Ultrasonic autonomous scanning control method and system, storage medium and equipment

Abstract

The invention provides an ultrasonic autonomous scanning control method and system, a storage medium and equipment, and the method comprises the steps: responding to a scanning operation starting instruction, and triggering a first prompt instruction which is used for prompting a detected object to inhale; acquiring the abdomen state of the measured object; and according to the abdomen state, controlling the mechanical arm to scan the abdomen of the detected object according to a preset scanning path. The accuracy of man-machine interaction in the ultrasonic autonomous scanning process and the user experience can be improved, and the imaging quality of ultrasonic inspection is guaranteed.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to a control method, system, storage medium, and device for autonomous ultrasound scanning. Background Technology

[0002] During routine abdominal ultrasound examinations, doctors will ask patients to inhale and expand their abdomen. This action primarily aims to improve image clarity and facilitate observation of deep abdominal organs. When a patient inhales deeply and expands their abdomen, the diaphragm descends, pushing the intestines aside. This not only reduces interference from intestinal gas on the ultrasound image, preventing blurry images, but also helps to stabilize and slightly stretch organs such as the liver, gallbladder, and pancreas, making their outlines, blood vessels, and bile ducts clearer. It also expands the area of ​​the ultrasound's penetrating "acoustic window," allowing doctors to clearly see deeper structures. During this process, the doctor needs to constantly assess whether the patient has effectively inhaled and expanded their abdomen. If the expansion is not significant, the doctor will prompt the patient again; if it has been effectively expanded, the doctor will seize the brief window of opportunity to perform a rapid scan, ensuring a clear ultrasound image.

[0003] Current ultrasonic robot autonomous scanning systems cannot replicate this interaction process intelligently for rapid scanning. Summary of the Invention

[0004] To address the efficiency and quality issues of human-computer interaction during autonomous ultrasound scanning, this application provides a control method for autonomous ultrasound scanning, which can improve the accuracy of human-computer interaction and user experience, and ensure the imaging quality of ultrasound examination.

[0005] This application proposes a control method for autonomous ultrasound scanning, which is applied to an autonomous ultrasound scanning robot system. The autonomous ultrasound scanning robot system can be used to perform abdominal scanning on a subject. The autonomous ultrasound scanning robot system includes a robotic arm, whose end effector is equipped with an ultrasound probe and a sensor to sense changes in the ultrasound probe. The method includes: In response to the command to start the scanning operation, a first prompt command is triggered, wherein the first prompt command is used to prompt the object under test to inhale; Obtain the abdominal condition of the subject being tested; Based on the abdominal condition, the robotic arm is controlled to scan the abdomen of the subject according to a predetermined scanning path.

[0006] In some embodiments, the step of obtaining the abdominal state of the subject includes: The abdominal condition of the subject is obtained based on the displacement change of the ultrasound probe along the ultrasound probe axis and / or the change in ultrasound image quality.

[0007] In some embodiments, based on the abdominal state, controlling the robotic arm to scan the abdomen of the subject according to a predetermined scanning path includes: When the displacement of the ultrasound probe along its axial direction exceeds a preset displacement threshold, and / or the change in ultrasound image quality exceeds an image change threshold, the robotic arm is controlled to scan the abdomen of the subject according to a predetermined scanning path.

[0008] In some embodiments, the method further includes the step of obtaining the displacement change of the ultrasonic probe along the axial direction of the ultrasonic probe, the step including: Obtain the initial and real-time positions of the ultrasonic probe, as well as the initial and real-time force. The compensation displacement is obtained based on the initial force and the real-time force. Based on the initial position, the real-time position, and the compensation displacement, the displacement change of the ultrasonic probe along the ultrasonic probe axis is obtained.

[0009] In some embodiments, the method further includes the step of acquiring changes in ultrasound image quality, the step comprising: Acquire a first ultrasound image before the first prompt instruction, and acquire a second ultrasound image after the first prompt instruction; Contour segmentation is performed on the first ultrasound image and the second ultrasound image respectively to obtain the segmented target object contour. The segmented target object contour is then fitted to obtain the first area and the first center point of the target object contour, as well as the second area and the second center point. The area change is obtained based on the first area and the second area, the distance change of the center point is obtained based on the first center point and the second center point, and the ultrasound image quality change is obtained based on the area change and the distance change of the center point.

