Breast autonomous scanning planning method and device, storage medium and equipment

Abstract

The invention discloses a mammary gland autonomous scanning planning method and device, a storage medium and equipment. The method comprises the following steps: acquiring a scanning path for a target object; according to a collision detection algorithm, the collision risk of parallel scanning conducted by the first mechanical arm and the second mechanical arm according to the scanning path is detected; when the collision risk does not exist, the first mechanical arm and the second mechanical arm are controlled to conduct scanning according to the scanning path; and in the scanning process according to the scanning path, dynamic collision detection is conducted on every two of the first mechanical arm, the second mechanical arm and the machine body. The efficiency and safety of double-side mammary gland autonomous scanning can be improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a method, apparatus, storage medium, and device for autonomous breast scanning planning. Background Technology

[0002] Breast cancer has become the most common malignant tumor among women worldwide, and its onset age is trending younger. Ultrasound examination, due to its non-invasiveness, lack of radiation, and cost-effectiveness, has become one of the core methods for early breast cancer screening. However, limited by the insufficient number and uneven distribution of ultrasound imaging physicians, traditional manual examinations are insufficient to meet the needs of large-scale screening, especially in grassroots areas where low screening coverage leads to delayed diagnosis of many cases. Dual-arm breast ultrasound robots can simultaneously scan both breasts, offering advantages such as high efficiency, good stability, and independence from manual operation, thus meeting the requirements of large-scale breast cancer screening. However, during simultaneous operation, motion interference or collisions with other parts of the body are unavoidable, affecting the safety and efficiency of the examination. Summary of the Invention

[0003] In view of the above problems, the present invention is proposed to provide a method and apparatus for autonomous breast scanning planning that overcomes or at least partially solves the above problems.

[0004] As one aspect of the present invention, an embodiment of the present invention provides a breast autonomous scanning planning method, applied to a breast ultrasound robot system, the breast ultrasound robot system comprising a body, a first robotic arm, and a second robotic arm, including:

[0005] Obtain the scanning path for the target object;

[0006] The collision detection algorithm is used to detect the collision risk when the first robotic arm and the second robotic arm perform parallel scanning according to the scanning path.

[0007] When there is no collision risk, control the first robotic arm and the second robotic arm to perform scanning according to the scanning path;

[0008] During the scanning process according to the scanning path, dynamic collision detection is performed between each pair of the first robotic arm, the second robotic arm, and the body.

[0009] In some embodiments, the step of detecting the collision risk of the first robotic arm and the second robotic arm performing parallel scanning along the scanning path according to the collision detection algorithm includes:

[0010] The collision detection algorithm is used to obtain the position of the first joint and the position of the first ultrasonic probe corresponding to the first robotic arm, and the position of the second joint and the position of the second probe corresponding to the second robotic arm.

[0011] Based on the positions of the first and second joints, the first distance between the joints of the two arms is obtained;

[0012] Based on the positions of the first probe and the second probe, the second distance between the two probe arms is obtained;

[0013] When both the first distance and the second distance are greater than a preset collision threshold, it is determined that there is no collision risk between the first robotic arm and the second robotic arm.

[0014] In some embodiments, the dynamic collision detection between each pair of the first robotic arm, the second robotic arm, and the machine body includes:

[0015] Dynamic collision detection between the first robotic arm and the second robotic arm;

[0016] Dynamic collision detection between the first robotic arm, the second robotic arm and the machine body.

[0017] In some embodiments, dynamic collision detection between the first robotic arm and the second robotic arm includes:

[0018] Obtain the path points to be detected for the first robotic arm and the second robotic arm respectively;

[0019] The collision detection algorithm is used to perform collision detection on the path points to be detected. When there is a risk of collision, the system enters a dynamic obstacle avoidance state.

[0020] In some embodiments, the dynamic obstacle avoidance includes:

[0021] Obtain the initial position of the second robotic arm;

[0022] Based on the distance between the first robotic arm and the second robotic arm, adjust the position of the second robotic arm until the distance between the first robotic arm and the second robotic arm is greater than a preset collision threshold;

[0023] The second robotic arm is controlled to return to the initial position and perform scanning according to the scanning path.

[0024] In some embodiments, dynamic collision detection between the first robotic arm, the second robotic arm, and the machine body includes:

[0025] Obtain the collision points to be detected between the first robotic arm, the second robotic arm and the machine body, respectively;

[0026] Calculate the collision distances between the first robotic arm, the second robotic arm, and the collision point to be detected, respectively.

[0027] When the collision distances are all greater than a preset distance threshold, it is determined that there is no collision risk in the scanning path.

