Remote ultrasonic master control terminal device and use method thereof

Abstract

The invention discloses a remote ultrasonic master control end device and a using method thereof.The remote ultrasonic master control end device is composed of an optical positioning camera module, a PC terminal and a simulation ultrasonic handle, and the specific using method includes the steps that optical positioning camera calibration, simulation ultrasonic handle calibration and spring elasticity coefficient calibration are conducted firstly, and then the optical positioning camera is fixed to a master control end operation desktop; a master control end operation coordinate system OM is defined on a desktop, the OM is calibrated by using an optical positioning camera and a simulation ultrasonic handle, and a transformation matrix TC2M from OC to OM is obtained; thirdly, a real-time coordinate transformation matrix T (t) from OMH to OM is obtained based on the coordinate transformation matrix TC2M in the remote operation process, a main control end PC extracts real-time attitude parameters and position parameters of the OMH relative to a main control end operation coordinate system OM from T (k), and the stress condition of the simulation handle is analyzed; and according to the obtained pose parameters of the simulation handle, the PC sends a control instruction to the mechanical arm at the driven end, so that the remote control of the master control end on ultrasound is realized.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and more specifically, relates to a remote ultrasound master control device and its usage method. Background Technology

[0002] With the continuous development of medical technology, the demand and standards for ultrasound scanning technology are also increasing. Traditional ultrasound scanning relies on fixed medical facilities and professionally trained ultrasound physicians, and the learning curve for training is relatively long. This, to some extent, makes it difficult to bring high-quality ultrasound diagnostic and treatment resources to grassroots hospitals, islands, and remote mountainous areas. To solve this problem, remote ultrasound technology has emerged. This system typically consists of three parts: an expert-end master control device, a low-latency communication network, and a field-driven robotic arm ultrasound probe. It transmits ultrasound images, control commands, and force feedback in real time through the network, enabling remote diagnosis and collaborative operation.

[0003] Existing master control terminals mostly use electric remote control handles with integrated motors, encoders, and hydraulic or magnetic feedback. Although they can achieve position and force control replication, they are difficult to deploy widely due to problems such as high electromechanical coupling, large size, high cost and maintenance costs, feedback delay, and limited force range. The simulated handle used in this invention achieves axial force control entirely through an internal spring and a spherical end probe mechanism, eliminating the need for any motors or hydraulic units. Its fully mechanized structure significantly reduces costs and simplifies maintenance. A binocular infrared / visible light camera performs real-time 3D tracking of multiple optical markers on the handle, allowing for a wide range of motion, unconstrained by wiring or its own weight. This covers common human examination areas and achieves high-precision 6-DOF pose capture. When the end probe contacts the surface being examined, the spring compression corresponds linearly to the applied force, resulting in high force control accuracy and near-zero response delay, effectively enhancing the realism and immersion of the operator's tactile feedback. Furthermore, the device is compact and flexible in deployment, suitable for resource-constrained environments such as primary hospitals, island clinics, mobile ambulances, and disaster sites. This significantly improves the availability and cost-effectiveness of remote ultrasound systems, effectively overcoming the shortcomings of traditional electric remote control handles in terms of cost, complexity, and feedback performance. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a remote ultrasound master control device and its usage method. This device uses stereo vision positioning technology to collect the position and posture data of the simulated ultrasound probe held by the operator and the pressure applied by the operator to the end of the probe. It uses this data to control the position and posture of the remote robotic arm holding the ultrasound probe and the pressure applied to the human body, thereby achieving a highly immersive remote ultrasound diagnosis.

[0005] To achieve the above-mentioned objectives, the present invention provides a remote ultrasound master control device, characterized in that it comprises: an optical positioning camera, a PC terminal, and a simulated ultrasound handpiece;

[0006] The optical positioning camera is a binocular infrared or visible light camera, fixed above the main control panel, used to track and locate the optical markers fixed on the simulated ultrasonic handle; the marker position data captured by the optical positioning camera is uploaded to the PC terminal in real time.

