poor, and the efficiency is low.

[0003] The above problems need to be solved urgently. Summary of the invention

[0004] In order to solve the related technical problems, the present invention provides a robotic arm ultrasonic scanning method, system and storage medium based on contact force control to solve the problems mentioned in the above background technology part.

[0005] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a robotic arm ultrasonic scanning method based on contact force control, the method comprising:

[0007] Input the preset ultrasound scanning trajectory;

[0008] Input a preset contact force between the ultrasound probe installed at the front end of the robotic arm and the surface of the human body; wherein the image acquired by the ultrasound probe under the preset contact force is an image that meets the clarity requirements of ultrasound scanning;

[0009] Calculating the real-time contact force between the ultrasonic probe and the human body surface;

[0010] Adjusting the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force;

[0011] According to the preset ultrasonic scanning trajectory, the preset contact force and the real-time contact force, the scanning trajectory of the ultrasonic probe is dynamically adjusted to obtain an ultrasonic scanning image of the target part of the human body.

[0012] As an optional implementation manner, the calculating the real-time contact force between the ultrasound probe and the human body surface includes:

[0013] Collect force sensor data at the end of the robotic arm in real time;

[0014] The real-time contact force between the ultrasonic probe and the human body surface is calculated according to the force sensor data at the end of the mechanical arm and the calibrated load parameters of the end of the mechanical arm.

[0015] As an optional implementation, the real-time acquisition of force sensor data at the end of the robotic arm specifically includes:

[0016] A six-dimensional force sensor is installed at the end of the robotic arm;

[0017] The force sensor data at the end of the robotic arm is collected in real time through the six-dimensional force sensor.

[0018] As an optional implementation, the calculating the real-time contact force between the ultrasonic probe and the human body surface according to the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm includes:

[0019] Calculating a calibrated contact force according to the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm;

[0020] According to the calibrated contact force, the modulus of the three-dimensional vector force is extracted to obtain the real-time contact force between the ultrasonic probe and the human body surface.

[0021] As an optional implementation manner, adjusting the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force includes:

[0022] The adjustment speed of the contact plane is calculated according to the preset contact force, the real-time contact force and the proportional coefficient for controlling the contact force adjustment speed, and the contact force control of the contact position point is achieved according to the adjustment speed of the contact plane.

[0023] As an optional implementation, the proportional coefficient of the contact force adjustment speed control is adjusted according to the hardness or softness of the soft tissue contacted by the ultrasound probe.

[0024] In a second aspect, an embodiment of the present invention provides a robotic arm ultrasonic scanning system based on contact force control, the system adopts the robotic arm ultrasonic scanning method based on contact force control proposed in the first aspect, including:

[0025] A scanning trajectory input module, used to input a preset ultrasonic scanning trajectory;

[0026] A preset contact force input module is used to input a preset contact force between the ultrasonic probe installed at the front end of the robotic arm and the human body surface; wherein the image obtained by the ultrasonic probe under the preset contact force is an image that meets the clarity requirements of ultrasonic scanning;

[0027] A real-time contact force calculation module, used for calculating the real-time contact force between the ultrasonic probe and the human body surface;

[0028] A contact force dynamic adjustment module, used for adjusting the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force;

[0029] The scanning trajectory adjustment module is used to dynamically adjust the scanning trajectory of the ultrasound probe according to the preset ultrasound scanning trajectory, the preset contact force and the real-time contact force to obtain an ultrasound scanning image of the target part of the human body.

[0030] As an optional implementation manner, the real-time contact force calculation module is specifically used for:

[0031] Collect force sensor data at the end of the robotic arm in real time;

[0032] The real-time contact force between the ultrasonic probe and the human body surface is calculated according to the force sensor data at the end of the mechanical arm and the calibrated load parameters of the end of the mechanical arm.

[0033] As an optional implementation, a six-dimensional force sensor is installed at the end of the robotic arm, and the force sensor data at the end of the robotic arm is collected in real time by the six-dimensional force sensor.

[0034] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the robotic arm ultrasonic scanning method based on contact force control as provided in the embodiment of the first aspect above.