[0010] In some embodiments, after scanning the abdomen of the subject according to a predetermined scanning path, the method further includes: when the quality of the acquired ultrasound images does not meet preset requirements, controlling the pausing of scanning.

[0011] In some embodiments, after controlling the pause of scanning, the method further includes: The system enters the initial stage and calculates the time interval between the current moment and the issuance of the first prompt command. When the time interval is greater than a preset time threshold, the second prompt command is triggered and the system enters the waiting stage. During the waiting phase, when the abdominal condition of the subject meets the preset requirements, the scanning phase begins, and the robotic arm is controlled to scan the abdomen of the subject according to the predetermined scanning path. Get the scanning duration. If the duration is greater than the time threshold and the scanning has not ended, trigger the third prompt instruction and control the system to enter the waiting stage. When the scan is complete, the process enters the end phase and triggers the fourth prompt command.

[0012] In some embodiments, an ultrasonic autonomous scanning robot system is also proposed, comprising: A robotic arm, wherein an ultrasonic probe and a sensor for sensing changes in the ultrasonic probe are mounted at the end effector of the robotic arm; An ultrasound imaging device, connected to the ultrasound probe, is used for ultrasound imaging; A prompting device, used to issue prompting commands; The controller is used to trigger the prompting command and control the prompting device to issue the prompting command, and to control the robotic arm to scan the abdomen of the subject according to the abdominal state of the subject, following a predetermined scanning path.

[0013] In some embodiments, a computer-readable storage medium is also provided, which stores a computer program for performing the control method for autonomous ultrasonic scanning as described above.

[0014] In some embodiments, a control device for autonomous ultrasonic scanning is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method for autonomous ultrasonic scanning as described above.

[0015] The beneficial technical effects of this application are as follows: The control method for autonomous ultrasound scanning provided in this application triggers a first prompting command in response to a command to start the scanning operation; acquires the abdominal state of the subject; and scans the abdomen according to a predetermined scanning path based on the abdominal state. By sending prompting commands to prompt the subject to adjust their abdominal state, the convenience and accuracy of human-computer interaction during abdominal scanning are ensured, thereby improving the quality of ultrasound imaging and the efficiency of abdominal examination. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a structural block diagram of the ultrasonic autonomous scanning robot system in the embodiments of this application; Figure 2This is a flowchart of the control method for autonomous ultrasound scanning in the embodiments of this application; Figure 3 This is a flowchart illustrating the process of obtaining the displacement change of the ultrasonic probe in this embodiment of the application; Figure 4 This is a comparative example diagram of the displacement changes of the ultrasonic probe in the embodiments of this application; Figure 5 This is a comparative example of changes in ultrasound image quality in the embodiments of this application. Detailed Implementation

[0018] 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.

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0020] The core of the technical solution provided in this application embodiment lies in the intelligent replication of the interaction process between the doctor and the subject being scanned within the autonomous ultrasound scanning robot system. This allows for accurate judgment of the subject's abdominal condition, specifically the state of a distended abdomen, ensuring the user-friendliness and accuracy of the human-computer interaction during abdominal ultrasound scanning and improving the imaging quality of the abdominal ultrasound examination. The subject can be a patient or a system tester; no specific limitation is made here. Figure 1 As shown in the embodiment of this application, an ultrasonic autonomous scanning robot system 100 is proposed, comprising: The robotic arm 101 has an ultrasound probe 102 and a sensor 103 that senses changes in the ultrasound probe 102 at its end effector. The sensor 103 includes a force sensor that senses the contact force between the ultrasound probe 102 and the abdomen. The force sensor can be a six-dimensional force sensor. An ultrasonic imaging device 104 is connected to an ultrasonic probe 102 and is used for ultrasonic imaging. Prompt device 105 is used to issue prompt commands; The controller 106 triggers a prompting command and controls the prompting device 105 to issue a prompting command, and controls the robotic arm 101 to scan the abdomen of the subject according to the abdominal condition of the subject, following a predetermined scanning path.

[0021] In this embodiment, the prompting device 105 may include a voice prompter and a display. The prompting command may be a voice prompt, or it may simultaneously provide voice and text prompts; no specific limitation is made here. It should be noted that the various components of the aforementioned ultrasonic autonomous scanning robot system 100 are electrically connected to achieve ultrasonic autonomous scanning of the object being tested. In addition to the aforementioned components, the system 100 may also include other components; no specific limitation is made here.