[0028] In some embodiments, it also includes:

[0029] If there is a risk of collision, the path points of the currently executed scanning path are abandoned, and the path points without collision risk are continued.

[0030] As another aspect of the present invention, embodiments of the present invention provide a breast autonomous scanning planning device, applied to a breast ultrasound robot system, the breast ultrasound robot system comprising a body, a first robotic arm, and a second robotic arm, including:

[0031] The scanning path planning module is used to obtain the scanning path for the target object;

[0032] The forward collision detection module is used to detect the collision risk of the first robotic arm and the second robotic arm performing parallel scanning according to the scanning path based on the collision detection algorithm.

[0033] The scanning module is used to control the first robotic arm and the second robotic arm to perform scanning according to the scanning path when there is no collision risk.

[0034] The dynamic collision detection module is used to perform dynamic collision detection between the first robotic arm, the second robotic arm, and the body in pairs during the scanning process according to the scanning path.

[0035] As another aspect of the present invention, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method as described in any of the preceding claims.

[0036] As another aspect of the present invention, an embodiment of the present invention provides a breast autonomous scanning planning device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method as described in any of the preceding claims.

[0037] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0038] The breast autonomous scanning planning method provided in this invention obtains a scanning path for the target object; detects the collision risk of the first robotic arm and the second robotic arm performing parallel scanning along the scanning path using a collision detection algorithm; when there is no collision risk, controls the first robotic arm and the second robotic arm to perform scanning along the scanning path; during the scanning process, dynamic collision detection is performed between each pair of the first robotic arm, the second robotic arm, and the machine body. This method improves the efficiency and safety of bilateral breast autonomous scanning.

[0039] 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.

[0040] 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

[0041] 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:

[0042] Figure 1 This is a schematic diagram of the breast ultrasound robot system provided in an embodiment of the present invention;

[0043] Figure 2 This is a flowchart of the breast autonomous scanning planning method provided in this embodiment of the invention;

[0044] Figure 3 This is a schematic diagram of bilateral mammary gland path planning based on three-dimensional point cloud provided in an embodiment of the present invention;

[0045] Figure 4 This is a flowchart illustrating the parallel scanning process of the first and second robotic arms provided in an embodiment of the present invention.

[0046] Figure 5 This is a schematic diagram of collision detection during parallel scanning by the first and second robotic arms provided in an embodiment of the present invention.

[0047] Figure 6 This is a schematic diagram of the dynamic avoidance of the first and second robotic arms during scanning provided in an embodiment of the present invention;

[0048] Figure 7 This is a schematic diagram of the scanning and avoidance between the first and second robotic arms and the machine body provided in an embodiment of the present invention;

[0049] Figure 8 This is a structural block diagram of the breast autonomous scanning and planning device provided in an embodiment of the present invention. Detailed Implementation

[0050] 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.

[0051] The execution entity of the embodiments of this disclosure can be a computing service system with data processing, network communication, and program execution functions, such as an electronic system or a breast ultrasound robot system capable of performing the above functions. The following uses a breast ultrasound robot system as an example (hereinafter referred to as "the system"). Figure 1 The following embodiments are described below. The system includes two robotic arms, each with an actuator (ultrasound probe) at its end to enable autonomous ultrasound scanning of the object under test. In this embodiment, the two robotic arms are designated as a first robotic arm and a second robotic arm, with the right arm of the object lying on the examination bed corresponding to the first robotic arm and the left arm corresponding to the second robotic arm. Unless otherwise specified, the first robotic arm is also referred to as the right arm and the second robotic arm as the left arm. The system also includes a body, which includes the examination bed and the main casing. The object under test can include not only patients but also other testing personnel, which is not limited here. In addition, the system also includes other components, such as ultrasound imaging equipment and memory, which will not be described in detail here.

[0052] In some embodiments, such as Figure 2 As shown, this disclosure proposes a breast autonomous scanning planning method, applied to a breast ultrasound robotic system. The breast ultrasound robotic system includes a body, a first robotic arm, and a second robotic arm, comprising:

[0053] Step 101: Obtain the scanning path for the target object.

[0054] In this embodiment, the target object is the bilateral breasts of the subject being tested. Three 3D cameras (located at the upper left, upper right, and directly above the subject, respectively) are used to acquire 3D point clouds of the bilateral breasts. Based on the 3D point clouds, a scanning path is planned for the bilateral breasts, such as a parallel scanning path or a radial scanning path. In this embodiment, a parallel scanning path is used; the specific implementation process can be found in clinical scanning guidelines and will not be elaborated here. Figure 3 As shown, the scan path numbers planned on the left are defined as 0, 1, 2, ..., from the center of the human body being measured to the left. Define the scan path numbering on the right side as 0, 1, 2, ..., from the center of the human body to the right. .in, This refers to the number of scan lanes in the left breast. This refers to the number of scan lanes in the right breast, usually... = = 6, and The number of scan paths can also be unequal, and the specific number of paths can be set according to the size of the human breast and the distance between the paths.

