An ultrasonic robotic gynecological autonomous scanning method and related devices and apparatuses

Abstract

The application discloses an ultrasonic robot gynecological autonomous scanning method and related devices and equipment. The method comprises the following steps: performing multi-tissue segmentation on a real-time ultrasonic image to obtain a uterine contour point set; determining a minimum left boundary included angle and a minimum right boundary included angle every time the probe moves a step; judging whether at least one of the minimum left boundary included angle and the minimum right boundary included angle is smaller than a preset included angle threshold; if yes, controlling the probe to move up and down and swing; finding a region with the longest continuous occlusion in the uterine contour point set every time the probe moves a step, determining the length of the region as a current occlusion length; judging whether the current occlusion length is greater than a preset length threshold; if yes, controlling the probe to swing according to the current occlusion length and the preset length threshold; and controlling the probe to scan left and right ovaries according to a preset path. The method can ensure that there is no occlusion in uterine tissue, effectively avoids image missed detection, and improves the quality of ultrasonic images.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, and in particular to an ultrasonic robot autonomous gynecological scanning method and related devices and equipment. Background Technology

[0002] Transabdominal ultrasound is a non-invasive examination technique that places an ultrasound probe on the surface of the abdomen to image the pelvic and abdominal organs by emitting high-frequency sound waves (typically 2.5–3.5 MHz). In the field of gynecological ultrasound diagnosis, accurate imaging of the uterus and ovaries plays a crucial role in disease screening (such as endometrial cancer, ovarian cysts, etc.). Summary of the Invention

[0003] To increase the options for gynecological ultrasound scanning methods and improve the standardization of gynecological ultrasound scanning, this invention provides a method for autonomous gynecological ultrasound robot scanning, as well as related devices and equipment.

[0004] In a first aspect, embodiments of the present invention provide a method for autonomous gynecological scanning using an ultrasound robot, comprising:

[0005] Following a preset path, the probe of the ultrasound robot is controlled to scan the uterus and acquire ultrasound images in real time.

[0006] Multi-tissue segmentation of real-time ultrasound images yields a set of uterine contour points;

[0007] For each step the probe moves, the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image is calculated, and the minimum left boundary angle and the minimum right boundary angle are determined.

[0008] Determine whether at least one of the minimum left boundary angle and the minimum right boundary angle is less than the preset angle threshold;

[0009] If so, control the probe to increase its up-and-down movement and swinging motion until both the minimum left boundary angle and the minimum right boundary angle are not less than the preset angle threshold.

[0010] Each time the probe moves one step, it traverses the set of uterine contour points in the ultrasound image at the current moment, finds the region with the longest continuous occlusion in the set of uterine contour points, and determines the length of this region as the occlusion length at the current moment.

[0011] Determine whether the current occlusion length is greater than a preset length threshold;

[0012] If so, based on the current occlusion length and the preset length threshold, control the probe to swing until the current occlusion length is not greater than the preset length threshold, or until the probe has swung to the maximum angle threshold;

[0013] Following the preset path, the probe is controlled to scan the left and right ovaries.

[0014] In one or more alternative embodiments, controlling the probe to scan the left and right ovaries according to the preset path includes:

[0015] Record the set of the maximum contour points of the uterus in the image coordinate system, and convert the set of the maximum contour points of the uterus in the image coordinate system into the set of the maximum contour points of the uterus in the world coordinate system.

[0016] The probe was moved to the right side of the uterus to scan the right ovary, and the real-time acquired ultrasound images were segmented into multiple tissues.

[0017] If there is at least one ovarian contour segmented on the current ultrasound image, the position of each ovarian contour in the image coordinate system is transformed to the world coordinate system to obtain at least one set of ovarian contour points.

[0018] Based on the positional relationship in the world coordinate system, the ovary contour point set with the largest area located to the right of the left edge of the largest contour point set of the uterus is determined to be the right ovary.

[0019] After determining the outline of the right ovary, determine whether the center point of the current right ovary outline is located within the center range of the ultrasound image;

[0020] If not, control the probe movement until the center point of the current right ovarian contour is located in the center of the ultrasound image;

[0021] Starting from the current pose of the probe, control the probe to move and rotate, and perform multi-angle scanning of the current location of the right ovary outline;

[0022] After the multi-angle scan is completed, the probe is moved to the left side of the uterus to scan the left ovary.

[0023] In one or more alternative embodiments, for each step the probe moves, the angles between each point of the uterine contour point set and the left and right boundaries of the ultrasound image are calculated, and the minimum left boundary angle and the minimum right boundary angle are determined, including:

[0024] According to Formula 1, the angles between each point of the uterine contour point set and the left boundary of the ultrasound image are calculated, resulting in multiple left boundary angles:

[0025]

[0026] In the formula, The center of the sector in the ultrasound image; This is the left boundary point of the ultrasound image; Let be the coordinates of the i-th point in the set of uterine contour points; for left boundary of ultrasound image The included angle;

[0027] According to Formula 2, the angles between each point of the uterine contour point set and the right boundary of the ultrasound image are calculated to obtain multiple left boundary angles:

[0028]

[0029] In the formula, The center of the sector in the ultrasound image; This is the right boundary point of the ultrasound image; Let be the coordinates of the i-th point in the set of uterine contour points; for Right boundary of ultrasound image The included angle;

[0030] Based on the calculated left and right boundary angles, the minimum left and right boundary angles are determined.

[0031] In one or more optional embodiments, the control probe adds up-and-down movement and swinging motion until both the minimum left boundary angle and the minimum right boundary angle are not less than the preset angle threshold, including:

[0032] If the minimum left boundary angle is less than the preset angle threshold, the probe is controlled to move laterally towards the head until the minimum left boundary angle is not less than the preset angle threshold or the distance the probe moves laterally towards the head exceeds the preset distance threshold.

[0033] If the distance the probe moves to the head side exceeds a preset distance threshold, and the minimum left boundary angle is still less than a preset angle threshold, then control the probe to rotate around the Z-axis of the tool coordinate system until the minimum left boundary angle is not less than the preset angle threshold.

[0034] If the minimum right boundary angle is less than the preset angle threshold, the probe is controlled to move towards the foot until the minimum right boundary angle is not less than the preset angle threshold or the distance the probe moves towards the foot exceeds the preset distance threshold.

