Robotic arm ultrasound scanning method, system and storage medium based on contact force control

Abstract

The embodiment of the application discloses a mechanical arm ultrasonic scanning method and system based on contact force control, and a storage medium, the method 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 by calculating the real-time contact force between the ultrasonic probe and the human body surface, so that the image obtained 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. 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, the dynamic adjustment of the ultrasonic scanning track under the condition of reasonable contact force is realized, and it is ensured that the scanning area of the ultrasonic probe can cover the target scanning part of the human body. The application has high automation degree, simple operation, high imaging quality and good safety.

Description

Technical Field

[0001] The present invention relates 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 Technology

[0002] Ultrasound scanning, also known as ultrasound examination or ultrasound imaging, uses high-frequency sound waves to create images of internal organs and structures. Ultrasound waves travel at different speeds in tissues of varying densities, and when they encounter boundaries, they are reflected. These reflections are received and converted into images. Current ultrasound scanning protocols involve a doctor or technician manipulating an ultrasound probe to maintain proper contact with the body surface and moving the probe to obtain clear images from different angles. However, current ultrasound scanning protocols are affected by human factors such as the operator's experience, resulting in unstable image quality, complex operation, poor stability, and low efficiency.

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

[0004] To address the related technical problems, this invention provides a robotic arm ultrasonic scanning method, system, and storage medium based on contact force control, thereby resolving the issues mentioned in the background section above.

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

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

[0007] Input the preset ultrasound scan trajectory;

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

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

[0010] The contact force between the ultrasound probe and the human body surface is adjusted according to the preset contact force and the real-time contact force.

[0011] The ultrasound probe's scanning trajectory is dynamically adjusted based on 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.

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

[0013] Real-time acquisition of force sensor data at the end of the robotic arm;

[0014] Based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm, the real-time contact force between the ultrasonic probe and the human body surface is calculated.

[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 six-dimensional force sensor collects force sensor data at the end of the robotic arm in real time.

[0018] As an optional implementation, the step of calculating the real-time contact force between the ultrasonic probe and the human body surface based on 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] The calibrated contact force is calculated based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm.

[0020] Based on the calibrated contact force, the magnitude 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, adjusting the contact force between the ultrasound probe and the human body surface based on the preset contact force and the real-time contact force includes:

[0022] Based on the preset contact force, the real-time contact force, and the proportional coefficient for controlling the contact force adjustment speed, the adjustment speed of the contact plane is calculated, and the contact force at the contact position point is controlled according to the adjustment speed of the contact plane.

[0023] As an optional implementation, the proportional coefficient for controlling the contact force adjustment speed is adjusted according to the hardness of the soft tissue in contact with the ultrasonic probe.

[0024] Secondly, embodiments of the present invention provide a robotic arm ultrasonic scanning system based on contact force control. This system employs the robotic arm ultrasonic scanning method based on contact force control proposed in the first aspect, including:

[0025] The scanning trajectory input module is used to input a preset ultrasonic scanning trajectory;

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

[0027] A real-time contact force calculation module is used to calculate the real-time contact force between the ultrasonic probe and the human body surface;

[0028] The contact force dynamic adjustment module is used 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;

[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, so as to obtain an ultrasound scanning image of the target part of the human body.

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

[0031] Real-time acquisition of force sensor data at the end of the robotic arm;

[0032] Based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm, the real-time contact force between the ultrasonic probe and the human body surface is calculated.

[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 through the six-dimensional force sensor.

[0034] Thirdly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the ultrasonic scanning method for a robotic arm based on contact force control as provided in the first aspect embodiment above.