[0035] The technical solution proposed in the embodiment of the present invention realizes the automation of ultrasonic scanning by controlling the ultrasonic probe installed at the front end of the mechanical arm to perform ultrasonic scanning. The present invention calculates the real-time contact force between the ultrasonic probe and the human body surface by inputting the preset contact force between the ultrasonic probe installed at the front end of the mechanical arm and the human body surface, and adjusts the contact force between the ultrasonic probe and the human body surface according to the preset contact force and the real-time contact force, thereby ensuring that the image acquired by the ultrasonic probe is always an image that meets the clarity requirements of the ultrasonic scanning, and by controlling the contact force between the ultrasonic probe and the human body surface, the safety of the human body is ensured. The present invention dynamically adjusts the scanning trajectory of the ultrasonic probe according to the preset ultrasonic scanning trajectory, the preset contact force and the real-time contact force, obtains the ultrasonic scanning image of the target part of the human body, realizes the dynamic adjustment of the ultrasonic scanning trajectory under the condition of reasonable contact force, and ensures that the scanning area of ​​the ultrasonic probe can cover the target scanning part of the human body. The present invention has a high degree of automation, is easy to operate, has high imaging quality, and has good safety, and is suitable for promotion and application in ultrasonic scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following briefly introduces the background technology of the present invention and the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0037] Figure 1 A flow chart of a robotic arm ultrasonic scanning method based on contact force control provided by an embodiment of the present invention;

[0038] Figure 2 Schematic diagram of a robotic arm ultrasonic scanning system based on contact force control provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0040] Embodiment 1

[0041] Please refer to Figure 1 As stated, Figure 1 A flow chart of a robotic arm ultrasonic scanning method based on contact force control provided in an embodiment of the present invention. As shown in the figure, a robotic arm ultrasonic scanning method 100 based on contact force control in this embodiment includes:

[0042] S101. Input a preset ultrasound scanning trajectory;

[0043] S102. Input a preset contact force between the ultrasound probe installed at the front end of the robotic arm and the human body surface; wherein the image acquired by the ultrasound probe under the preset contact force is an image that meets the clarity requirements of ultrasound scanning;

[0044] S103. Calculate the real-time contact force between the ultrasound probe and the human body surface;

[0045] S104. According to the preset contact force and the real-time contact force, adjusting the contact force between the ultrasound probe and the human body surface;

[0046] S105. According to the preset ultrasonic scanning trajectory, the preset contact force and the real-time contact force, the scanning trajectory of the ultrasonic probe is dynamically adjusted to obtain an ultrasonic scanning image of the target part of the human body.

[0047] Exemplarily, the calculating the real-time contact force between the ultrasound probe and the human body surface includes:

[0048] Collect force sensor data at the end of the robotic arm in real time;

[0049] The real-time contact force between the ultrasonic probe and the human body surface is calculated according to the force sensor data at the end of the mechanical arm and the calibrated load parameters of the end of the mechanical arm.

[0050] Exemplarily, the real-time acquisition of force sensor data at the end of the robotic arm specifically includes:

[0051] A six-dimensional force sensor is installed at the end of the robotic arm;

[0052] The six-dimensional force sensor is used to collect the force sensor data at the end of the robot arm in real time.

[0053] Exemplarily, the calculating the real-time contact force between the ultrasound probe and the human body surface according to the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm includes:

[0054] Calculating a calibrated contact force according to the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm;

[0055] According to the calibrated contact force, the modulus of the three-dimensional vector force is extracted to obtain the real-time contact force between the ultrasound probe and the human body surface.

[0056] Exemplarily, adjusting the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force includes:

[0057] The adjustment speed of the contact plane is calculated according to the preset contact force, the real-time contact force and the proportional coefficient for controlling the contact force adjustment speed, and the contact force control of the contact position point is achieved according to the adjustment speed of the contact plane.

[0058] Exemplarily, the proportional coefficient of the control contact force adjustment speed is adjusted according to the hardness or softness of the soft tissue contacted by the ultrasound probe.