[0007] The simulated ultrasound handle consists of a handle body, an internal spring, and an end probe. Multiple optical markers are fixed to the handle body. A spring is installed inside the handle body along its central axis, with the end of the spring connected to the end probe. The outer contour of the end probe contacting the tabletop is spherical, with the center of the sphere located on the central axis of the simulated ultrasound handle. The handle body, internal spring, and end probe form a one-dimensional spring-forced retraction mechanism along the central axis of the simulated ultrasound handle: when the operator holds the handle body, contacts the operating tabletop with the end probe, and presses down on the handle, the spring is forced to retract the end probe towards the handle body. The amount of retraction is proportional to the axial force applied by the operator to the handle.

[0008] The PC terminal acquires the position information of the optical markers on the handle of the simulated ultrasonic handle in real time from the optical positioning camera. Based on the position information, it calculates the pose of the simulated ultrasonic handle and the spring retraction after the end probe contacts the table. This allows it to calculate the force applied by the operator in the axial direction of the handle. Based on the pose parameters and the force, it generates control commands to control the driven robotic arm to perform corresponding movements.

[0009] The present invention also provides a method for using a remote ultrasound master control device, characterized by comprising the following steps:

[0010] (1) Calibration of optical positioning camera, calibration of simulated ultrasonic handle and calibration of spring force coefficient;

[0011] (2) Fix the optical positioning camera on the main control terminal operating table, and define the main control terminal operating coordinate system O on the table. M Using an optical positioning camera and a simulated ultrasonic handle, O M Perform calibration to obtain O C To O M Transformation matrix T C2M ;

[0012] (3) During remote operation, the PC terminal obtains real-time data from the optical positioning camera on the optical markers on the simulated ultrasonic handle in the O... C The three-dimensional coordinates are determined based on the calibrated optical markers in O. MH The coordinates below are calculated from O. MH To O C The real-time coordinate transformation matrix; then based on the coordinate transformation matrix T C2M , obtained from O MH To O MThe real-time coordinate transformation matrix is ​​denoted as T(t) at time t.

[0013] (4) The PC terminal extracts the main control terminal handle coordinate system O from T(t). MH Relative to the master control terminal operating coordinate system O M The real-time attitude and position parameters are obtained, and the force on the simulated handle is analyzed.

[0014] (5) At the driven end, fix the robotic arm to the operating table and set its base coordinate system as the operating coordinate system O. S Its Z-axis points vertically upward; the robotic arm's end grips a real ultrasonic probe, and a coordinate system O is established on the ultrasonic probe. SH Its origin and axis are related to the coordinate system O of the main control handle. MH One-to-one correspondence; a one-dimensional force sensor is installed between the ultrasonic probe and the end joint of the robotic arm to collect the force on the ultrasonic probe along the axial direction in real time; the coordinate system O is operated at the main control end according to the simulation handle. M Based on the given pose parameters, the master control PC sends control commands to the slave robotic arm, causing the ultrasonic probe coordinate system O to... SH In O S The pose and the coordinate system O of the simulation handle of the main control terminal MH In O M Maintain synchronization with the downward posture.

[0015] The objective of this invention is achieved as follows:

[0016] This invention discloses a remote ultrasound master control device, comprising an optical positioning camera module, a PC terminal, and a simulated ultrasound handle. The specific method of use is as follows: first, the optical positioning camera, the simulated ultrasound handle, and the spring force coefficient are calibrated; then, the optical positioning camera is fixed on the master control terminal's operating table, and a master control terminal operating coordinate system O is defined on the table. M Using an optical positioning camera and a simulated ultrasonic handle, O M Perform calibration to obtain O C To O M Transformation matrix T C2M Next, during remote teleoperation, based on the coordinate transformation matrix T C2M Get from O MH To O M The real-time coordinate transformation matrix T(t) is obtained by the main control PC from T(k). MH Relative to the master control terminal operating coordinate system O M The PC obtains the real-time attitude and position parameters and analyzes the force on the simulated handle. Based on the obtained pose parameters of the simulated handle, the PC sends control commands to the slave robotic arm, thereby realizing remote control of the ultrasound by the master control end.