[0035] The technical solution proposed in this invention automates ultrasonic scanning by controlling an ultrasonic probe mounted at the front end of a robotic arm. This invention calculates the real-time contact force between the ultrasonic probe and the human body surface by inputting a preset contact force. Based on the preset and real-time contact forces, the contact force is adjusted to ensure that the images acquired by the ultrasonic probe always meet the clarity requirements of ultrasonic scanning. Furthermore, by controlling the contact force between the ultrasonic probe and the human body surface, human safety is ensured. This invention dynamically adjusts the ultrasonic probe's scanning trajectory based on a preset ultrasonic scanning trajectory, a preset contact force, and the real-time contact force to obtain ultrasonic scanning images of the target human body area. It achieves dynamic adjustment of the ultrasonic scanning trajectory under reasonable contact force conditions, ensuring that the ultrasonic probe's scanning area covers the target human body area. This invention features a high degree of automation, simple operation, high image quality, and good safety, making it suitable for widespread application in ultrasonic scanning. Attached Figure Description

[0036] To more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the accompanying drawings used in the background technology and embodiment descriptions of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

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

[0038] Figure 2 A schematic diagram of a robotic arm ultrasonic scanning system based on contact force control provided in an embodiment of the present invention. Detailed Implementation

[0039] 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 with reference to the accompanying drawings. 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 skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Example 1

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

[0042] S101. Input the preset ultrasound scan trajectory;

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

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

[0045] S104. 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;

[0046] S105. Based on 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] For example, calculating the real-time contact force between the ultrasound probe and the human body surface includes:

[0048] Real-time acquisition of force sensor data at the end of the robotic arm;

[0049] Based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm, the real-time contact force between the ultrasonic probe and the human body surface is calculated.

[0050] For example, 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 collects force sensor data at the end of the robotic arm in real time.

[0053] For example, calculating the real-time contact force between the ultrasonic probe and the human body surface based on 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] The calibrated contact force is calculated based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm.

[0055] Based on the calibrated contact force, the magnitude of the three-dimensional vector force is extracted to obtain the real-time contact force between the ultrasonic probe and the human body surface.

[0056] For example, adjusting the contact force between the ultrasound probe and the human body surface based on the preset contact force and the real-time contact force includes:

[0057] Based on the preset contact force, the real-time contact force, and the proportional coefficient for controlling the contact force adjustment speed, the adjustment speed of the contact plane is calculated, and the contact force at the contact position point is controlled according to the adjustment speed of the contact plane.

[0058] For example, the proportional coefficient for controlling the contact force adjustment speed is adjusted according to the hardness of the soft tissue in contact with the ultrasonic probe.

[0059] The ultrasonic scanning method 100 based on contact force control proposed in this embodiment automates ultrasonic scanning by controlling an ultrasonic probe installed at the front end of the robotic arm. This method calculates the real-time contact force between the ultrasonic probe and the human body surface by inputting a preset contact force, and adjusts the contact force based on the preset and real-time forces. This ensures that the images acquired by the ultrasonic probe always meet the clarity requirements of ultrasonic scanning, and also ensures human safety through control of the contact force. Furthermore, the ultrasonic scanning method 100 dynamically adjusts the ultrasonic probe's scanning trajectory based on a preset ultrasonic scanning trajectory, a preset contact force, and the real-time contact force to obtain ultrasonic scanning images of the target human body part. This achieves dynamic adjustment of the ultrasonic scanning trajectory under reasonable contact force conditions, ensuring that the ultrasonic probe's scanning area covers the target human body part. The ultrasonic scanning method for robotic arms based on contact force control proposed in this embodiment is highly automated, easy to operate, has high imaging quality, and is safe, making it suitable for widespread application in ultrasonic scanning.

[0060] Example 2

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

[0062] S201. Input the preset ultrasound scan trajectory;

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

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

[0065] S204. 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;

[0066] S205. Based on 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.

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

[0068] Real-time acquisition of force sensor data at the end of the robotic arm;

[0069] Based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm, the real-time contact force between the ultrasonic probe and the human body surface is calculated.

[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 six-dimensional force sensor collects force sensor data at the end of the robotic arm in real time.

[0073] In this embodiment, calculating the real-time contact force between the ultrasonic probe and the human body surface based on the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm includes:

[0074] The calibrated contact force is calculated based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm.

[0075] Based on the calibrated contact force, the magnitude 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 based on the preset contact force and the real-time contact force includes:

[0077] Based on the preset contact force, the real-time contact force, and the proportional coefficient for controlling the contact force adjustment speed, the adjustment speed of the contact plane is calculated, and the contact force at the contact position point is controlled according to the adjustment speed of the contact plane.

[0078] In this embodiment, the proportional coefficient for controlling the contact force adjustment speed is adjusted according to the hardness of the soft tissue in contact with the ultrasonic probe.