[0022] The executing entity of each embodiment of this application can be a computing service system with data processing, network communication, and program execution functions, such as an ultrasonic autonomous scanning robot system 100 capable of realizing the above functions. The following description uses the ultrasonic autonomous scanning robot system 100 (hereinafter referred to as "the System") as an example to illustrate the following embodiments.

[0023] Reference Figure 2 As shown in the embodiment of this application, a control method for autonomous ultrasound scanning is provided, including: Step 201: In response to the command to start the scanning operation, a first prompt command is triggered, wherein the first prompt command is used to prompt the tested object to inhale.

[0024] In this embodiment, when the system 100 detects that the object under test is ready, for example, the object under test is lying flat on the examination bed, and determines that the object under test is ready for inspection, the system 100 triggers a command to start the scanning operation. The state of the object under test can be realized by setting an image acquisition device on the robotic arm 101, or by installing sensors on the examination bed; there is no specific limitation.

[0025] In response to the command to begin the scanning operation, system 100 triggers a first prompt command and controls prompting device 105 to issue the first prompt command. The first prompt command is used to prompt the subject to take a deep breath to inflate their abdomen. The first prompt command can be a voice prompt or a simultaneous text prompt. The prompt content can be "Please inhale and inflate your abdomen, and try to hold it!"

[0026] Step 202: Obtain the abdominal condition of the subject being tested.

[0027] In this embodiment, when the subject takes a deep breath according to the first prompt, the abdomen bulges out, thereby pushing the ultrasound probe 102 upward, which improves the ultrasound imaging quality of the abdominal organs.

[0028] Step 203: Based on the abdominal condition, control the robotic arm to scan the abdomen of the subject according to a predetermined scanning path.

[0029] In this embodiment, when the abdomen of the subject being tested is detected to be bulging upwards and / or the ultrasound image quality meets the preset requirements, the system 100 controls the robotic arm 101 to scan the abdomen of the subject being tested according to a predetermined scanning path.

[0030] The control method for autonomous ultrasound scanning described in the above embodiment triggers a first prompting command in response to a command to start the scanning operation; acquires the abdominal state of the subject; and controls the robotic arm to scan the abdomen along a predetermined scanning path based on the abdominal state. By sending prompting commands to prompt the subject to adjust their abdominal state, the convenience and accuracy of human-machine interaction during abdominal scanning are ensured, thereby improving the quality of ultrasound imaging and the efficiency of abdominal examination.

[0031] In some embodiments, the step of obtaining the abdominal state of the subject includes: The abdominal condition of the subject is obtained based on the displacement change of the ultrasound probe along the ultrasound probe axis and / or the change in ultrasound image quality.

[0032] In some embodiments, scanning the abdomen of the subject according to a predetermined scanning path based on the abdominal condition includes: When the displacement change of the ultrasound probe along its axial direction exceeds a preset threshold, and / or the change in ultrasound image quality exceeds an image change threshold, the system controls the robotic arm 101 to scan the abdomen of the subject according to a predetermined scanning path. That is, when at least one of the following conditions is met—that the displacement change of the ultrasound probe along its axial direction exceeds a preset threshold and the change in ultrasound image quality exceeds an image change threshold—the system 100 can control the robotic arm 101 to scan the abdomen of the subject according to a predetermined scanning path.

[0033] In this implementation, such as Figure 3 As shown, the displacement change of the ultrasonic probe 102 along its axial direction includes the following steps: Step 301: Obtain the initial position and real-time position of the ultrasonic probe, as well as the initial force and real-time force.

[0034] In this embodiment, the initial and real-time positions of the ultrasonic probe 102 can be calculated using the real-time joint displacement output by the robotic arm 101, and the initial and real-time forces can be obtained using the force sensor at the end of the robotic arm 101. Before the first prompt command, the initial position of the ultrasonic probe 102 at the end of the robotic arm 101 in the Z direction of the world coordinate system is recorded as follows. And the initial force of the ultrasonic probe 102 in the Z direction of the world coordinate system. .like Figure 4 As shown in (a), this is the probe position when the patient's abdomen is bulging without inhalation. Following the first prompt, the real-time position of the ultrasonic probe 102 at the end of the robotic arm 101 in the Z direction of the world coordinate system is... The real-time force of the ultrasonic probe 102 in the Z direction of the world coordinate system is .like Figure 4 (b) shows the probe position after inhaling and expanding the abdomen.