[0059] The robotic arm ultrasonic scanning method 100 based on contact force control proposed in this embodiment realizes the automation of ultrasonic scanning by controlling the ultrasonic probe installed at the front end of the robotic arm to perform ultrasonic scanning. The robotic arm ultrasonic scanning method 100 based on contact force control proposed in this embodiment calculates the real-time contact force between the ultrasonic probe and the human body surface by inputting the preset contact force between the ultrasonic probe installed at the front end of the robotic arm and the human body surface, and adjusts the contact force between the ultrasonic probe and the human body surface according to the preset contact force and the real-time contact force, thereby ensuring that the image acquired by the ultrasonic probe is always an image that meets the ultrasonic scanning clarity requirements, and by controlling the contact force between the ultrasonic probe and the human body surface, the safety of the human body is ensured. The robotic arm ultrasonic scanning method 100 based on contact force control proposed in this embodiment dynamically adjusts the scanning trajectory of the ultrasonic probe according to the preset ultrasonic scanning trajectory, the preset contact force and the real-time contact force, obtains the ultrasonic scanning image of the target part of the human body, realizes the dynamic adjustment of the ultrasonic scanning trajectory under the condition of reasonable contact force, and ensures that the scanning area of ​​the ultrasonic probe can cover the target scanning part of the human body. The contact force control-based robotic arm ultrasonic scanning method 100 proposed in this embodiment has a high degree of automation, is easy to operate, has high imaging quality, and is safe, and is suitable for promotion and application in ultrasonic scanning.

[0060] Embodiment 2

[0061] This embodiment provides a robotic arm ultrasonic scanning method based on contact force control, the method comprising:

[0062] S201. Input a preset ultrasound scanning trajectory;

[0063] S202. Input a preset contact force between the ultrasound probe installed at the front end of the robotic arm and the human body surface; wherein the image acquired by the ultrasound probe under the preset contact force is an image that meets the clarity requirements of ultrasound scanning;

[0064] S203. Calculate the real-time contact force between the ultrasound probe and the human body surface;

[0065] S204. According to the preset contact force and the real-time contact force, adjusting the contact force between the ultrasound probe and the human body surface;

[0066] S205. Dynamically adjust the scanning trajectory of the ultrasound probe according to the preset ultrasound scanning trajectory, the preset contact force and the real-time contact force to obtain an ultrasound scanning image of the target part of the human body.

[0067] In this embodiment, the calculating the real-time contact force between the ultrasound probe and the human body surface includes:

[0068] Collect force sensor data at the end of the robotic arm in real time;

[0069] The real-time contact force between the ultrasonic probe and the human body surface is calculated according to the force sensor data at the end of the mechanical arm and the calibrated load parameters of the end of the mechanical arm.

[0070] In this embodiment, the real-time acquisition of force sensor data at the end of the robotic arm specifically includes:

[0071] A six-dimensional force sensor is installed at the end of the robotic arm;

[0072] The force sensor data at the end of the robotic arm is collected in real time through the six-dimensional force sensor.

[0073] In this embodiment, the real-time contact force between the ultrasonic probe and the human body surface is calculated according to the force sensor data at the end of the mechanical arm and the calibrated load parameters of the end of the mechanical arm, including:

[0074] Calculating a calibrated contact force according to the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm;

[0075] According to the calibrated contact force, the modulus of the three-dimensional vector force is extracted to obtain the real-time contact force between the ultrasonic probe and the human body surface.

[0076] In this embodiment, adjusting the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force includes:

[0077] The adjustment speed of the contact plane is calculated according to the preset contact force, the real-time contact force and the proportional coefficient for controlling the contact force adjustment speed, and the contact force control of the contact position point is achieved according to the adjustment speed of the contact plane.

[0078] In this embodiment, the proportional coefficient of the control contact force adjustment speed is adjusted according to the hardness or softness of the soft tissue contacted by the ultrasound probe.

[0079] Specifically, in this embodiment, the six-dimensional force sensor is installed at the connection between the ultrasonic probe and the mechanical arm. The six-dimensional force sensor is used to detect the vector contact force felt by the ultrasonic probe, and the detection result can be used for safety judgment or follow-up control.