[0017] Meanwhile, the remote ultrasonic master control device and its usage method of the present invention also have the following beneficial effects:

[0018] (1) In terms of scene simulation, the shape of the ultrasonic probe and the high-precision spring enable the operator to simulate the scene well and feel more realistic.

[0019] (2) In some technologies such as remote ultrasound, it greatly facilitates the operation of doctors and allows them to clearly perceive the specific sensation of the ultrasound probe on the human body contact surface, making more accurate diagnoses under remote operation.

[0020] (3) Compared with traditional remote ultrasound, this device is small in size and flexible in deployment. It can be used in various resource-constrained environments such as primary hospitals, island clinics, mobile ambulances and disaster sites, significantly improving the availability and cost-effectiveness of remote ultrasound systems and effectively overcoming the shortcomings of traditional electric remote control handles in terms of cost, complexity and feedback performance. Attached Figure Description

[0021] Figure 1 This is a diagram of the main control architecture of the augmented reality remote ultrasound system of this invention;

[0022] Figure 2 This is the geometric analytical view of the spring retraction.

[0023] Figure 3 This is a schematic diagram of the cross-section of the simulated handle. Detailed Implementation

[0024] The specific embodiments of the present invention will now be described with reference to the accompanying drawings to enable those skilled in the art to better understand the invention. It should be particularly noted that in the following description, detailed descriptions of known functions and designs that might obscure the main content of the invention will be omitted here.

[0025] Example

[0026] In this embodiment, as Figure 1 As shown, the present invention provides a remote ultrasound master control device, comprising: an optical positioning camera, which is a binocular infrared or visible light camera, fixed above the master control table, used to track and position optical markers fixed on the simulated ultrasound handpiece; the position data of the markers captured by the optical positioning camera is uploaded to the PC terminal in real time;

[0027] The simulated ultrasound handle consists of a handle body, an internal spring, and an end probe. Multiple optical markers are fixed to the handle body. A spring is installed inside the handle body along its central axis, with the end of the spring connected to the end probe. The outer contour of the end probe contacting the tabletop is spherical, with the center of the sphere located on the central axis of the simulated ultrasound handle. The handle body, internal spring, and end probe form a one-dimensional spring-forced retraction mechanism along the central axis of the simulated ultrasound handle: when the operator holds the handle body, contacts the operating tabletop with the end probe, and presses down on the handle, the spring is forced to retract the end probe towards the handle body. The amount of retraction is proportional to the axial force applied by the operator to the handle.

[0028] The PC terminal acquires the position information of the optical markers on the handle of the simulated ultrasonic handle in real time from the optical positioning camera. Based on the position information, it calculates the pose of the simulated ultrasonic handle and the spring retraction after the end probe contacts the table. This allows it to calculate the force applied by the operator in the axial direction of the handle. Based on the pose parameters and the force, it generates control commands to control the driven robotic arm to perform corresponding movements.

[0029] Below, we will provide a detailed explanation of how to use a remote ultrasonic master control device, including the following steps:

[0030] (1) Calibration of optical positioning camera, calibration of simulated ultrasonic handle and calibration of spring force coefficient;

[0031] (1.1) The optical positioning camera defines the measurement coordinate system O. C The optical positioning camera must be calibrated before its first use; subsequent uses can skip the calibration step. After calibration, the optical positioning camera acquires real-time data on optical markers within its field of view. C The three-dimensional coordinates below;

[0032] In this embodiment, the calibration of the optical positioning camera can be (but is not limited to) the camera calibration technique proposed by Zhengyou Zhang in the paper "Aflexible new technique for camera calibration";