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

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

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

[0082] Among them, K pF is the proportional coefficient for adjusting the speed of the control contact force; set For the preset contact force, F measure The real-time contact force is the actual measured contact force. This is determined based on the adjustment speed v of the contact plane. adjust To achieve control of the contact force at the contact point.

[0083] Specifically, in this embodiment, the six-dimensional force sensor can be directly read by the controller of the robotic arm. Therefore, this embodiment can acquire 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 The settings can be flexibly adjusted according to the characteristics of the target object being scanned. If the soft tissue is relatively soft, a larger expected contact force, i.e., the preset contact force, should be selected. If the soft tissue being scanned is relatively hard and there is bone nearby, a smaller expected contact force, i.e., the preset contact force, should be 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 T represents the three-dimensional vector force sensed by the six-dimensional force sensor. x ,T y ,T z This indicates the three-dimensional torque sensed by the six-dimensional force sensor.

[0086] In this embodiment, the calibrated contact force is calculated based on the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm; based on the calibrated contact force, the magnitude of the three-dimensional vector force is extracted 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] Where, calibration() represents the output data F of the six-dimensional force sensor based on the robot arm's end-effector pose (Pose), the load parameter (Payload) at the end-effector. origin The calibrated contact force, i.e. the compensated actual operating contact force F, is calculated. calibration .

[0089] According to the calibrated contact force F calibration Extracting three-dimensional vector force (F) x ,F y ,F z The size of the model is used 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 proportional coefficient K for controlling the contact force adjustment speed is... p Adjustments are made based on the hardness or softness of the soft tissue contacted by the ultrasound probe. p This can be obtained through experience and testing; generally, when the contacting soft tissue is relatively soft, i.e., the elastic modulus of the soft tissue is small, this K value is relatively high. p With a large parameter, the ultrasonic probe responds quickly to changes in contact force during movement. When contacting harder soft tissue, i.e., when the soft tissue has a high elastic modulus, this K... p The parameters are small to prevent significant motion adjustments caused by slight changes in contact force.

[0092] In this embodiment, since the ultrasound probe cannot be guaranteed to move strictly according to the preset ultrasound scanning trajectory for different human bodies, in order to protect the human body and ensure clear ultrasound scanning images, the actual movement position of the ultrasound probe needs to be adjusted according to the magnitude of the real-time contact force between the ultrasound probe and the human body surface during the actual ultrasound probe trajectory movement process. The specific process is as follows:

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

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

[0095] Among them, P i new P is the new trajectory position of the i-th position point. i old This indicates the original trajectory position point, adjusted according to the contact plane at a speed v. adjust The new dynamic trajectory position point is calculated. Where v i The velocity represents the velocity at the current moment of trajectory motion, and k is the sensitivity coefficient used to limit contact force control.

[0096]

[0097] It is worth mentioning that in this embodiment, a contact force adjustment threshold F2 is set. F2 prevents the robotic arm from moving frequently and causing instability when the real-time contact force between the ultrasound probe and the human body surface is already close to the desired contact force. In this embodiment, if the value of K1 is small, the adjustment is slow while ensuring that the real-time contact force between the ultrasound probe and the human body surface is close to the desired contact force; if the value of K2 is large, the motion trajectory will undergo a significant regression adjustment when the real-time contact force between the ultrasound probe and the human body surface deviates from the desired contact force.

[0098] The ultrasonic scanning method for robotic arms based on contact force control proposed in this embodiment automates ultrasonic scanning by controlling an ultrasonic probe mounted at the front end of the robotic arm. This method inputs a preset contact force between the ultrasonic probe and the human body surface, calculates the real-time contact force, and adjusts the contact force based on both the preset and real-time forces. This ensures that the images acquired by the ultrasonic probe always meet the clarity requirements for ultrasonic scanning, and also ensures human safety through control of the contact force. Furthermore, this method dynamically adjusts the ultrasonic probe's scanning trajectory based on a preset ultrasonic scanning trajectory, a preset contact force, and the real-time contact force to obtain ultrasonic scanning images of the target human body area. This dynamic adjustment of the ultrasonic scanning trajectory under reasonable contact force conditions ensures that the ultrasonic probe's scanning area covers the target human body area. The solution proposed in this embodiment addresses the problem of unclear ultrasound images caused by poor contact between the ultrasound probe and the human body surface due to changes in the probe's posture during its movement along a preset ultrasound scanning trajectory. This embodiment adjusts the clarity of the acquired images by controlling the real-time contact force between the ultrasound probe and the human body surface. The robotic arm ultrasound scanning method based on contact force control proposed in this embodiment features a high degree of automation, ease of operation, high imaging quality, and good safety, making it suitable for widespread application in ultrasound scanning.