[0035] If the distance the probe moves towards the foot exceeds a preset distance threshold, and the minimum right boundary angle is still less than a preset angle threshold, then control the probe to rotate around the Z-axis of the tool coordinate system until the minimum right boundary angle is not less than the preset angle threshold.

[0036] In one or more optional embodiments, controlling the probe to swing based on the current occlusion length and a preset length threshold until the current occlusion length is not greater than the preset length threshold, or until the probe has swinged to its maximum angle threshold, includes:

[0037] Based on the current occlusion length and the preset length threshold, the swing step size ratio coefficient is calculated according to Formula 3:

[0038]

[0039] In the formula, Let be the occlusion length at time i; This is the swing step size proportionality coefficient; This is the initial scaling factor; The preset length threshold;

[0040] Based on the calculated swing step length ratio coefficient, the probe is controlled to perform a composite motion as described in Formula 4 until the current occlusion length is not greater than the preset length threshold, or until the probe has swung to the maximum angle threshold.

[0041]

[0042] In the formula, This is the swing step size proportionality coefficient; This represents the angular step size of the oscillation around the Z-axis of the tool coordinate system. The angle at which the tool needs to swing around the Y-axis of the tool coordinate system in the next moment; The direction of the swing; This is the angle at which the tool needs to swing around the Z-axis of the coordinate system at the next moment.

[0043] In one or more optional embodiments, after controlling the probe to swing according to the current occlusion length and a preset length threshold until the current occlusion length is not greater than the preset length threshold, or until the probe has swung to the maximum angle threshold, the method further includes:

[0044] If, after controlling the swing to the maximum angle threshold, the current occlusion length is still greater than the preset length threshold, then the target desired force of the probe is calculated according to Formula 5:

[0045]

[0046] In the formula: Expectation for the goal; For the initial expectation force; This is the force proportionality coefficient; This represents the maximum force offset. L represents the length of the obstruction. omin The preset length threshold;

[0047] Control the increase of the probe's desired force until the target desired force is reached.

[0048] Secondly, embodiments of the present invention provide an ultrasonic robotic gynecological autonomous scanning device, comprising:

[0049] The first control module is used to control the probe of the ultrasound robot to scan the abdomen according to a preset path and to acquire ultrasound images in real time.

[0050] The segmentation module is used to perform multi-tissue segmentation on real-time ultrasound images to obtain the uterine contour;

[0051] The calculation module is used to calculate the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image after each step the probe moves, and to determine the minimum left boundary angle and the minimum right boundary angle.

[0052] The first judgment module is used to determine whether at least one of the minimum left boundary angle and the minimum right boundary angle is less than the preset angle threshold.

[0053] The second control module is used to control the probe to increase its up-and-down movement and swinging motion until the minimum left boundary angle and the minimum right boundary angle are not less than the preset angle threshold.

[0054] The determination module is used to traverse the set of uterine contour points in the ultrasound image at the current moment after each step the probe moves, find the region with the longest continuous occlusion in the set of uterine contour points, and determine the length of the region as the occlusion length at the current moment.

[0055] The second judgment module is used to determine whether the current occlusion length is greater than a preset length threshold.

[0056] The third control module is used to control the probe to swing according to the current occlusion length and the preset length threshold until the current occlusion length is not greater than the preset length threshold.

[0057] The fourth control module is used to control the probe to scan the left and right ovaries according to the preset path.

[0058] Thirdly, embodiments of the present invention provide a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the ultrasonic robot gynecological autonomous scanning method described in the first aspect.

[0059] Fourthly, embodiments of the present invention provide a computer program product, including a computer program / instruction, characterized in that, when the computer program / instruction is executed by a processor, it implements the ultrasonic robot gynecological autonomous scanning method described in the first aspect.

[0060] Fifthly, embodiments of the present invention provide a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the ultrasonic robot gynecological autonomous scanning method described in the first aspect.

[0061] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0062] This invention provides an autonomous gynecological ultrasound robot scanning method. This method determines whether the uterine contour is completely within the ultrasound image based on the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image. This allows for timely adjustment of the probe movement when the uterine contour exceeds the boundaries of the ultrasound image, ensuring a complete uterine scan image. By traversing the uterine contour point set, the method identifies the region with the longest continuous obstruction and determines whether there is significant obstruction of the uterine contour. This allows for timely adjustment of the probe movement when uterine tissue obstructs the scan, ensuring that all uterine tissue is scanned and effectively avoiding missed detections. By automatically controlling and adjusting the probe posture, first ensuring that the uterine contour does not exceed the boundaries of the ultrasound image, and then ensuring that there is no obstruction from uterine tissue, the scanning accuracy is improved, effectively avoiding missed detections and improving the quality of the ultrasound image.

[0063] The gynecological autonomous ultrasound robot scanning method provided in this invention allows the ultrasound robot to scan the abdomen according to a preset path, and detect the position of the scanned patient in real time during the scanning process. It can also automatically adjust the scanning angle, scanning pressure, and scanning path in real time according to different situations, without relying on physician experience. The operation is highly standardized, which can improve overall image quality and effectively reduce image quality variations. Furthermore, standardized automatic scanning can reduce the workload of physicians and improve scanning efficiency.

[0064] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0065] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0066] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0067] Figure 1 This is a flowchart illustrating the ultrasonic robot autonomous gynecological scanning method provided in this embodiment of the invention.

[0068] Figure 2 This is a schematic diagram of the structure of the ultrasonic robot provided in an embodiment of the present invention;

[0069] Figure 3 This is a schematic diagram of a preset path scan provided in an embodiment of the present invention;

[0070] Figure 4 This is a schematic diagram of an ultrasound image for uterine contour recognition and determination provided in an embodiment of the present invention;

[0071] Figure 5 This is a schematic diagram of an ultrasound image showing an obscured uterine outline provided in an embodiment of the present invention.

[0072] Figure 6 This is an ultrasound image of the uterus without any obstruction provided in this embodiment of the invention;

[0073] Figure 7 This is a structural block diagram of the ultrasound robot gynecological scanning device provided in an embodiment of the present invention. Detailed Implementation

[0074] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0075] The inventors discovered that in the field of gynecological ultrasound diagnosis, accurate imaging of the uterus and ovaries plays a crucial role in disease screening (such as endometrial cancer and ovarian cysts). Traditional manual scanning methods have the following inherent drawbacks:

[0076] Insufficient standardization of operation: scanning angle, pressure and path are highly dependent on physician experience, and the image quality obtained by different operators varies greatly; obese patients or special anatomical structures such as retroverted uterus are prone to missed images.