[0080] Specifically, in this embodiment, the adjustment speed v of the contact plane is adjust The calculation process is:

[0081] v adjust =K p *(F set -F measure )

[0082] Among them, K pF is the proportionality coefficient of the control contact force to adjust the speed; set is the preset contact force, F measure is the real-time contact force, i.e. the actual measured contact force. adjust Realize the contact force control of the contact position point.

[0083] Specifically, in this embodiment, the six-dimensional force sensor can be directly read through the controller of the robotic arm. Therefore, this embodiment can obtain the six-dimensional force sensor data in real time through the controller of the robotic arm.

[0084] Specifically, in this embodiment, the preset contact force F set It can be flexibly set according to the characteristics of the target object to be scanned. If the soft tissue is soft, a larger expected contact force, i.e., the preset contact force, is selected. If the soft tissue to be contacted is hard and there are bones nearby, a smaller expected contact force, i.e., the preset contact force, is selected.

[0085] In this embodiment, the output data F of the six-dimensional force sensor origin =(F x ,F y ,F z ,T x ,T y ,T z ), where F x ,F y ,F z Represents the three-dimensional vector force felt by the six-dimensional force sensor, T x ,T y ,T z Represents the three-dimensional torque felt by the six-dimensional force sensor.

[0086] In this embodiment, the calibrated contact force is calculated according to the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm; the modulus of the three-dimensional vector force is extracted according to the calibrated contact force to obtain the real-time contact force F between the ultrasonic probe and the human body surface. measure , specifically,

[0087] F calibration =calibration(F origin ,Pose,Payload)

[0088] Among them, calibration() represents the output data F of the six-dimensional force sensor based on the posture Pose of the end of the robot arm, the load parameter Payload of the end of the robot arm, and the origin , calculate the calibrated contact force, that is, the contact force F of the actual operation front end after compensation calibration .

[0089] According to the calibrated contact force F calibration , extract the three-dimensional vector force (F x ,F y ,F z ) to obtain the real-time contact force F between the ultrasound probe and the human body surface measure :

[0090] F measure =||F x , F y , F z ||

[0091] In this embodiment, the proportionality coefficient K of the control contact force adjustment speed is p Adjust according to the softness and hardness of the soft tissue that the ultrasound probe contacts. p It can be obtained based on experience and testing. Usually, when the soft tissue in contact is soft, that is, the elastic coefficient of the soft tissue is small, the K p The larger the parameter, the faster the contact force changes when the ultrasonic probe moves. When the contact soft tissue is hard, that is, the elastic coefficient of the soft tissue is large, the K p The parameters are small to prevent large adjustments in movement due to slight changes in contact force.

[0092] In this embodiment, for different human bodies, since it is not possible to ensure that the ultrasound probe moves strictly according to the preset ultrasound scanning trajectory, in order to protect the human body and ensure the clarity of the ultrasound scanning image, during the actual ultrasound probe trajectory movement process, it is necessary to adjust the actual movement position of the ultrasound probe according to the magnitude of the real-time contact force between the ultrasound probe and the human body surface. The specific process is as follows:

[0093] The original trajectory position of the robot arm is expressed as {P i}, represents the set of robot trajectory points; in the actual motion process, the motion of the robot is represented as each segment from P i To P i+1 Small movement and P i To P i+1 The speed and direction of the small movement are represented by v i =(P i+1 -P i ) / t, where t is the preset time of the movement; in the actual movement process, since the image clarity is required for ultrasound scanning, this embodiment uses the real-time contact force F between the ultrasound probe and the human body surface. measure Adjust the position of the robot arm:

[0094] P i new =P i old +k*vadjust *v i

[0095] Among them, P i new is the new trajectory position of the i-th position point, P i old Represents the original trajectory position point, according to the adjustment speed v of the contact plane adjust , calculate the dynamic new trajectory position point. i represents the velocity at the current trajectory motion moment, and k is the sensitivity coefficient used to limit the contact force control:

[0096]

[0097] It is worth mentioning that in this embodiment, a contact force adjustment threshold F2 is set, and F2 can prevent the robot arm from moving frequently and causing unstable movement when the real-time contact force between the ultrasound probe and the human body surface is already close to the expected contact force. In this embodiment, if the value of K1 is small, it is adjusted slowly while ensuring that the real-time contact force between the ultrasound probe and the human body surface is already close to the expected contact force; if the value of k2 is large, when the real-time contact force between the ultrasound probe and the human body surface deviates from the expected contact force, the movement trajectory will undergo a large-scale regression adjustment.