[0099] Example 3

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

[0101] The scanning trajectory input module 201 is used to input a preset ultrasound scanning trajectory;

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

[0103] The 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] The contact force dynamic adjustment module 204 is used 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, so as to obtain an ultrasound scanning image of the target part of the human body.

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

[0107] Real-time acquisition of force sensor data at the end of the robotic arm;

[0108] Based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm, the real-time contact force between the ultrasonic probe and the human body surface is calculated.

[0109] For example, 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.

[0110] In this embodiment, calculating the real-time contact force between the ultrasonic probe and the human body surface based on the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm includes:

[0111] The calibrated contact force is calculated based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm.

[0112] Based on the calibrated contact force, the magnitude 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 based on the preset contact force and the real-time contact force includes:

[0114] Based on the preset contact force, the real-time contact force, and the proportional coefficient for controlling the contact force adjustment speed, the adjustment speed of the contact plane is calculated, and the contact force at the contact position point is controlled according to the adjustment speed of the contact plane.

[0115] In this embodiment, the proportional coefficient for controlling the contact force adjustment speed is adjusted according to the hardness of the soft tissue in contact with the ultrasonic probe.

[0116] Specifically, in this embodiment, the six-dimensional force sensor is installed at the connection between the ultrasonic probe and the robotic arm. The six-dimensional force sensor detects the vector contact force sensed by the ultrasonic probe, and the detection results can be used for safety assessment or follow-up control. In practical applications, the robotic arm's movement 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 adjust The calculation process is as follows:

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

[0119] Among them, K p F is the proportional coefficient for adjusting the speed of the control contact force; set For the preset contact force, F measure The real-time contact force is the actual measured contact force. This is determined based on the adjustment speed v of the contact plane. adjust To achieve control of the contact force at the contact point.

[0120] Specifically, in this embodiment, the six-dimensional force sensor can be directly read by the controller of the robotic arm. Therefore, this embodiment can acquire 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 The settings can be flexibly adjusted according to the characteristics of the target object being scanned. If the soft tissue is relatively soft, a larger expected contact force, i.e., the preset contact force, should be selected. If the soft tissue being scanned is relatively hard and there is bone nearby, a smaller expected contact force, i.e., the preset contact force, should be 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 T represents the three-dimensional vector force sensed by the six-dimensional force sensor. x ,T y ,T z This indicates the three-dimensional torque sensed by the six-dimensional force sensor.

[0123] In this embodiment, the calibrated contact force is calculated based on the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm; based on the calibrated contact force, the magnitude of the three-dimensional vector force is extracted 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] Where, calibration() represents the output data F of the six-dimensional force sensor based on the robot arm's end-effector pose (Pose), the load parameter (Payload) at the end-effector. origin The calibrated contact force, i.e. the compensated actual operating contact force F, is calculated. calibration .

[0126] According to the calibrated contact force F calibration Extracting three-dimensional vector force (F) x ,F y ,F z The size of the model is used 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 proportional coefficient K for controlling the contact force adjustment speed is... p Adjustments are made based on the hardness or softness of the soft tissue contacted by the ultrasound probe. p This can be obtained through experience and testing; generally, when the contacting soft tissue is relatively soft, i.e., the elastic modulus of the soft tissue is small, this K value is relatively high. p With a large parameter, the ultrasonic probe responds quickly to changes in contact force during movement. When contacting harder soft tissue, i.e., when the soft tissue has a high elastic modulus, this K... p The parameters are small to prevent significant motion adjustments caused by slight changes in contact force.