[0033] (1.2) Define the master control end handle coordinate system O on the simulated ultrasonic handle body. MH Its Z-axis coincides with the central axis of the handle; the simulated ultrasonic handle is calibrated before use to obtain the optical markers on the handle body at O MH The three-dimensional coordinates, the radius r of the outer contour sphere of the end probe, and the center P0 of the outer contour sphere when the end probe is not under force are all located in O. MH The coordinates below are denoted as [0,0,Z0];

[0034] (1.3) Calibration of spring force coefficient k: A length label is attached to the handle body to measure the compression amount ΔI. The force f generated under the corresponding compression amount is measured by a force gauge. Multiple sets of data are measured, and finally the spring force coefficient k is calculated by the formula f=k·ΔI.

[0035] (2) Fix the optical positioning camera on the main control terminal operating table, and define the main control terminal operating coordinate system O on the table. M Using an optical positioning camera and a simulated ultrasonic handle, O M Perform calibration to obtain O C To O M Transformation matrix T C2M The specific steps are as follows:

[0036] (2.1) Fix the optical positioning camera on the main control terminal's operating table. During remote operation, the optical positioning camera remains relatively stationary with respect to the operating table. Define the main control terminal's operating coordinate system O on the table. M ;

[0037] (2.2) Hold the simulated ultrasound handpiece, keeping the central axis of the handpiece perpendicular to the table. Lightly touch the ultrasound probe to the table (spring not retracted), and mark the contact point as P1. Its position is O... MH The coordinates below are [0,0,Z0+r]; record the optical markers on the handle body at O C The three-dimensional coordinates below are used to calibrate the optical marker in step (1) at O. MH The three-dimensional coordinates below can be used to calculate the coordinates from O. MH To O C The coordinate transformation matrix is ​​given, and using this transformation matrix, the coordinate transformation matrix of contact point P1 in O can be calculated. C The coordinates below;

[0038] (2.3) Move the simulated ultrasonic handle and repeat step (2.2) three times to obtain the three non-collinear contact points {P1, P2, P3} on the main control terminal's operating table at point O. C The coordinates below;

[0039] (2.4) Based on the three contact points at O C Calculate the coordinates of O below. C To O M Transformation matrix T C2M The specific steps are as follows:

[0040] Let P1 be O M The origin, with the direction P1-P2 as O M The X-axis direction is defined by P3, the perpendicular line from P3 to the X-axis is defined by P3, and the Z-axis direction is defined by the right-hand rule; according to O M Define the origin and coordinate axes, calculate and record O.C To O M The rotation and translation matrix T C2M ;

[0041] (3) During remote operation, the main control PC obtains real-time data from the optical positioning camera on the optical markers on the simulated ultrasonic handle in the O... C The three-dimensional coordinates below, according to the optical marker calibrated in step (1) at O MH The coordinates below are calculated from O. MH To O C The real-time coordinate transformation matrix; then based on the coordinate transformation matrix T C2M It is possible to obtain from O MH To O M The real-time coordinate transformation matrix is ​​denoted as T(t) at time t.

[0042] (4) The PC terminal extracts the main control terminal handle coordinate system O from T(t). MH Relative to the master control terminal operating coordinate system O M The real-time attitude and position parameters are obtained, and the force on the simulated handle is analyzed, as follows:

[0043] (4.1) Define O MH To O M The Euler angle of rotation is α M (t), β M (t), γ M (t), where α M (t) represents O MH Around O M The Euler angle of rotation along the X-axis, and similarly, β M (t), γ M (t) respectively represent O MH Around O M The Euler angles of rotation along the Y and Z axes; using the translation vector of T(t), i.e., O MH The origin is at O M The coordinates below [X] M (k), Y M (k), Z M [(k)] represents the position parameters of the simulation handle, where X M (k) represents O MH The origin is at O M The X-axis coordinate is below, and similarly, the Y-axis coordinate is below. M (k), Z M (k) are O MH The origin is at O M Y-axis and Z-axis coordinates below;