[0077] Efficiency and comfort bottlenecks: A single examination takes an average of 15-25 minutes, requiring doctors to maintain a fixed posture for a long time, increasing the risk of occupational injury; patients are prone to moving their body position due to pain from probe pressure, resulting in image artifacts.

[0078] Based on this, the inventors conducted further research and development and came up with this invention, which provides an ultrasonic robot for autonomous gynecological scanning and related devices and equipment.

[0079] Example 1

[0080] This invention provides a method for autonomous gynecological scanning using an ultrasound robot, referring to... Figure 1As shown, it includes:

[0081] S101: Following a preset path, control the probe of the ultrasound robot to scan the uterus and acquire ultrasound images in real time;

[0082] S102: Perform multi-tissue segmentation on real-time ultrasound images to obtain a set of uterine contour points;

[0083] S103: For each step the probe moves, calculate the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image, and determine the minimum left boundary angle and the minimum right boundary angle.

[0084] S104: Determine whether at least one of the minimum left boundary angle and the minimum right boundary angle is less than a preset angle threshold. If yes, proceed to step S105; otherwise, proceed to step S106.

[0085] S105: Control the probe to increase its up-and-down movement and swinging motion until the minimum left boundary angle and the minimum right boundary angle are not less than the preset angle threshold.

[0086] S106: For each step the probe moves, it traverses the set of uterine contour points in the ultrasound image at the current moment, finds the region with the longest continuous occlusion in the set of uterine contour points, and determines the length of this region as the occlusion length at the current moment.

[0087] S107: Determine whether the current occlusion length is greater than the preset length threshold. If yes, proceed to step S108; otherwise, proceed to step S109.

[0088] S108: Control the probe to swing according to the current occlusion length and the preset length threshold until the current occlusion length is not greater than the preset length threshold;

[0089] S109: Following the preset path, control the probe to scan the left and right ovaries.

[0090] The gynecological autonomous ultrasound robot scanning method provided in this invention determines whether the uterine contour is completely within the ultrasound image based on the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image. This allows for timely adjustment of the probe movement when the uterine contour exceeds the boundaries of the ultrasound image, ensuring the integrity of the uterine scan image. By traversing the uterine contour point set, the method identifies the region with the longest continuous obstruction and determines whether there is significant obstruction of the uterine contour. This allows for timely adjustment of the probe movement when uterine tissue obstructs the view, ensuring that all uterine tissue is scanned and effectively avoiding missed detections. By automatically controlling and adjusting the probe posture, the method first ensures that the uterine contour does not exceed the boundaries of the ultrasound image and then ensures that there is no obstruction from uterine tissue, improving scanning accuracy, effectively avoiding missed detections, and improving ultrasound image quality.

[0091] The gynecological autonomous ultrasound robot scanning method provided in this invention allows the ultrasound robot to scan the abdomen according to a preset path, and detect the position of the scanned patient in real time during the scanning process. It can also automatically adjust the scanning angle, scanning pressure, and scanning path in real time according to different situations, without relying on physician experience. The operation is highly standardized, improving overall image quality and effectively reducing image quality variations. Furthermore, the standardized automatic scanning of the dual-arm ultrasound robot reduces the workload of physicians and improves scanning efficiency.

[0092] To facilitate understanding of this solution by those skilled in the art, an example diagram of the ultrasonic robot in the embodiments of this application is given below: Ultrasonic robot device reference Figure 2 As shown, the ultrasound robot device includes a robotic arm and a computer. The probe is located at the end of the robotic arm. In this method, the computer will be deployed to control the movement of the robotic arm, enabling the probe to autonomously scan target organs in the human body. Two coordinate systems are present in the figure. Using the world coordinate system, This is the tool coordinate system.

[0093] In this embodiment of the invention, the preset path for gynecological scanning refers to Figure 3 As shown in the figure, 1, 2, 3, 4, 5, and 6 represent the scanning trajectories executed sequentially by the ultrasound robot's probe, with the blue rectangle representing the probe. Trajectories 1 and 2 are based on the longitudinal profile of the uterus, performing a longitudinal scan of the uterus. Specifically, Trajectory 1 involves controlling the probe to translate along the X-axis of the world coordinate system; Trajectory 2 involves controlling the probe to swing around the Y-axis of the tool coordinate system. Trajectory 3 involves controlling the probe to rotate 90° to achieve a transverse scan of the uterus. Trajectory 4 is based on the transverse profile of the uterus, performing a transverse scan of the uterus, specifically by controlling the probe to move up and down along the Y-axis of the world coordinate system. Trajectory 5 involves moving the probe to the right side of the uterus, using the uterus as the central axis, to scan the right ovary; Trajectory 6 involves moving the probe to the left side of the uterus to scan the left ovary. It can be seen that the main purpose of trajectories 1-4 is to scan the uterus, corresponding to steps S101-S108 above; while the main purpose of trajectories 5-6 is to scan the left and right ovaries, corresponding to step S109 above.

[0094] In this embodiment of the invention, step S101 above: according to a preset path, the probe of the ultrasound robot is controlled to scan the abdomen and acquire ultrasound images in real time. Specifically, according to the preset path trajectory 1-4, the probe of the ultrasound robot is controlled to scan the abdomen and acquire ultrasound images in real time to ensure that the uterus is scanned as completely as possible.

[0095] It should be noted that simply controlling the probe to complete the scanning action according to trajectory 1-4 without real-time monitoring of image quality and timely adjustment of probe position, even with a sufficiently reasonable preset path, cannot guarantee that the uterus will be completely scanned. Therefore, during the process of controlling the probe to scan according to trajectory 1-4, it is also necessary to perform uterine obstruction detection on the real-time acquired ultrasound images through steps S102-S108, and control the probe to increase scanning action or rotate it in real time based on the detection results to ensure that the uterus is completely scanned.