[0129] In this embodiment, since the ultrasound probe cannot be guaranteed to move strictly according to the preset ultrasound scanning trajectory for different human bodies, in order to protect the human body and ensure clear ultrasound scanning images, the actual movement position of the ultrasound probe needs to be adjusted according to the magnitude of the real-time contact force between the ultrasound probe and the human body surface during the actual ultrasound probe trajectory movement process. The specific process is as follows:

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

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

[0132] Among them, P i new P is the new trajectory position of the i-th position point. i old This indicates the original trajectory position point, adjusted according to the contact plane at a speed v. adjust The new dynamic trajectory position point is calculated. Where v i The velocity represents the velocity at the current moment of trajectory motion, and k is the sensitivity coefficient used to limit contact force control.

[0133]

[0134] d represents the distance d that the end effector of the robotic arm has deviated from its original trajectory point. It is worth noting that in this embodiment, a contact force adjustment threshold F2 is set. F2 prevents the robotic arm from moving frequently and causing instability when the real-time contact force between the ultrasound probe and the human body surface is already close to the desired contact force. In this embodiment, if the value of K1 is small, the adjustment is slow while ensuring that the real-time contact force between the ultrasound probe and the human body surface is close to the desired contact force; if the value of k2 is large, the motion trajectory will undergo a larger-scale regression adjustment when the real-time contact force between the ultrasound probe and the human body surface deviates from the desired contact force.

[0135] The ultrasonic scanning system for robotic arms based on contact force control proposed in this embodiment automates ultrasonic scanning by controlling an ultrasonic probe mounted at the front end of the robotic arm. This system calculates the real-time contact force between the ultrasonic probe and the human body surface by inputting a preset contact force. Based on the preset and real-time contact forces, the system adjusts the contact force between the ultrasonic probe and the human body surface, ensuring that the images acquired by the ultrasonic probe always meet the clarity requirements of ultrasonic scanning. Furthermore, by controlling the contact force between the ultrasonic probe and the human body surface, human safety is ensured. The ultrasonic scanning system dynamically adjusts the ultrasonic probe's scanning trajectory based on a preset ultrasonic scanning trajectory, a preset contact force, and the real-time contact force to obtain ultrasonic scanning images of the target human body parts. This achieves dynamic adjustment of the ultrasonic scanning trajectory under reasonable contact force conditions, ensuring that the ultrasonic probe's scanning area covers the target human body parts. The solution proposed in this embodiment solves the problem of unclear ultrasound images caused by poor contact between the ultrasound probe and the human body surface due to changes in the probe's posture during movement along a preset ultrasound scanning trajectory. This embodiment adjusts the clarity of the acquired ultrasound images by controlling the real-time contact force between the ultrasound probe and the human body surface. The robotic arm ultrasound scanning system based on contact force control proposed in this embodiment has a high degree of automation, is easy to operate, provides high imaging quality, and is safe, making it suitable for widespread application in ultrasound scanning.

[0136] Example 4

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

[0138] It should be noted that the aforementioned 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0139] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which 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 scan trajectory; Input the preset contact force between the ultrasonic probe installed at the front end of the robotic arm and the human body surface; wherein, the image acquired by the ultrasonic probe under the preset contact force is an image that meets the ultrasonic scanning clarity requirements; Calculate the real-time contact force between the ultrasound probe and the human body surface; The contact force between the ultrasound probe and the human body surface is adjusted according to the preset contact force and the real-time contact force; wherein, according to the formula... Calculate the contact force adjustment speed, and control the contact force at the contact position point based on the contact force adjustment speed, where... This indicates the preset contact force. This indicates the real-time contact force. This represents the proportional coefficient for adjusting the speed of the control contact force, which is adjusted according to the hardness or softness of the soft tissue in contact with the ultrasonic probe. The scanning trajectory of the ultrasonic probe is dynamically adjusted according to the preset ultrasonic scanning trajectory, the preset contact force, and the real-time contact force, wherein, according to the formula... The scanning trajectory of the ultrasound probe is dynamically corrected, where... Indicates the original trajectory position point. This represents the new trajectory position of the i-th position. Indicates the speed of contact force adjustment. The sensitivity coefficient used to limit contact force control, This represents the speed at the current moment of trajectory movement; where k is used to control the real-time contact force between the ultrasound probe and the human body surface. When the real-time contact force between the ultrasound probe and the human body surface is close to the desired contact force, the ultrasound probe's scanning trajectory will be slowly adjusted. When the real-time contact force between the ultrasound probe and the human body surface deviates from the desired contact force, the ultrasound probe's scanning trajectory will be adjusted back to a larger extent. The robotic arm is controlled to move the ultrasound probe along the corrected scanning trajectory to obtain ultrasound scanning images of the target parts of the human body.