[0044] (4.2) Analyze the force condition of the simulated ultrasonic handle according to T(t): First, calculate the angle between the Z-axis of O and the XOY plane of O, denoted as θ(t); then, use T(t) to transform the coordinates of P0 in O to the coordinates in the O coordinate system, denoted as [X(t), Y(t), Z(t)], where X(t) is the X-axis of P0 in O; Y(t) is the Y-axis coordinate of P0 in O; Z(t) is the Z-axis coordinate of P0 in O, which is the distance from P0 to the operation plane L when not under force; when Z(t) < r, it means that the probe at the end of the simulated handle receives the reaction force from the desktop, and the internal spring retracts. The retraction amount ΔS(t) = (r - Z(t)) / sin(θ(t)), and calculate the axial force F(k) of the simulated handle according to the spring elastic coefficient k = k·ΔS(t); MH of the Z-axis and the XOY plane of O M ; then, use T(t) to transform the coordinates of P0 in O MH to the coordinates in O M coordinate system, denoted as [X M0 (t), Y M0 (t), Z M0 (t)], where X M0 (t) is the X-axis of P0 in O MH ; Y M0 (t) is the Y-axis coordinate of P0 in O MH ; Z M0 (t) is the Z-axis coordinate of P0 in O MH , which is the distance from P0 to the operation plane L when not under force; when Z M0 (t) < r, it means that the probe at the end of the simulated handle receives the reaction force from the desktop, and the internal spring retracts. The retraction amount ΔS(t) = (r - Z M0 (t)) / sin(θ(t)), and calculate the axial force F M (k) = k·ΔS(t);

[0045] (5) At the slave end, fix the robotic arm on the operating table and set its base coordinate system as the operating coordinate system O S (the Z-axis is vertically upward); the end of the robotic arm holds a real ultrasonic probe, and establish a coordinate system O SH on the probe, whose origin and axis are in one-to-one correspondence with the handle coordinate system O MH of the master end. A one-dimensional force sensor is installed between the handle and the end joint of the robotic arm to collect the force on the probe along the axis in real time. According to the pose parameters of the simulated handle in the master end operating coordinate system O M obtained in step (4), the master end PC sends a control instruction to the slave end robotic arm to make the pose of the slave end ultrasonic probe coordinate system O SH in O S be synchronized with the pose of the master end simulated handle coordinate system O MH in O M ;

[0046] The specific method of synchronization is:

[0047] Absolute pose control: Let the rotation Euler angles of O SH in O S be equal to the rotation Euler angles of O MH in O M . The angles of the three axes X, Y, and Z are respectively represented as α M(t), β M (t), γ M (t);

[0048] The position in the X and Y axes is controlled incrementally.

[0049] X s (t)=X s (t-1)+X M (t)-X M (t-1)

[0050] Y s (t)=Y s (t-1)+Y M (t)-Y M (t-1)

[0051] Among them, X s (t) and Y s (t) represents time t, O SH The origin is at O S The X and Y coordinates below; X s (t-1) and Y s (t-1) represent O at time t-1. SH The origin is at O S The X and Y coordinates below; X M (t) and Y M (t) represents time t, O MH The origin is at O M The X and Y coordinates below; X M (t-1) and Y M (t-1) represent O at time t-1. MH The origin is at O M The X and Y coordinates below;

[0052] The Z-axis position is controlled incrementally and proportionally based on force deviation, depending on the force applied to the master ultrasonic probe and the slave handle: using F... S (t) represents the axial force of the ultrasonic handle collected by the one-dimensional pressure sensor at the end of the driven robotic arm at time t, when P S (t)=F M When (t) = 0, incremental control is used for the Z-axis; at time t, O SH The origin is at O S The Z-coordinate is calculated by the following formula:

[0053] Z S (t)=Z S (t-1)+Z M (t)-Z M (t-1)

[0054] Among them, Z s (t) represents time t. SH The origin is at O S Z-coordinate; Z s (t-1) represents time O at time t-1. SH The origin is at O S Z-axis coordinates below; Z M (t) represents time t. MH The origin is at O M Z-axis coordinates below; Z M (t-1) represents time O at time t-1. MH The origin is at O M Z-axis coordinates below;

[0055] otherwise,

[0056] Z s (t)=Z s (t-1)-K P (FM(t)-F S (t))

[0057] Among them, K P It is a preset proportional coefficient.