[0096] In this embodiment of the invention, step S102, which involves multi-tissue segmentation of the real-time ultrasound image to obtain a uterine contour point set, can specifically involve using a segmentation network such as U-Net to perform multi-tissue segmentation on the acquired real-time ultrasound image, identifying the uterine contour, and performing ellipse fitting on the segmented uterine contour to obtain a regular and smooth uterine contour point set. Ellipse fitting on the segmented original uterine point set helps eliminate measurement errors and improve computational efficiency. It should be noted that each time multi-tissue segmentation is performed on the real-time ultrasound image, not only the uterine contour is obtained, but also the contours of other tissues such as the ovaries and bladder boundaries are segmented, rather than only identifying the uterus.

[0097] Based on relevant clinical experience, there are two main reasons why the uterus may be obscured in ultrasound images during gynecological scans: (1) the outline of the uterus exceeds the boundary of the ultrasound image; (2) the outline of the uterus is obscured by other tissues or intestinal gas. Therefore, during the uterine scan, it is essential to first ensure that the outline of the uterus does not exceed the boundary of the ultrasound image, and then confirm that the outline of the uterus is not obscured by other tissues or intestinal gas, in order to ensure a complete uterine scan and improve the quality of the ultrasound image.

[0098] In this embodiment of the invention, to determine whether the uterine contour extends beyond the boundary of the ultrasound image, it can be determined by judging whether the leftmost or rightmost edge of the uterine contour in the fan-shaped ultrasound image extends beyond the boundary of the ultrasound image. For example, Figure 4 This image shows an ultrasound image obtained during a gynecological scan; the pink outline represents the identified uterine contour. Let i be the coordinates of the i-th point in the set of uterine contour points. The angle between the uterine contour and the ultrasound image reflects the distance between the uterine contour and the ultrasound image boundary. Based on this, step S103 above—calculating the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image for each step the probe moves—and determining the minimum left boundary angle and the minimum right boundary angle, can specifically include the following steps S1031-S1033:

[0099] S1031: According to Formula 1, calculate the angle between each point of the uterine contour point set and the left boundary of the ultrasound image to obtain multiple left boundary angles:

[0100]

[0101] In the formula, The center of the sector in the ultrasound image; This is the left boundary point of the ultrasound image; Let be the coordinates of the i-th point in the set of uterine contour points; for left boundary of ultrasound image The included angle;

[0102] S1032: According to Formula 2, calculate the angle between each point of the uterine contour point set and the right boundary of the ultrasound image to obtain multiple left boundary angles:

[0103]

[0104] In the formula, The center of the sector in the ultrasound image; This is the right boundary point of the ultrasound image; Let be the coordinates of the i-th point in the set of uterine contour points; for Right boundary of ultrasound image The included angle;

[0105] S1033: Based on the calculated left boundary angle and right boundary angle, determine the minimum left boundary angle and the minimum right boundary angle.

[0106] from Figure 4 As can be seen, in the fan-shaped ultrasound image, the point in the set of uterine contour points corresponding to the smallest left boundary angle is the closest point to the left boundary of the ultrasound image, and the point in the set of uterine contour points corresponding to the smallest right boundary angle is the closest point to the right boundary of the ultrasound image. Therefore, if the smallest left boundary angle and / or the smallest right boundary angle is less than a preset angle threshold (for example, set to 2°), it indicates that the uterine contour exceeds the boundary of the ultrasound image. In this case, it is necessary to control the movement or swing of the probe to keep the uterine contour within the ultrasound image.

[0107] Based on this, after calculating the minimum left boundary angle and the minimum right boundary angle, the above step S104 is executed: determining whether at least one of the minimum left boundary angle and the minimum right boundary angle is less than a preset angle threshold, which may specifically include the following steps S1041-S1043:

[0108] S1041: Determine based on the following formula 6:

[0109]

[0110] In the formula, The minimum included angle of the left boundary; It is the smallest right boundary angle; This is the preset included angle threshold.

[0111] S1042: If the minimum left boundary angle and the minimum right boundary angle are both not less than the preset angle threshold, it means that the uterine outline has not exceeded the boundary of the ultrasound image, and the scanning can continue according to the preset path.

[0112] S1043: If at least one of the minimum left boundary angle and the minimum right boundary angle is less than a preset angle threshold, then execute the above step S105.

[0113] In this embodiment of the invention, the purpose of step S105 is to adjust the position of the uterine contour in the ultrasound image by controlling the probe movement, so that the uterine contour is completely located within the ultrasound image. Step S105 involves controlling the probe to increase its up-and-down movement and swinging motion until both the minimum left boundary angle and the minimum right boundary angle are not less than a preset angle threshold. Specifically, this may include the following steps S1051-S1054:

[0114] S1051: If the minimum left boundary angle is less than the preset angle threshold, control the probe to move in the head-side direction until the minimum left boundary angle is not less than the preset angle threshold or the distance the probe moves in the head-side direction exceeds the preset distance threshold.

[0115] S1052: If the distance the probe moves to the head side exceeds the preset distance threshold, and the minimum left boundary angle is still less than the preset angle threshold, control the probe to rotate around the Z-axis of the tool coordinate system until the minimum left boundary angle is not less than the preset angle threshold.

[0116] S1053: If the minimum right boundary angle is less than the preset angle threshold, control the probe to move towards the foot until the minimum right boundary angle is not less than the preset angle threshold or the distance the probe moves towards the foot exceeds the preset distance threshold.

[0117] S1054: If the distance the probe moves towards the foot exceeds the preset distance threshold, and the minimum right boundary angle is still less than the preset angle threshold, then control the probe to rotate around the Z-axis of the tool coordinate system until the minimum right boundary angle is not less than the preset angle threshold.

[0118] It should be noted that the preset distance threshold is set according to the human body structure. For example, it can be set to 0.03m to avoid the probe's movement range exceeding the human body area.

[0119] In this embodiment of the invention, step S1051 above: if the minimum left boundary angle is less than a preset angle threshold, then control the probe to translate in the head-side direction until the minimum left boundary angle is not less than the preset angle threshold or the distance the probe translates in the head-side direction exceeds a preset distance threshold, specifically including the following steps S10521-S10522:

[0120] S10511: If the minimum left boundary angle is less than the preset angle threshold, the amount of motion of the probe along the Y-axis of the tool coordinate system at the next moment is calculated according to Formula 7.