2. The ultrasonic scanning method for robotic arms based on contact force control according to claim 1, characterized in that, The calculation of the real-time contact force between the ultrasound probe and the human body surface includes: Real-time acquisition of force sensor data at the end of the robotic arm; Based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm, the real-time contact force between the ultrasonic probe and the human body surface is calculated.

3. The ultrasonic scanning method for robotic arms based on contact force control according to claim 2, 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 six-dimensional force sensor collects force sensor data at the end of the robotic arm in real time.

4. The ultrasonic scanning method for a robotic arm based on contact force control according to claim 2, characterized in that, The step of calculating the real-time contact force between the ultrasonic probe and the human body surface based on the force sensor data at the end of the robotic arm and the calibrated load parameters of the end of the robotic arm includes: The calibrated contact force is calculated based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm. Based on the calibrated contact force, the magnitude 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. A robotic arm ultrasonic scanning system based on contact force control, characterized in that, The system employs the ultrasonic scanning method for robotic arms based on contact force control as described in claim 1, comprising: The scanning trajectory input module is used to input a preset ultrasonic scanning trajectory; A preset contact force input module is used to input the preset contact force between the ultrasonic probe installed at the front end of the robotic arm and the human body surface; wherein, the image acquired by the ultrasonic probe under the preset contact force is an image that meets the ultrasonic scanning clarity requirements; A real-time contact force calculation module is used to calculate the real-time contact force between the ultrasonic probe and the human body surface; A dynamic contact force adjustment module is used to adjust the contact force between the ultrasound probe and the human body surface based on the preset contact force and the real-time contact force; wherein, according to the formula... Calculate the contact force adjustment speed, and control the contact force at the contact position point based on the contact force adjustment speed, where... This indicates the preset contact force. This indicates the real-time contact force. This represents the proportional coefficient for adjusting the speed of the control contact force, which is adjusted according to the hardness or softness of the soft tissue in contact with the ultrasonic probe. The scanning trajectory adjustment module is used to dynamically adjust the scanning trajectory of the ultrasonic probe according to the preset ultrasonic scanning trajectory, the preset contact force, and the real-time contact force, wherein, according to the formula... The scanning trajectory of the ultrasound probe is dynamically corrected, where... Indicates the original trajectory position point. This represents the new trajectory position of the i-th position. Indicates the speed of contact force adjustment. The sensitivity coefficient used to limit contact force control, This represents the speed at the current moment of trajectory movement; where k is used to control the real-time contact force between the ultrasound probe and the human body surface. When the real-time contact force between the ultrasound probe and the human body surface is close to the desired contact force, the ultrasound probe's scanning trajectory will be slowly adjusted. When the real-time contact force between the ultrasound probe and the human body surface deviates from the desired contact force, the ultrasound probe's scanning trajectory will be adjusted back to a larger extent. The robotic arm is controlled to move the ultrasound probe along the corrected scanning trajectory to obtain ultrasound scanning images of the target parts of the human body.

6. The ultrasonic scanning system for a robotic arm based on contact force control according to claim 5, characterized in that, The real-time contact force calculation module is specifically used for: Real-time acquisition of force sensor data at the end of the robotic arm; Based on the force sensor data at the end of the robotic arm and the calibrated load parameters at the end of the robotic arm, the real-time contact force between the ultrasonic probe and the human body surface is calculated.

7. The ultrasonic scanning system for a robotic arm based on contact force control according to claim 6, characterized in that, A six-dimensional force sensor is installed at the end of the robotic arm to collect force sensor data at the end of the robotic arm in real time.

8. 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 ultrasonic scanning method for a robotic arm based on contact force control as described in claim 1.

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