[0058] When the axial force received by the driven end actual handle is greater than the force applied by the master control end, the driven end handle moves upward along the Z-axis to reduce the force on the actual handle until the two are equal; conversely, it moves downward along the Z-axis to increase the force on the actual handle until the two are equal.

[0059] Figure 2 This is a geometric analytical view of the spring retraction amount;

[0060] Figure 2 The diagram on the left shows the situation when the spring is not compressed. A virtual outer contour sphere center P0 is recorded, and this point is related to the coordinate system O of the main control handle. MH The relative positions remain unchanged during compression;

[0061] Figure 2 The diagram in the middle shows the situation when the spring is compressed. When the spring is compressed, the virtual outer contour ball center P0 leaves the actual ball center position, and the position reached is recorded as P0'.

[0062] Figure 2 The diagram on the right side illustrates the calculation of compression. According to P0', it is related to O. M The displacement of the coordinate system along the Z-axis is (rZ) M0 (t)), due to coordinate system O MH The Z-axis (i.e., the central axis of the simulation handle) and the O M The angle between the XOY plane (i.e., the operating plane L) and the spring retraction is θ(t), therefore the spring retraction is ΔS(t) = (rZ).M0 (t)) / sin(θ(t)).

[0063] Figure 3 This is a cross-sectional view of the main control handle;

[0064] In this embodiment, as Figure 3 As shown, the groove in the middle of the model is used to place the slide rail, which is fixed to the handle with screws; there is a circular auxiliary positioning protrusion in the middle of the handle for placing the spring limit; the handle head is also fixed to the slide rail with screws, and the lower end is connected to the spring through two "W" shaped limit grooves to ensure that the force generated by the spring is in the same direction as the slide rail.

[0065] Although the illustrative specific embodiments of the present invention have been described above to enable those skilled in the art to understand the invention, it should be understood that the invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the invention as defined and determined by the appended claims, and all inventions utilizing the concept of the present invention are protected.

Claims

1. A remote ultrasonic master control device, characterized in that, include: Optical positioning camera, PC terminal, simulated ultrasonic handpiece; The optical positioning camera is a binocular infrared or visible light camera, fixed above the main control panel, used to track and locate the optical markers fixed on the simulated ultrasonic handle; the marker position data captured by the optical positioning camera is uploaded to the PC terminal in real time. The simulated ultrasound handle consists of a handle body, an internal spring, and an end probe. Multiple optical markers are fixed to the handle body. A spring is installed inside the handle body along its central axis, with the end of the spring connected to the end probe. The outer contour of the end probe contacting the tabletop is spherical, with the center of the sphere located on the central axis of the simulated ultrasound handle. The handle body, internal spring, and end probe form a one-dimensional spring-forced retraction mechanism along the central axis of the simulated ultrasound handle: when the operator holds the handle body, contacts the operating tabletop with the end probe, and presses down on the handle, the spring is forced to retract the end probe towards the handle body. The amount of retraction is proportional to the axial force applied by the operator to the handle. The PC terminal acquires the position information of the optical markers on the handle of the simulated ultrasonic handle in real time from the optical positioning camera. Based on the position information, it calculates the pose of the simulated ultrasonic handle and the spring retraction after the end probe contacts the table. This allows it to calculate the force applied by the operator in the axial direction of the handle. Based on the pose parameters and the force, it generates control commands to control the driven robotic arm to perform corresponding movements.