[0121]

[0122] In the formula, p ystep The step size; This represents the motion of the robotic arm along the Y-axis of the tool coordinate system at the next moment; This represents the current direction of probe movement along the Y-axis of the tool coordinate system (value is 1 or -1). Initially equal to 1. It should be noted that when... hour, That is, the reverse search. The maximum search range along the Y-axis on the left side of the tool is recommended to be 0.02m. This is the total distance the probe has moved along the Y-axis of the tool coordinate system. .

[0123] S10512: Based on the amount of motion of the probe along the Y-axis of the tool coordinate system at the next moment. The probe is controlled to move a corresponding distance along the Y-axis of the tool coordinate system. Each time it moves, it is determined whether the minimum left boundary angle is less than a preset angle threshold, and whether the distance the probe has moved towards the head exceeds a preset distance threshold. If the minimum left boundary angle is less than the preset angle threshold, steps S10521-S10522 are executed again. If the minimum left boundary angle is not less than the preset angle threshold, it indicates that the left edge of the uterine contour is within the ultrasound image boundary, and steps S1053-S1054 can be executed. If the distance the probe has moved towards the head exceeds the preset distance threshold, step S1052 is executed.

[0124] In this embodiment of the invention, S1052: if the distance the probe moves in the head-side direction exceeds a preset distance threshold, and the minimum left boundary angle is still less than a preset angle threshold, the probe is controlled to rotate around the Z-axis of the tool coordinate system until the minimum left boundary angle is not less than the preset angle threshold. Specifically, this may include:

[0125] S10521: If the distance the probe moves laterally in the head direction exceeds the preset distance threshold, the angle of the next moment's swing around the Z-axis of the tool coordinate system is calculated according to Formula 8:

[0126]

[0127] In the formula, r zstep The recommended value is 0.03 rad for the angle step of the probe swinging around the Z-axis of the tool coordinate system. The angle at which the tool needs to swing around the Z-axis of the tool coordinate system at the next moment; The direction of the swing, with an initial value of 1; The maximum search range around the Z-axis of the tool coordinate system is recommended to be 0.3 rad, and the real-time angle of the robot arm's rotation around the Z-axis of the tool coordinate system should not exceed [a certain value]. .

[0128] In this embodiment of the invention, step S1053 is the same as step S1051, and step S1054 is the same as step S1052. The repeated parts will not be described again.

[0129] The gynecological autonomous ultrasound robot scanning method provided in this invention determines whether the uterine contour is completely within the ultrasound image based on the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image. This allows the probe to be controlled and its position adjusted in the ultrasound image in a timely manner when the uterine contour exceeds the boundaries of the ultrasound image, thus ensuring the integrity of the uterine scan image and improving the quality of the ultrasound image.

[0130] In this embodiment of the invention, after ensuring that the uterine contour is completely within the ultrasound image, it is possible to continue detecting whether the uterine contour is obscured by other tissues or intestinal gas. Step S106: Each time the probe moves one step, it traverses the set of uterine contour points in the ultrasound image at the current moment, finds the region with the longest continuous obstruction in the uterine contour point set, and determines the length of this region as the obstruction length at the current moment. Specifically, this may include the following steps S1061-S1062:

[0131] S1061: For each step the probe moves, it iterates through the set of uterine contour points in the ultrasound image at the current moment. Based on the pixel value of each point and the average grayscale value within the uterine contour of the ultrasound image (obtained by summing the pixel values ​​within the uterine contour and then dividing by the number of pixels), it sets the uterine contour points that satisfy… Points are identified as occluded points. Where f(pi) represents p in the ultrasound image. i The pixel value of the location; f avg This represents the average gray value within the uterine contour in the ultrasound image.

[0132] S1062: Based on the identified occluded points, find the region where the longest continuous occlusion exists within the set of uterine contour points, denoted as P. omax Concentrate the uterine contour points in the region P with the longest continuous occlusion. omaxThe maximum length between the midpoints is determined as the occlusion length at the current moment, denoted as L. o .

[0133] Get the current occlusion length L o Then, continue with step S107: determine whether the current occlusion length Lo is greater than the preset length threshold L. omin (L) omin The recommended value is 50 (unit: pixel distance). If L o >L omin If this indicates that the area is significantly obstructed, then step S108 is executed. For example, Figure 5 The image shows an ultrasound image where the outline of the uterus is obscured. The red circle indicates the location of the uterus, but there is no significant difference in brightness between the gray areas inside and outside the red circle, and there is no continuous boundary line of brightness, indicating that the outline of the uterus is obscured.

[0134] In this embodiment of the invention, step S108 above: controlling the probe to swing according to the current occlusion length and a preset length threshold until the current occlusion length is not greater than the preset length threshold, or until the probe has swung to the maximum angle threshold, may specifically include the following steps S1081-S1083:

[0135] S1081: Based on the current occlusion length and the preset length threshold, the swing step size ratio coefficient is calculated according to Formula 3:

[0136]

[0137] In the formula, L oi Let be the occlusion length at time i; This is the swing step size proportionality coefficient; The initial scaling factor is 0.5; L omin The preset length threshold; The value is a scaling factor, with a recommended value of 0.002. Formula 3 indicates that the larger the occlusion area at the current moment, the larger the range of oscillation around the tool coordinate system Y at the next moment.

[0138] S1082: Based on the calculated swing step length proportional coefficient, control the probe to perform the composite motion as described in Formula 4;

[0139]

[0140] In the formula, r is the swing step size proportionality coefficient. zstep The recommended value for the angular step size of the oscillation around the Z-axis of the tool coordinate system is 0.01 rad. The angle at which the tool needs to swing around the Y-axis of the tool coordinate system in the next moment; The angle at which the tool needs to swing around the Z-axis of the tool coordinate system at the next moment; The direction of the swing is given by 1.

[0141] It should be noted that when hour, That is, the opposite motion. The maximum search range around the Z-axis of the tool coordinate system is recommended to be 0.6 rad. , where is the total angle of the probe's current rotation around the Z-axis of the tool coordinate system. It can be understood that the probe's attitude motion at the next moment is... .

[0142] S1083: Determine the current occlusion length L again. o Is it greater than the preset length threshold L? omin If L o >L omin Repeat steps S1081-S1083 until the current occlusion length L is reached. o Not greater than the preset length threshold L omin Alternatively, until the probe has swung to the maximum angle threshold.