[0035] Step 302: Obtain the compensation displacement based on the initial force and the real-time force.

[0036] in, This indicates the real-time force of the ultrasonic probe 102 in the Z direction of the world coordinate system. This represents the compensation displacement calculated based on the change in force. The displacement change can be compensated for by the change in force, thereby improving the accuracy of the displacement change calculation after inhalation and bloating. This represents the human body stiffness constant, which can be, for example, 2500, without any specific limitation.

[0037] Step 303: Based on the initial position, the real-time position, and the compensation displacement, obtain the displacement change of the ultrasonic probe along the ultrasonic probe axis.

[0038] The position change of the ultrasonic probe 102 at the end of the robotic arm 101 in the Z direction of the world coordinate system is calculated in real time as follows: This is the calculated displacement change of the end-effector probe of the robotic arm 101 in the Z direction of the world coordinate system at the current moment.

[0039] When the following conditions are met: Then it is determined that the subject has inhaled and inflated its abdomen, where This indicates the preset displacement change threshold, which can be, for example, 2mm, etc. It can be set according to specific circumstances, and there is no limitation here.

[0040] In some embodiments, the step of acquiring changes in ultrasound image quality includes: Step 401: Acquire a first ultrasound image before the first prompt instruction and acquire a second ultrasound image after the first prompt instruction.

[0041] In this embodiment, the first ultrasound image is acquired before the first prompt instruction, such as... Figure 5 (a) An ultrasound image acquired when the abdomen is distended without inhalation; a second ultrasound image was acquired after the first prompt command, as shown. Figure 5 (b) shows an ultrasound image taken after inhaling and expanding the abdomen.

[0042] Step 402: Perform contour segmentation on the first ultrasound image and the second ultrasound image respectively to obtain the segmented target object contour, and fit the segmented target object contour to obtain the first area and first center point of the target object contour, as well as the second area and second center point.

[0043] In this embodiment, commonly used segmentation networks such as U-Net can be used to perform contour segmentation on the tissue structures in the first and second ultrasound images to obtain the segmented target object (organ) contour. The segmented target object contour is then fitted (using existing functions in OpenCV) to obtain feature information such as the area and center point of the target object contour.

[0044] Before the first prompt instruction, the first area and the coordinates of the first center point of the target object's outline are recorded as follows: , , , , These represent the positions of the center point of the target object's outline in the X and Y directions of the image coordinate system. Following the first prompt, the second area of ​​the target object's outline and the coordinates of the second center point are recorded in real time. and .

[0045] Step 403: Obtain the area change based on the first area and the second area, obtain the distance change of the center point based on the first center point and the second center point, and obtain the ultrasound image quality change based on the area change and the distance change of the center point.

[0046] Calculate the change in area separately Change in distance from the center point : Where | represents taking the absolute value, and || represents calculating the distance between two center points. This represents the preset maximum area change threshold, for example, 5000 pixels. This represents the preset threshold for the maximum distance change from the center point, which can be, for example, 100 pixels. This represents the weighting coefficient, for example, it can be 0.6. This represents the function that takes the minimum value.

[0047] When the following conditions are met: This indicates a significant change in ultrasound image quality, suggesting that the subject has inhaled and inflated their abdomen. This represents the preset image change threshold, which can be, for example, 0.5.

[0048] In some embodiments, after scanning the abdomen of the subject according to a predetermined scanning path, the method further includes: when the quality of the acquired ultrasound images does not meet preset requirements, controlling the pausing of scanning.

[0049] In this embodiment, when the robotic arm 101 performs an abdominal ultrasound examination according to a predetermined scanning path, if the quality of the ultrasound image obtained by the ultrasound probe 102 still does not meet the preset requirements after the robotic arm 101 performs scanning operations such as translation and rotation, the quality can be determined by, for example, by the contour area of ​​the target object (organ). , This represents the area of ​​the target object's outline. This represents a preset area threshold. For example, the liver area threshold can be set to 50,000, the gallbladder area threshold can be set to 8,000, and the pancreas area threshold can be set to 10,000. No specific restrictions are imposed here. System 100 controls robotic arm 101 to pause the scanning operation and enter the human-machine interaction phase, which is the initial stage of interaction between system 100 and the object being measured.