2. A method of using a remote ultrasonic master control device, characterized in that, Includes the following steps: (1) Calibration of optical positioning camera, calibration of simulated ultrasonic handle and calibration of spring force coefficient; (1.1) The optical positioning camera defines the measurement coordinate system O. C Before using the optical positioning camera for the first time, it must be calibrated. After calibration, the optical positioning camera acquires real-time data on optical markers within its field of view. C The three-dimensional coordinates below; (1.2) Define the master control end handle coordinate system O on the simulated ultrasonic handle body. MH Its Z-axis coincides with the central axis of the handle; the simulated ultrasonic handle is calibrated before use to obtain the optical markers on the handle body at O MH The three-dimensional coordinates, the radius r of the outer contour sphere of the end probe, and the center P0 of the outer contour sphere when the end probe is not under force are all located in O. MH The coordinates below are denoted as [0,0,Z0]; (1.3) Calibration of spring force coefficient k: A length label is attached to the handle body to measure the compression amount ΔI. The force f generated under the corresponding compression amount is measured by a force gauge. Multiple sets of data are measured, and finally the spring force coefficient k is calculated by the formula f=k·ΔI. (2) Fix the optical positioning camera on the main control terminal operating table, and define the main control terminal operating coordinate system O on the table. M Using an optical positioning camera and a simulated ultrasonic handle, O M Perform calibration to obtain O C To O M The rotation and translation matrix T C2M ; (3) During remote operation, the PC terminal obtains real-time data from the optical positioning camera on the optical markers on the simulated ultrasonic handle in the O... C The three-dimensional coordinates are determined based on the calibrated optical markers in O. MH The coordinates below are calculated from O. MH To O C The real-time coordinate transformation matrix; then based on the coordinate transformation matrix T C2M , obtained from O MH To O M The real-time coordinate transformation matrix is ​​denoted as T(t) at time t. (4) The PC terminal extracts the main control terminal handle coordinate system O from T(t). MH Relative to the master control terminal operating coordinate system O M The real-time attitude and position parameters are obtained, and the force on the simulated handle is analyzed, as follows: (4.1) Define O MH To O M The Euler angle of rotation is α M (t),β M (t),γ M (t), where α M (t) represents O MH Around O M The Euler angle of rotation along the X-axis, and similarly, β M (t),γ M (t) respectively represent O MH Around O M The Euler angles of rotation along the Y and Z axes; using the translation vector of T(t), i.e., O MH The origin is at O M The coordinates below [X] M (k),Y M (k),Z M [(k)] represents the position parameters of the simulation handle, where X M (k) represents O MH The origin is at O M The X-axis coordinate is below, and similarly, the Y-axis coordinate is below. M (k),Z M (k) are O MH The origin is at O M Y-axis and Z-axis coordinates below; (4.2) Analyze the force condition of the simulated ultrasonic handle according to T(t): First, calculate the angle between the Z-axis of O MH and the XOY plane of O M , denoted as θ(t); then, use T(t) to transform the coordinates of P0 under O MH to the coordinate system of O M , denoted as [X M0 (t), Y M0 (t), Z M0 (t)], where X M0 (t) is the X-axis of P0 under O MH ; Y M0 (t) is the coordinate of the Y-axis of P0 under O MH ; Z M0 (t) is the coordinate of the Z-axis of P0 under O MH ; when Z M0 (t) < r, it means that the probe at the end of the simulated handle receives the reaction force from the desktop, and the internal spring retracts. The retraction amount ΔS(t) = (r - Z M0 (t)) / sin(θ(t)). Calculate the axial force F M (k) = k·ΔS(t); (5) At the driven end, fix the robotic arm to the operating table and set its base coordinate system as the operating coordinate system O. S Its Z-axis points vertically upward; the robotic arm's end grips a real ultrasonic probe, and a coordinate system O is established on the ultrasonic probe. SH Its origin and axis are related to the coordinate system O of the main control handle. MH One-to-one correspondence; a one-dimensional force sensor is installed between the ultrasonic probe and the end joint of the robotic arm to collect the force on the ultrasonic probe along the axial direction in real time; the simulation handle obtained in step (4) operates the coordinate system O at the main control end. M Based on the given pose parameters, the master control PC sends control commands to the slave robotic arm, causing the ultrasonic probe coordinate system O to... SH In O S The pose and the coordinate system O of the simulation handle of the main control terminal MH In O M Maintain synchronization with the downward posture; The specific method for synchronization is as follows: Absolute attitude control: Let O SH In O S The Euler angle of rotation under the given condition is equal to O. MH In O M The Euler angles of rotation are denoted as α, denoted as α on the three axes X, Y, and Z. M (t),β M (t),γ M (t); The position in the X and Y axes is controlled incrementally. X s (t)=X s (t-1)+X M (t)-X M (t-1) Y s (t)=Y s (t-1)+Y M (t)-Y M (t-1) Among them, X s (t) and Y s (t) represents time t, O SH The origin is at O S The X and Y coordinates below; X s (t-1) and Y s (t-1) represent O at time t-1. SH The origin is at O S The X and Y coordinates below; X M (t) and Y M (t) represents time t, O MH The origin is at O M The X and Y coordinates below; X M (t-1) and Y M (t-1) represent O at time t-1. MH The origin is at O M The X and Y coordinates below; The Z-axis position is controlled incrementally and proportionally based on force deviation, depending on the force applied to the master ultrasonic probe and the slave handle: using F... S (t) represents the axial force of the ultrasonic handle collected by the one-dimensional pressure sensor at the end of the driven robotic arm at time t, when F S (t)=F M When (t) = 0, incremental control is used for the Z-axis; at time t, O SH The origin is at O S The Z-coordinate is calculated by the following formula: Z S (t)=Z S (t-1)+Z M (t)-Z M (t-1) Among them, Z s (t) represents time t. SH The origin is at O S Z-coordinate; Z s (t-1) represents time O at time t-1. SH The origin is at O S Z-axis coordinates below; Z M (t) represents time t. MH The origin is at O M Z-axis coordinates below; Z M (t-1) represents time O at time t-1. MH The origin is at O M Z-axis coordinates below; otherwise, Z s (t)=Z s (t-1)-K P (F M (t)-F S (t)) Among them, K P It is a preset proportional coefficient.