[0098] The robotic arm ultrasonic scanning method based on contact force control proposed in this embodiment realizes the automation of ultrasonic scanning by controlling the ultrasonic probe installed at the front end of the robotic arm to perform ultrasonic scanning. The robotic arm ultrasonic scanning method based on contact force control proposed in this embodiment calculates the real-time contact force between the ultrasonic probe and the human body surface by inputting the preset contact force between the ultrasonic probe installed at the front end of the robotic arm and the human body surface, and adjusts the contact force between the ultrasonic probe and the human body surface according to the preset contact force and the real-time contact force, thereby ensuring that the image acquired by the ultrasonic probe is always an image that meets the ultrasonic scanning clarity requirements, and by controlling the contact force between the ultrasonic probe and the human body surface, the safety of the human body is ensured. The robotic arm ultrasonic scanning method based on contact force control proposed in this embodiment dynamically adjusts the scanning trajectory of the ultrasonic probe according to the preset ultrasonic scanning trajectory, the preset contact force and the real-time contact force, obtains the ultrasonic scanning image of the target part of the human body, realizes the dynamic adjustment of the ultrasonic scanning trajectory under the condition of reasonable contact force, and ensures that the scanning area of ​​the ultrasonic probe can cover the target scanning part of the human body. The solution proposed in this embodiment solves the problem that during the movement of the ultrasound probe, the ultrasound probe does not contact the human body surface well and the acquired ultrasound image is unclear due to the change in the posture of the ultrasound probe during the movement of the ultrasound probe to ensure the movement along the preset ultrasound scanning trajectory; this embodiment adjusts the clarity of the image collected by the ultrasound probe by controlling the real-time contact force between the ultrasound probe and the human body surface. The contact force control-based ultrasonic scanning method of the robotic arm proposed in this embodiment has a high degree of automation, is easy to operate, has high imaging quality, and is safe, and is suitable for promotion and application in ultrasound scanning.

[0099] Embodiment 3

[0100] This embodiment provides a robotic arm ultrasonic scanning system 200 based on contact force control. The system adopts the robotic arm ultrasonic scanning method based on contact force control proposed in the above-mentioned embodiment 2, including:

[0101] A scanning trajectory input module 201 is used to input a preset ultrasonic scanning trajectory;

[0102] The preset contact force input module 202 is used to input the preset contact force between the ultrasound probe installed at the front end of the mechanical arm and the human body surface; wherein the image obtained by the ultrasound probe under the preset contact force is an image that meets the ultrasound scanning clarity requirement;

[0103] A real-time contact force calculation module 203 is used to calculate the real-time contact force between the ultrasound probe and the human body surface;

[0104] A contact force dynamic adjustment module 204, configured to adjust the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force;

[0105] The scanning trajectory adjustment module 205 is used to dynamically adjust the scanning trajectory of the ultrasound probe according to the preset ultrasound scanning trajectory, the preset contact force and the real-time contact force to obtain an ultrasound scanning image of the target part of the human body.

[0106] Exemplarily, the real-time contact force calculation module 203 is specifically used for:

[0107] Collect force sensor data at the end of the robotic arm in real time;

[0108] The real-time contact force between the ultrasonic probe and the human body surface is calculated according to the force sensor data at the end of the mechanical arm and the calibrated load parameters of the end of the mechanical arm.

[0109] Exemplarily, a six-dimensional force sensor is installed at the end of the robotic arm, and the force sensor data at the end of the robotic arm is collected in real time by the six-dimensional force sensor.