[0143] In this embodiment of the invention, it is possible that even after the probe has swung to the maximum angle threshold, the current obstruction length is still greater than the preset length threshold, meaning the uterine contour is still obstructed. In this case, the expected force of the probe is appropriately increased, thereby utilizing tissue deformation to expand the acoustic window and achieve ultrasound image obstruction processing. Based on this, step S108: controlling the probe to swing according to the current obstruction length and the preset length threshold until the current obstruction length is not greater than the preset length threshold, or until the probe has swung to the maximum angle threshold, may further include the following steps S1084-S1085:

[0144] S1084: If, after controlling the probe to swing to the maximum angle threshold, the current occlusion length is still greater than the preset length threshold, then the target expected force of the probe is calculated according to Formula 5:

[0145]

[0146] In the formula: Expectation for the goal; For the initial expectation force; This is the force proportionality coefficient; This represents the maximum force offset; L o L represents the length of the obstruction. omin The preset length threshold;

[0147] S1085: Control the increase of the desired force of the probe until the target desired force is reached.

[0148] Once the probe's desired force reaches the target desired force, tissue deformation can be used to enlarge the acoustic window, thus mitigating ultrasound image occlusion and ensuring a complete scan of the uterus. After detecting instances where the uterine contour exceeds the image boundary or is occluded, and making corresponding adjustments, an unobstructed ultrasound image with a complete uterine contour can be obtained. For example, Figure 6 This illustrates an ultrasound image where the outline of the uterus is not obscured, unlike... Figure 5 The red circle in the image has no clear boundary, and there is a continuous, bright boundary line at the location of the uterus, indicating that the outline of the uterus is relatively clear and there is no obstruction.

[0149] The ultrasound robot gynecological autonomous scanning method provided in this invention traverses the uterine contour point set, finds the region with the longest continuous obstruction in the uterine contour point set, and determines whether there is obvious obstruction of the uterine contour. This allows for timely adjustment of the probe position or increase of the probe's expected force when there is obstruction in the uterine tissue, ensuring that all uterine tissue is scanned, effectively avoiding missed detections and improving image quality.

[0150] In one specific embodiment, after obtaining an unobstructed ultrasound image with a complete uterine outline, the left and right ovaries located on either side of the uterus can be scanned according to a preset path trajectory 5-6. Step S109 above: Controlling the probe to scan the left and right ovaries according to the preset path, specifically may include the following steps S1091-S1092:

[0151] S1091: Following the preset path trajectory 5, control the probe to scan the right ovary;

[0152] S1092: After scanning the right ovary, control the probe to move to the left side of the uterus, and control the probe to scan the left ovary according to the preset path trajectory 6.

[0153] In this embodiment of the invention, step S1091 above: Following the preset path trajectory 5, the probe is controlled to scan the right ovary. During this process, the following steps S10911-S10917 are executed:

[0154] S10911: Records the set of points representing the maximum contour of the uterus in the image coordinate system, denoted as... The corresponding probe pose is denoted as And the set of the largest contour points of the uterus in the image coordinate system P UI Convert to the maximum contour point set of the uterus in world coordinate system ;

[0155] S10912: Controls the probe to move to the right side of the uterus, scans the right ovary, and acquires ultrasound images in real time, as well as performs multi-tissue segmentation on the real-time ultrasound images;

[0156] S10913: If there is at least one ovarian contour segmented on the current ultrasound image, transform the position of each ovarian contour in the image coordinate system to the world coordinate system to obtain at least one set of ovarian contour points.

[0157] S10914: Based on the positional relationship in the world coordinate system, the left edge is located in the set of points on the largest contour of the uterus. The ovary contour point set with the largest area to the right of the right edge is determined to be the right ovary;

[0158] S10915: After determining the outline position of the right ovary, determine the center point of the current right ovary outline. Whether it is located in the center of the ultrasound image, that is, whether it meets the requirements. ( If the threshold value is set (recommended value is 80), it means that the ovarian outline is not in the center of the ultrasound image, and step S10916 is executed.

[0159] S10916: Adjust the probe's displacement in the Y-axis of the tool coordinate system until it reaches the center point of the current right ovarian contour. Located in the central area of ​​the ultrasound image;

[0160] S10917: Starting from the probe's current pose, control the probe to move and rotate, performing multi-angle scanning of the current location of the right ovary's outline. Multi-angle scanning refers to scanning the ovary from different angles according to a preset adjustment path, ensuring that the ovary is scanned completely and accurately.

[0161] It should be noted that the left edge of the ovarian contour refers to the leftmost point in the set of ovarian contour points, while the right edge refers to the rightmost point in the set of ovarian contour points. Ultrasound images typically segment one or two ovarian contours. Step S10914 above: Based on the positional relationship in the world coordinate system, locate the leftmost point within the set of the largest uterine contour points. The set of ovarian contour points to the right of the rightmost point, and with the largest area, is determined to be the right ovary. Specifically, it can include:

[0162] If the current ultrasound image contains a segmented ovarian contour, the set of points representing this ovarian contour is denoted as... After conversion to the world coordinate system, it is denoted as If the following conditions are met: This indicates the set of ovarian contour points. The leftmost point is located in the set of the largest contour points of the uterus. The point to the right of the far right indicates that the current ovary is located on the right side of the uterus, so the outline of this ovary is identified as the right ovary;

[0163] If the current ultrasound image shows two ovarian contours, denoted as... and P respectively OI1 and P OI2 Transform to the world coordinate system, and denote them as follows: and If satisfied This indicates the outline. Right ovary; if satisfied This indicates the outline. The right ovary; if the outline is determined and outline If both are right ovaries, then outline them. and outline The outline of the largest ovary in the middle was determined to be the right ovary.

[0164] In this embodiment of the invention, the contour position in the image coordinate system is transformed to the contour position in the world coordinate system, so as to convert the maximum contour point set PUI of the uterus in the image coordinate system into the maximum contour point set of the uterus in the world coordinate system. For example, according to the following formula 9:

[0165]

[0166] In the formula, For P UI Corresponding coordinate position in the world coordinate system; for The actual position in the tool coordinate system; This represents the physical width of the ultrasound image interface; the reference value is 0.07m. This represents the image pixel width and size, with a reference value of 1000. The coordinate system transformation for the ovarian contour is similar to that for the uterine contour; the details are repeated and will not be elaborated further.