[0050] 1) Initial stage: In this embodiment, after entering the initial stage, the time interval between the current time and the issuance of the first prompt instruction, i.e. the time of the last voice prompt (the content of the last prompt was "Please inhale and expand your belly, and try to keep it!") is calculated. When the time interval is greater than a preset time threshold, the second prompt instruction is triggered.

[0051] In this embodiment, the time interval can be calculated using the following formula. in, Indicates the time of the last notification. Indicates the current moment. Then it is the time interval between the current moment and the last prompt. If , The time threshold is specified, for example, 12 seconds. The initial phase is then repeated, during which system 100 controls the robotic arm 101 to remain stationary. This operation avoids frequent prompts, preventing the subject from resting effectively and improving the user experience of human-machine interaction during autonomous ultrasound scanning. When the time comes, a second prompt instruction is triggered, such as a voice prompt. The voice prompt could be something like, "Please inhale and expand your abdomen, and try to hold it!" and then the system enters the human-computer interaction waiting phase.

[0052] 2) Waiting phase: Record the initial moment of the waiting phase. During the waiting phase, system 100 controls robotic arm 101 to remain stationary and calculates the waiting time. .

[0053] in, Indicates the current time. If , This indicates the waiting time threshold, for example, 5 seconds. This means the subject hasn't yet inhaled and expanded their abdomen; in this case, the second prompt command is triggered again. Reset to the current time to avoid the subject not hearing clearly or not reacting.

[0054] The abdominal condition of the subject is determined by the method described in the above embodiments. When the abdominal condition of the subject meets the preset requirements, the scanning phase is initiated and the abdomen is scanned according to the predetermined scanning path.

[0055] 3) Scanning phase: Get the scan duration. If the duration is greater than the time threshold and the scan has not ended, trigger the third prompt command and control the system to enter the waiting phase.

[0056] Record the initial moment of the scanning phase. During the scanning phase, the robotic arm 101 of the system 100 performs scanning according to the pre-planned actions.

[0057] (1) The robot performs a scanning action. If the scanning action is completed, the system will control the robot to enter the end stage.

[0058] (2) Calculate the scanning duration during the scanning phase, i.e. the time it takes for the subject to inhale and inflate their abdomen. : in, Indicates the current moment, when hour( This indicates a time threshold (e.g., 15 seconds), meaning the subject has been inhaling and expanding their abdomen for a relatively long time, but the scan is not yet complete. To avoid discomfort for the subject, a third prompt is triggered, such as a voice prompt to relax. The voice prompt could be "Please relax!" Reset to the current time and re-enter the initial stage. System 100 controls robotic arm 101 to stop scanning and remain stationary.

[0059] 4) End Phase: When the scan is complete, the process enters the end phase and triggers the fourth prompt command.

[0060] Will The system resets to the current time and triggers the fourth prompt instruction, such as a voice prompt to the subject to relax. The voice prompt could be "Please relax!" The system 100 then controls the robotic arm 101 to continue performing other scanning actions.

[0061] The method described in the above embodiments allows the system to issue different prompts based on the specific scenario during the scanning process. This not only helps the subject complete the scanning efficiently and improves the quality of ultrasound imaging, but also enhances the user experience and accuracy of human-computer interaction.

[0062] It should be noted that the first prompt instruction, the second prompt instruction, and other prompt instructions referred to in the various embodiments of this application are all set for interpreting the prompt instructions of the embodiments of this application. The terms "first" and "second" do not indicate order, and the content of the prompt instructions can also be set according to specific circumstances. They are not intended to limit this application.

[0063] Based on the same concept, embodiments of this application also provide a computer-readable storage medium storing a computer program that performs the control method for ultrasonic autonomous scanning described in the above embodiments.

[0064] Based on the same concept, this application also provides a control device for ultrasonic autonomous scanning, including the ultrasonic autonomous scanning control method described in the above embodiments.