[0055] Step 102: Detect the collision risk of the first robotic arm and the second robotic arm performing parallel scanning along the scanning path according to the collision detection algorithm.

[0056] Based on the scanning path obtained in the above steps, a collision detection algorithm is determined, and collision detection is performed between the two robotic arms. The algorithm is used to determine in real time whether there is a risk of future collision between the right arm (first robotic arm) and the left arm (second robotic arm), i.e., whether the two robotic arms will interfere with each other at some future point in time while scanning along the scanning path. An example operation is as follows:

[0057] Initially, such as Figure 4 As shown, the path point of the 0th path in the right arm is connected to the path point of the 0th path in the left arm. The path points of each path are sequentially checked for collisions. If no collision occurs, both arms can scan simultaneously. If a collision occurs, the first path of the right arm is then compared with the first path of the left arm. The system performs collision detection. If no collision is found, the left arm begins scanning only after the right arm completes its 0th scan. Scan the path. This process, along with other steps, ensures the smooth operation of the dual robotic arms' scanning.

[0058] Step 103: When there is no collision risk, control the first robotic arm and the second robotic arm to perform scanning according to the scanning path.

[0059] When there is no collision risk, the first and second robotic arms are controlled to scan according to the scanning path. To improve the efficiency of parallel scanning with dual robotic arms and minimize motion interference during the scanning process, the right arm is specified to move from track 0 to track 2. Scan the path sequentially, starting from the left side... Scan each channel sequentially from channel 0.

[0060] In this embodiment, the right arm is prioritized for scanning. That is, during the scanning process, if it is detected that the left arm may collide with the right arm, the left arm remains still or performs an avoidance action, and the right arm is scanned first.

[0061] Step 104: During the scanning process according to the scanning path, dynamic collision detection is performed between each pair of the first robotic arm, the second robotic arm, and the body.

[0062] When two robotic arms are scanning simultaneously, factors such as precise lesion scanning and fitting adjustments may cause the ultrasound probes at the end of the robotic arms to not follow the planned path points exactly. This means that even after the collision detection in step 102, there is still a risk of collision. Therefore, real-time dynamic obstacle avoidance between the two robotic arms (the first robotic arm and the second robotic arm) is required.

[0063] During bilateral breast scans, in addition to collision detection between the two robotic arms, real-time dynamic collision detection between a single robotic arm and the system's body (i.e., the housing and examination table) is also required.

[0064] It should be noted that the numbers in steps 101, ..., 104 above are only set for descriptive purposes and should not be construed as limiting the steps in the implementation process of this disclosure. In practice, steps 103 and 104 are executed in parallel, without any restriction on their order.

[0065] The method described in the above embodiment obtains a scanning path for the target object; detects the collision risk of the first robotic arm and the second robotic arm performing parallel scanning along the scanning path using a collision detection algorithm; when there is no collision risk, controls the first robotic arm and the second robotic arm to perform scanning along the scanning path; during the scanning process, dynamic collision detection is performed between each pair of the first robotic arm, the second robotic arm, and the machine body. This method improves the efficiency and safety of bilateral breast autonomous scanning.

[0066] In some embodiments, the step of detecting the collision risk of the first robotic arm and the second robotic arm performing parallel scanning along the scanning path according to the collision detection algorithm includes:

[0067] Step 201: Obtain the first joint position and the first ultrasonic probe position corresponding to the first robotic arm, and the second joint position and the second probe position corresponding to the second robotic arm, respectively, according to the collision detection algorithm.

[0068] In this embodiment, the collision detection algorithm between the first robotic arm and the second robotic arm is set to checkCollision():

[0069] checkCollision( , ),

[0070] in, Indicates left side The first path The path points represent the pose of the second probe on the left arm (the second robotic arm). Indicates the right-hand side The first path The path point is the first probe pose of the right arm (first robotic arm).

[0071] Based on the first probe pose Second probe pose, left arm probe pose The positions of each joint of the robotic arm are solved using inverse kinematics, yielding the positions of the first and second joints. Details are as follows:

[0072] This refers to the position of the second joint of the six axes of the left arm, where... , , These are the positions of the first three translational joints of the robotic arm. , The angles of the last three rotary joints of the robotic arm.

[0073] Step 202: Based on the positions of the first and second joints, obtain the first distance between the joints of the two arms.