[0110] In this embodiment, the real-time contact force between the ultrasonic probe and the human body surface is calculated according to the force sensor data at the end of the mechanical arm and the calibrated load parameters of the end of the mechanical arm, including:

[0111] Calculating a calibrated contact force according to the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm;

[0112] According to the calibrated contact force, the modulus of the three-dimensional vector force is extracted to obtain the real-time contact force between the ultrasonic probe and the human body surface.

[0113] In this embodiment, adjusting the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force includes:

[0114] The adjustment speed of the contact plane is calculated according to the preset contact force, the real-time contact force and the proportional coefficient for controlling the contact force adjustment speed, and the contact force control of the contact position point is achieved according to the adjustment speed of the contact plane.

[0115] In this embodiment, the proportional coefficient of the control contact force adjustment speed is adjusted according to the hardness or softness of the soft tissue contacted by the ultrasound probe.

[0116] Specifically, in this embodiment, the six-dimensional force sensor is installed at the connection between the ultrasonic probe and the mechanical arm. The six-dimensional force sensor is used to detect the vector contact force felt by the ultrasonic probe, and can be used for safety judgment or follow-up control according to the detection result. In a specific application, the movement of the mechanical arm is controlled by a controller, and the data sensed by the six-dimensional force sensor can be directly read by the controller.

[0117] Specifically, in this embodiment, the adjustment speed v of the contact plane is adjust The calculation process is:

[0118] v adjust =K p *(F set -F measure )

[0119] Among them, K p F is the proportionality coefficient of the control contact force to adjust the speed; set is the preset contact force, F measure is the real-time contact force, i.e. the actual measured contact force. adjust Realize the contact force control of the contact position point.

[0120] Specifically, in this embodiment, the six-dimensional force sensor can be directly read through the controller of the robotic arm. Therefore, this embodiment can obtain the six-dimensional force sensor data in real time through the controller of the robotic arm.

[0121] Specifically, in this embodiment, the preset contact force F set It can be flexibly set according to the characteristics of the target object to be scanned. If the soft tissue is soft, a larger expected contact force, i.e., the preset contact force, is selected. If the soft tissue to be contacted is hard and there are bones nearby, a smaller expected contact force, i.e., the preset contact force, is selected.

[0122] In this embodiment, the output data F of the six-dimensional force sensor origin =(F x ,F y ,F z ,T x ,T y ,T z ), where F x ,F y ,F z Represents the three-dimensional vector force felt by the six-dimensional force sensor, T x ,T y ,T z Represents the three-dimensional torque felt by the six-dimensional force sensor.

[0123] In this embodiment, the calibrated contact force is calculated according to the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm; the modulus of the three-dimensional vector force is extracted according to the calibrated contact force to obtain the real-time contact force F between the ultrasonic probe and the human body surface. measure , specifically,

[0124] F calibration =calibration(F origin,Pose,Payload)

[0125] Among them, calibration() represents the output data F of the six-dimensional force sensor based on the posture Pose of the end of the robot arm, the load parameter Payload of the end of the robot arm, and the origin , calculate the calibrated contact force, that is, the contact force F of the actual operation front end after compensation calibration .

[0126] According to the calibrated contact force F calibration , extract the three-dimensional vector force (F x ,F y ,F z ) to obtain the real-time contact force F between the ultrasound probe and the human body surface measure :

[0127] F measure =F x ,F y ,F z

[0128] In this embodiment, the proportionality coefficient K of the control contact force adjustment speed is p Adjust according to the softness and hardness of the soft tissue that the ultrasound probe contacts. p It can be obtained based on experience and testing. Usually, when the soft tissue in contact is soft, that is, the elastic coefficient of the soft tissue is small, the K p The larger the parameter, the faster the contact force changes when the ultrasonic probe moves. When the contact soft tissue is hard, that is, the elastic coefficient of the soft tissue is large, the K p The parameters are small to prevent large adjustments in movement due to slight changes in contact force.