[0167] In this embodiment of the invention, after completing the multi-angle scan of the right ovary, the probe can be controlled to move to the left side of the uterus to begin scanning the left ovary. Step S1092: After scanning the right ovary, the probe is controlled to move to the left side of the uterus, and following the preset path trajectory 6, the probe is controlled to scan the left ovary. During this process, the following steps S10921-S10927 are executed:

[0168] S10921: Record the set of points representing the maximum contour of the uterus in the image coordinate system, denoted as P. UI The corresponding probe pose is denoted as The maximum contour point set of the uterus (PUI) in the image coordinate system is then transformed into the maximum contour point set of the uterus in the world coordinate system. ;

[0169] S10922: Control the probe to move to the left side of the uterus, scan the left ovary, and acquire ultrasound images in real time, as well as perform multi-tissue segmentation on the real-time ultrasound images;

[0170] S10923: If there is at least one ovarian contour segmented on the current ultrasound image, transform the position of each ovarian contour in the image coordinate system to the world coordinate system to obtain at least one ovarian contour point set.

[0171] S10924: Based on the positional relationship in the world coordinate system, the right edge is located in the set of points representing the largest contour of the uterus. The ovary contour point set with the largest area to the left of the left edge is determined to be the left ovary;

[0172] S10925: After determining the outline position of the left ovary, determine whether the center point of the current left ovary outline is located in the center of the ultrasound image. If not, it means that the ovary outline is not in the center of the ultrasound image, and proceed to step S10926.

[0173] S10926: Adjust the displacement of the probe in the Y direction of the tool coordinate system until the center point of the current left ovarian contour is located in the center range of the ultrasound image;

[0174] S10927: Starting from the current pose of the probe, control the probe to move and rotate, and perform multi-angle scanning of the current location of the left ovary outline.

[0175] In this embodiment of the invention, the principle of determining and scanning the left ovary is the same as that of determining and scanning the right ovary; the repetitions will not be repeated.

[0176] The ultrasonic robot-assisted gynecological scanning method provided in this invention improves the overall accuracy of gynecological scanning by ensuring a complete scan of the uterus before scanning the left and right ovaries on either side of the uterus. During the scanning of the left and right ovaries, the relative positions of the ovaries and uterus in a world coordinate system are used to determine the position of each ovary separately, rather than directly using the results obtained from image segmentation. This effectively avoids scanning errors and improves scanning accuracy and ultrasound image quality.

[0177] Example 2

[0178] Based on the same inventive concept, this invention also provides an ultrasonic robotic gynecological autonomous scanning device, referring to... Figure 7 As shown, it includes:

[0179] The first control module 101 is used to control the probe of the ultrasound robot to scan the abdomen according to a preset path and to acquire ultrasound images in real time.

[0180] The segmentation module 102 is used to perform multi-tissue segmentation on real-time ultrasound images to obtain the uterine contour;

[0181] The calculation module 103 is used to calculate the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image after the probe moves one step, and to determine the minimum left boundary angle and the minimum right boundary angle.

[0182] The first judgment module 104 is used to determine whether at least one of the minimum left boundary angle and the minimum right boundary angle is less than the preset angle threshold.

[0183] The second control module 105 is used to control the probe to increase its up-and-down movement and swinging motion until the minimum left boundary angle and the minimum right boundary angle are not less than the preset angle threshold.

[0184] The determination module 106 is used to traverse the set of uterine contour points in the ultrasound image at the current moment after each step the probe moves, find the region with the longest continuous occlusion in the set of uterine contour points, and determine the length of the region as the occlusion length at the current moment.

[0185] The second judgment module 107 is used to determine whether the current occlusion length is greater than a preset length threshold.

[0186] The third control module 108 is used to control the probe to swing according to the current occlusion length and the preset length threshold until the current occlusion length is not greater than the preset length threshold.

[0187] The fourth control module 109 is used to control the probe to scan the left and right ovaries according to the preset path.

[0188] Example 3

[0189] Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium storing a computer program / instructions thereon, which, when executed by a processor, implements the ultrasonic robot gynecological autonomous scanning method as described in Embodiment 1 above.

[0190] Example 4

[0191] Based on the same inventive concept, embodiments of the present invention also provide a computer program product, including a computer program / instruction, which, when executed by a processor, implements the ultrasonic robot gynecological autonomous scanning method as described in Embodiment 1 above.

[0192] Example 5

[0193] Based on the same inventive concept, this embodiment of the invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory. When the processor executes the computer program, it implements the ultrasonic robot gynecological autonomous scanning method as described in Embodiment 1 above.

[0194] The principles by which the above-described apparatus, client, medium, related equipment and system in this embodiment of the invention solve the problem are similar to those of the aforementioned method. Therefore, their implementation can refer to the implementation of the aforementioned method, and repeated details will not be repeated.

[0195] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0196] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0197] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0198] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0199] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for autonomous gynecological scanning using an ultrasound robot, characterized in that, include: Following a preset path, the probe of the ultrasound robot is controlled to scan the uterus and acquire ultrasound images in real time. Multi-tissue segmentation of real-time ultrasound images yields a set of uterine contour points; For each step the probe moves, the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image is calculated, and the minimum left boundary angle and the minimum right boundary angle are determined. Determine whether at least one of the minimum left boundary angle and the minimum right boundary angle is less than a preset angle threshold; If so, control the probe to increase its up-and-down movement and swinging motion until both the minimum left boundary angle and the minimum right boundary angle are not less than the preset angle threshold. Each time the probe moves one step, it traverses the set of uterine contour points in the ultrasound image at the current moment, finds the region with the longest continuous occlusion in the set of uterine contour points, and determines the length of this region as the occlusion length at the current moment. Determine whether the current occlusion length is greater than a preset length threshold; If so, based on the current occlusion length and the preset length threshold, control the probe to swing until the current occlusion length is not greater than the preset length threshold, or until the probe has swung to the maximum angle threshold; Following the preset path, the probe is controlled to scan the left and right ovaries.