3. The method of using a remote ultrasonic master control device according to claim 2, characterized in that, The transformation matrix T C2M The specific acquisition process is as follows: (3.1) Fix the optical positioning camera on the main control terminal's operating table. During remote operation, the optical positioning camera remains relatively stationary with respect to the operating table. Define the main control terminal's operating coordinate system O on the table. M ; (3.2) Hold the simulated ultrasound handpiece, keeping the central axis of the handpiece perpendicular to the table. The ultrasound probe lightly touches the table; at this point, the spring is not retracted. Mark the contact point as P1. (The last sentence appears to be incomplete and possibly refers to a different topic.) MH The coordinates below are [0,0,Z0+r]; record the optical markers on the handle body at O C The three-dimensional coordinates are used to locate the calibrated optical markers in O. MH The three-dimensional coordinates below are used to calculate the coordinates from O. MH To O C The coordinate transformation matrix is ​​used to calculate the coordinate transformation matrix of contact point P1 at point O. C The coordinates below; (3.3) Move the simulated ultrasonic handle and repeat step (3.2) three times to obtain the three non-collinear contact points {P1, P2, P3} on the main control terminal's operating table at point O. C The coordinates below; (3.4) Based on the three contact points obtained in step (3.3), at O C Calculate the coordinates of O below. C To O M Transformation matrix T C2M The specific steps are as follows: Let P1 be O M The origin, with the direction from P1 to P2 as O M The X-axis direction is defined by P3, the perpendicular line from P3 to the X-axis is defined by P3, and the Z-axis direction is defined by the right-hand rule; according to O M Define the origin and coordinate axes, calculate and record O. C To O M coordinate transformation matrix T C2M .

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