[0129] In this embodiment, for different human bodies, since it is not possible to ensure that the ultrasound probe moves strictly according to the preset ultrasound scanning trajectory, in order to protect the human body and ensure the clarity of the ultrasound scanning image, during the actual ultrasound probe trajectory movement process, it is necessary to adjust the actual movement position of the ultrasound probe according to the magnitude of the real-time contact force between the ultrasound probe and the human body surface. The specific process is as follows:

[0130] The original trajectory position of the robot arm is expressed as {P i}, represents the set of robot trajectory points; in the actual motion process, the motion of the robot is represented as each segment from P i To P i+1 Small movement and P i To P i+1 The speed and direction of the small movement are represented by v i =(P i+1 -P i) / t, where t is the preset time of the movement; in the actual movement process, since the image clarity is required for ultrasound scanning, this embodiment uses the real-time contact force F between the ultrasound probe and the human body surface. measure Adjust the position of the robot arm:

[0131] P i new =P i old +k*v adjust *v i

[0132] Among them, P i new is the new trajectory position of the i-th position point, P i old Represents the original trajectory position point, according to the adjustment speed v of the contact plane adjust , calculate the dynamic new trajectory position point. i represents the velocity at the current trajectory motion moment, and k is the sensitivity coefficient used to limit the contact force control:

[0133]

[0134] d indicates that the end of the robot arm has deviated from the original trajectory point by a distance of d. It is worth mentioning that in the present embodiment, a contact force adjustment threshold F2 is set. F2 can prevent the robot arm from moving frequently and causing unstable movement when the real-time contact force between the ultrasonic probe and the human body surface is already close to the expected contact force. In the present embodiment, if the value of K1 is small, it is adjusted slowly while ensuring that the real-time contact force between the ultrasonic probe and the human body surface is already close to the expected contact force; if the value of k2 is large, when the real-time contact force between the ultrasonic probe and the human body surface deviates from the expected contact force, the motion trajectory will undergo a large-scale regression adjustment.

[0135] The robotic arm ultrasonic scanning system based on contact force control proposed in this embodiment realizes the automation of ultrasonic scanning by controlling the ultrasonic probe installed at the front end of the robotic arm to perform ultrasonic scanning. The robotic arm ultrasonic scanning system based on contact force control proposed in this embodiment calculates the real-time contact force between the ultrasonic probe and the human body surface by inputting the preset contact force between the ultrasonic probe installed at the front end of the robotic arm and the human body surface, and adjusts the contact force between the ultrasonic probe and the human body surface according to the preset contact force and the real-time contact force, thereby ensuring that the image acquired by the ultrasonic probe is always an image that meets the ultrasonic scanning clarity requirements, and by controlling the contact force between the ultrasonic probe and the human body surface, the safety of the human body is ensured. The robotic arm ultrasonic scanning system based on contact force control proposed in this embodiment dynamically adjusts the scanning trajectory of the ultrasonic probe according to the preset ultrasonic scanning trajectory, the preset contact force and the real-time contact force, obtains the ultrasonic scanning image of the target part of the human body, realizes the dynamic adjustment of the ultrasonic scanning trajectory under the condition of reasonable contact force, and ensures that the scanning area of ​​the ultrasonic probe can cover the target scanning part of the human body. The solution proposed in this embodiment solves the problem that during the movement of the ultrasound probe, the ultrasound probe does not contact the human body surface well and the acquired ultrasound image is unclear due to the change in the posture of the ultrasound probe during the movement of the ultrasound probe to ensure the movement along the preset ultrasound scanning trajectory; this embodiment adjusts the clarity of the image collected by the ultrasound probe by controlling the real-time contact force between the ultrasound probe and the human body surface. The contact force control-based robotic arm ultrasound scanning system proposed in this embodiment has a high degree of automation, is easy to operate, has high imaging quality, and is safe, and is suitable for promotion and application in ultrasound scanning.

[0136] Embodiment 4

[0137] This embodiment provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the robotic arm ultrasonic scanning method based on contact force control as provided in the above-mentioned embodiment 1 or embodiment 2.