2. The method for autonomous gynecological scanning using an ultrasound robot according to claim 1, characterized in that, The step of controlling the probe to scan the left and right ovaries according to the preset path includes: Record the set of the maximum contour points of the uterus in the image coordinate system, and convert the set of the maximum contour points of the uterus in the image coordinate system into the set of the maximum contour points of the uterus in the world coordinate system. The probe was moved to the right side of the uterus to scan the right ovary, and the real-time acquired ultrasound images were segmented into multiple tissues. If there is at least one ovarian contour segmented on the current ultrasound image, the position of each ovarian contour in the image coordinate system is transformed to the world coordinate system to obtain at least one set of ovarian contour points. Based on the positional relationship in the world coordinate system, the ovary contour point set with the largest area located to the right of the left edge of the largest contour point set of the uterus is determined to be the right ovary. After determining the outline of the right ovary, determine whether the center point of the current right ovary outline is located within the center range of the ultrasound image; If not, control the probe movement until the center point of the current right ovarian contour is located in the center of the ultrasound image; Starting from the current pose of the probe, control the probe to move and rotate, and perform multi-angle scanning of the current location of the right ovary outline; After the multi-angle scan is completed, the probe is moved to the left side of the uterus to scan the left ovary.

3. The method for autonomous gynecological scanning with an ultrasound robot according to claim 1, characterized in that, For each step the probe moves, the angles between each point of the uterine contour point set and the left and right boundaries of the ultrasound image are calculated, and the minimum left boundary angle and the minimum right boundary angle are determined, including: According to Formula 1, the angles between each point of the uterine contour point set and the left boundary of the ultrasound image are calculated, resulting in multiple left boundary angles: ； In the formula, The center of the sector in the ultrasound image; This is the left boundary point of the ultrasound image; Let be the coordinates of the i-th point in the set of uterine contour points; for left boundary of ultrasound image The included angle; According to Formula 2, the angles between each point of the uterine contour point set and the right boundary of the ultrasound image are calculated to obtain multiple left boundary angles: ； In the formula, The center of the sector in the ultrasound image; This is the right boundary point of the ultrasound image; Let be the coordinates of the i-th point in the set of uterine contour points; for Right boundary of ultrasound image The included angle; Based on the calculated left and right boundary angles, the minimum left and right boundary angles are determined.

4. The method for autonomous gynecological scanning with an ultrasound robot according to claim 1, characterized in that, The control probe increases its vertical and horizontal movement and swinging motion until both the minimum left boundary angle and the minimum right boundary angle are not less than the preset angle threshold, including: If the minimum left boundary angle is less than the preset angle threshold, the probe is controlled to move laterally towards the head until the minimum left boundary angle is not less than the preset angle threshold or the distance the probe moves laterally towards the head exceeds the preset distance threshold. If the distance the probe moves to the head side exceeds a preset distance threshold, and the minimum left boundary angle is still less than a preset angle threshold, then control the probe to rotate around the Z-axis of the tool coordinate system until the minimum left boundary angle is not less than the preset angle threshold. If the minimum right boundary angle is less than the preset angle threshold, the probe is controlled to move towards the foot until the minimum right boundary angle is not less than the preset angle threshold or the distance the probe moves towards the foot exceeds the preset distance threshold. If the distance the probe moves towards the foot exceeds a preset distance threshold, and the minimum right boundary angle is still less than a preset angle threshold, then control the probe to rotate around the Z-axis of the tool coordinate system until the minimum right boundary angle is not less than the preset angle threshold.

5. The method for autonomous gynecological scanning with an ultrasound robot according to claim 1, characterized in that, The step of controlling the probe to swing based on the current occlusion length and a preset length threshold until the current occlusion length is not greater than the preset length threshold, or until the probe has swinged to its maximum angle threshold, includes: Based on the current occlusion length and the preset length threshold, the swing step size ratio coefficient is calculated according to Formula 3: ； In the formula, Let be the occlusion length at time i; This is the swing step size proportionality coefficient; This is the initial scaling factor; The preset length threshold; Based on the calculated swing step length ratio coefficient, the probe is controlled to perform a composite motion as described in Formula 4 until the current occlusion length is not greater than the preset length threshold, or until the probe has swung to the maximum angle threshold. ； In the formula, This is the swing step size proportionality coefficient; This represents the angular step size of the oscillation around the Z-axis of the tool coordinate system. The angle at which the tool needs to swing around the Y-axis of the tool coordinate system in the next moment; The direction of the swing; This is the angle at which the tool needs to swing around the Z-axis of the coordinate system at the next moment.

6. The method for autonomous gynecological scanning with an ultrasound robot according to claim 5, characterized in that, After controlling the probe to swing based on the current occlusion length and a preset length threshold until the current occlusion length is not greater than the preset length threshold, or until the probe has swung to its maximum angle threshold, the method further includes: If, after controlling the probe to swing to the maximum angle threshold, the current occlusion length is still greater than the preset length threshold, then the target expected force of the probe is calculated according to Formula 5: ； In the formula: Expectation for the goal; For the initial expectation force; This is the force proportionality coefficient; This represents the maximum force offset; L o The length of the obstruction; The preset length threshold; Control the increase of the probe's desired force until the target desired force is reached.

7. An ultrasonic robotic gynecological autonomous scanning device, characterized in that, include: The first control module is used to control the probe of the ultrasound robot to scan the uterus according to a preset path and to acquire ultrasound images in real time. The segmentation module is used to perform multi-tissue segmentation on real-time ultrasound images to obtain a set of uterine contour points; The calculation module is used to calculate the angle between each point of the uterine contour point set and the left and right boundaries of the ultrasound image after each step the probe moves, and to determine the minimum left boundary angle and the minimum right boundary angle. The first judgment module is used to determine whether at least one of the minimum left boundary angle and the minimum right boundary angle is less than a preset angle threshold. The second control module is used to control the probe to increase its up-and-down movement and swinging motion until the minimum left boundary angle and the minimum right boundary angle are not less than the preset angle threshold. The determination module is used to traverse the set of uterine contour points in the ultrasound image at the current moment after each step the probe moves, find the region with the longest continuous occlusion in the set of uterine contour points, and determine the length of the region as the occlusion length at the current moment. The second judgment module is used to determine whether the current occlusion length is greater than a preset length threshold. The third control module is used to control the probe to swing according to the current occlusion length and the preset length threshold until the current occlusion length is not greater than the preset length threshold. The fourth control module is used to control the probe to scan the left and right ovaries according to the preset path.

8. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the ultrasonic robot gynecological autonomous scanning method according to any one of claims 1-6.

9. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the ultrasonic robot gynecological autonomous scanning method according to any one of claims 1-6.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the ultrasonic robot gynecological autonomous scanning method according to any one of claims 1-6.

Images