[0065] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0066] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A control method for autonomous ultrasound scanning, the method being applied to an autonomous ultrasound scanning robot system, the autonomous ultrasound scanning robot system being used to perform abdominal scanning on a subject, characterized in that, The ultrasonic autonomous scanning robot system includes a robotic arm, the end effector of which is equipped with an ultrasonic probe and a sensor for sensing changes in the ultrasonic probe. The method includes: In response to the command to start the scanning operation, a first prompt command is triggered, wherein the first prompt command is used to prompt the object under test to inhale; Obtain the abdominal condition of the subject being tested; Based on the abdominal condition, the robotic arm is controlled to scan the abdomen of the subject according to a predetermined scanning path.

2. The control method for autonomous ultrasound scanning according to claim 1, characterized in that, The step of obtaining the abdominal condition of the subject includes: The abdominal condition of the subject is obtained based on the displacement change of the ultrasound probe along the ultrasound probe axis and / or the change in ultrasound image quality.

3. The control method for autonomous ultrasound scanning according to claim 1 or 2, characterized in that, Based on the abdominal condition, the robotic arm is controlled to scan the abdomen of the subject according to a predetermined scanning path, including: When the displacement of the ultrasound probe along its axial direction exceeds a preset displacement change threshold, and / or the change in ultrasound image quality exceeds an image change threshold, the robotic arm is controlled to scan the abdomen of the subject according to a predetermined scanning path.

4. The control method for autonomous ultrasound scanning according to claim 3, characterized in that, The method also includes the step of obtaining the displacement change of the ultrasonic probe along the axial direction of the ultrasonic probe, the step including: Obtain the initial and real-time positions of the ultrasonic probe, as well as the initial and real-time force. The compensation displacement is obtained based on the initial force and the real-time force. Based on the initial position, the real-time position, and the compensation displacement, the displacement change of the ultrasonic probe along the ultrasonic probe axis is obtained.

5. The control method for autonomous ultrasonic scanning according to claim 3, characterized in that, It also includes the step of acquiring changes in ultrasound image quality, the step comprising: Acquire a first ultrasound image before the first prompt instruction, and acquire a second ultrasound image after the first prompt instruction; Contour segmentation is performed on the first ultrasound image and the second ultrasound image respectively to obtain the segmented target object contour. The segmented target object contour is then fitted to obtain the first area and the first center point of the target object contour, as well as the second area and the second center point. The area change is obtained based on the first area and the second area, the distance change of the center point is obtained based on the first center point and the second center point, and the ultrasound image quality change is obtained based on the area change and the distance change of the center point.

6. The control method for autonomous ultrasound scanning according to claim 1, characterized in that, After scanning the abdomen of the subject according to the predetermined scanning path, the procedure also includes: when the quality of the acquired ultrasound images does not meet the preset requirements, controlling the pausing of scanning.

7. The control method for autonomous ultrasonic scanning according to claim 6, characterized in that, Following the control to pause the scan, it also includes: The system enters the initial stage and calculates the time interval between the current moment and the issuance of the first prompt command. When the time interval is greater than a preset time threshold, the second prompt command is triggered and the system enters the waiting stage. During the waiting phase, when the abdominal condition of the subject meets the preset requirements, the scanning phase begins, and the robotic arm is controlled to scan the abdomen of the subject according to the predetermined scanning path. Get the scanning duration. If the duration is greater than the time threshold and the scanning has not ended, trigger the third prompt instruction and control the system to enter the waiting stage. When the scan is complete, the process enters the end phase and triggers the fourth prompt command.

8. An ultrasonic autonomous scanning robot system, characterized in that, include: A robotic arm, wherein an ultrasonic probe and a sensor for sensing changes in the ultrasonic probe are mounted at the end effector of the robotic arm; An ultrasound imaging device, connected to the ultrasound probe, is used for ultrasound imaging; A prompting device, used to issue prompting commands; The controller is used to trigger prompting commands and control the prompting device to issue the prompting commands, and to control the robotic arm to scan the abdomen of the subject according to a predetermined scanning path based on the abdominal condition of the subject.

9. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the control method for autonomous ultrasonic scanning as described in any one of claims 1-7.

10. A control device for autonomous ultrasonic scanning, characterized in that, include: A processor, and a memory for storing processor-executable commands; wherein the processor is configured to execute the control method for autonomous ultrasound scanning as described in any one of claims 1-7.

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