[0138] It should be noted that the above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0139] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robotic arm ultrasonic scanning method based on contact force control, characterized in that: include: Input the preset ultrasound scanning trajectory; Input a preset contact force between the ultrasound probe installed at the front end of the robotic arm and the surface of the human body; wherein the image acquired by the ultrasound probe under the preset contact force is an image that meets the clarity requirements of ultrasound scanning; Calculating the real-time contact force between the ultrasonic probe and the human body surface; Adjusting the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force; According to the preset ultrasonic scanning trajectory, the preset contact force and the real-time contact force, the scanning trajectory of the ultrasonic probe is dynamically adjusted to obtain an ultrasonic scanning image of the target part of the human body.

2. The method for ultrasonic scanning of a robotic arm based on contact force control according to claim 1, characterized in that: The calculating the real-time contact force between the ultrasonic probe and the human body surface comprises: Collect force sensor data at the end of the robotic arm in real time; The real-time contact force between the ultrasonic probe and the human body surface is calculated according to the force sensor data at the end of the mechanical arm and the calibrated load parameters of the end of the mechanical arm.

3. The method for ultrasonic scanning of a robotic arm based on contact force control according to claim 1, characterized in that: The real-time acquisition of force sensor data at the end of the robotic arm specifically includes: A six-dimensional force sensor is installed at the end of the robotic arm; The force sensor data at the end of the robotic arm is collected in real time through the six-dimensional force sensor.

4. The method for ultrasonic scanning of a robotic arm based on contact force control according to claim 2, characterized in that: The method of calculating the real-time contact force between the ultrasonic probe and the human body surface according to the force sensor data at the end of the mechanical arm and the calibrated load parameters at the end of the mechanical arm comprises: Calculating a calibrated contact force according to the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm; According to the calibrated contact force, the modulus of the three-dimensional vector force is extracted to obtain the real-time contact force between the ultrasonic probe and the human body surface.

5. The method for ultrasonic scanning of a robotic arm based on contact force control according to claim 1, characterized in that: The step of adjusting the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force includes: The adjustment speed of the contact plane is calculated according to the preset contact force, the real-time contact force and the proportional coefficient for controlling the contact force adjustment speed, and the contact force control of the contact position point is achieved according to the adjustment speed of the contact plane.

6. The method for ultrasonic scanning of a robotic arm based on contact force control according to claim 5, characterized in that: The proportional coefficient of the contact force adjustment speed control is adjusted according to the hardness or softness of the soft tissue contacted by the ultrasonic probe.

7. A robotic arm ultrasonic scanning system based on contact force control, characterized in that: The system adopts the contact force control-based robotic arm ultrasonic scanning method according to claim 1, comprising: A scanning trajectory input module, used to input a preset ultrasonic scanning trajectory; A preset contact force input module is used to input a preset contact force between the ultrasonic probe installed at the front end of the robotic arm and the human body surface; wherein the image obtained by the ultrasonic probe under the preset contact force is an image that meets the clarity requirements of ultrasonic scanning; A real-time contact force calculation module, used for calculating the real-time contact force between the ultrasonic probe and the human body surface; A contact force dynamic adjustment module, used for adjusting the contact force between the ultrasound probe and the human body surface according to the preset contact force and the real-time contact force; The scanning trajectory adjustment module is used to dynamically adjust the scanning trajectory of the ultrasound probe according to the preset ultrasound scanning trajectory, the preset contact force and the real-time contact force to obtain an ultrasound scanning image of the target part of the human body.

8. The contact force control-based robotic arm ultrasonic scanning system according to claim 1, characterized in that: The real-time contact force calculation module is specifically used for: Collect force sensor data at the end of the robotic arm in real time; The real-time contact force between the ultrasonic probe and the human body surface is calculated according to the force sensor data at the end of the mechanical arm and the calibrated load parameters of the end of the mechanical arm.

9. The contact force control-based robotic arm ultrasonic scanning system according to claim 8, characterized in that: A six-dimensional force sensor is installed at the end of the robotic arm, and the force sensor data at the end of the robotic arm is collected in real time through the six-dimensional force sensor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the contact force control-based robotic arm ultrasonic scanning method as claimed in claim 1.

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