[0074] The distance between the two robotic arms at the initial position at the origin is a fixed distance. Set the collision threshold to (Reference threshold is 0.04m):

[0075] Calculate the first distance between the first joint and the second joint as follows: :

[0076] .

[0077] Step 203: Based on the positions of the first probe and the second probe, obtain the second distance between the two probe arms.

[0078] Calculate the second distance between the first and second probes. :

[0079] ,

[0080] in, for Position component in the X direction of the world coordinate system for Position component in the X direction of the world coordinate system This indicates taking the absolute value.

[0081] Step 204: When both the first distance and the second distance are greater than the preset collision threshold, it is determined that there is no collision risk between the first robotic arm and the second robotic arm.

[0082] When both the first distance between joints and the second distance between probes are greater than the preset collision threshold At that time, that is:

[0083]

[0084] This indicates there is no risk of collision; otherwise, it indicates there is a risk of collision.

[0085] In some embodiments, the dynamic collision detection between each pair of the first robotic arm, the second robotic arm, and the machine body includes:

[0086] Dynamic collision detection between the first robotic arm and the second robotic arm;

[0087] Dynamic collision detection between the first robotic arm, the second robotic arm and the machine body.

[0088] Furthermore, in some embodiments, the dynamic collision detection between the first robotic arm and the second robotic arm includes:

[0089] Step 301: Obtain the path points to be detected for the first robotic arm and the second robotic arm respectively.

[0090] Assuming the current position of the right arm (first robotic arm) is The current position of the left arm (second robotic arm) is ( Therefore, the path that requires collision detection is:

[0091] The path points to be detected in the left arm are:

[0092]

[0093] The path points to be detected on the right arm are:

[0094]

[0095] in, and These represent the directions of movement for the left and right arms, with values ​​of 1 or -1. The length of the path to be detected (recommended value is 10 path points). The maximum value is The minimum value is 0. The maximum value is The minimum value is 0 to avoid the path number exceeding the maximum number of path points.

[0096] Step 302: Use the collision detection algorithm to perform collision detection on the path points to be detected. When there is a risk of collision, enter the dynamic obstacle avoidance state.

[0097] The above-mentioned collision detection algorithm, checkCollision(), is used to detect collisions sequentially. and The system checks if there are any collisions at the corresponding path points. If a collision occurs, based on the principle of right-arm priority scanning, the left arm temporarily stops executing the planned trajectory and enters a dynamic obstacle avoidance state. For example... Figure 6 As shown, the dynamic obstacle avoidance process is as follows:

[0098] (1) Obtain the initial position of the second robotic arm, and adjust the position of the second robotic arm according to the distance between the first robotic arm and the second robotic arm until the distance between the first robotic arm and the second robotic arm is greater than a preset collision threshold.

[0099] Record the initial (current) position of the left arm (second robotic arm) as follows: The position of the left arm is dynamically adjusted based on the closest distance between the left and right arms to ensure that the left arm always maintains a safe distance from the right arm, as follows:

[0100]

[0101] in, This indicates the current position of the second probe on the left arm in the X-axis direction of the world coordinate system, initially... Then, based on dynamic obstacle avoidance, the current position is updated in real time. This indicates the position that the second robotic arm (left arm) needs to move to next. , Calculated according to the first distance and the second distance mentioned above, respectively and The distance between each path point to be detected in the middle. µ represents the safety factor, which helps prevent instability caused by frequent obstacle avoidance by the left arm; a recommended value is 1.2. The preset collision threshold is set. The dynamic obstacle avoidance process is repeated until the distance between the left and right arms reaches a value greater than the preset collision threshold, which indicates that the safety threshold has been reached.

[0102] (2) Control the second robotic arm to return to the initial position and perform scanning according to the scanning path.

[0103] After obstacle avoidance is complete, control the second robotic arm to return to its initial position, that is, control the left arm to return to the recorded position. Continue scanning according to the planned scanning path.

[0104] Furthermore, if the collision detection algorithm is used to perform collision detection on the path points to be detected and no collision risk is detected, the scanning continues according to the planned scanning path.

[0105] In some embodiments, dynamic collision detection between the first robotic arm, the second robotic arm, and the machine body includes:

[0106] Step 401: Obtain the collision points to be detected between the first robotic arm, the second robotic arm, and the machine body, respectively. During the autonomous scanning of bilateral breasts, in addition to collision detection between the two robotic arms, it is also necessary to focus on collision detection between each robotic arm and the machine body, i.e., the machine housing and the examination table.

[0107] (1) The two collision points to be detected on the main body of the casing that may collide with the robotic arm are: Figure 7 Points A and B in the diagram, their positions are respectively and The location of the inspection bed surface is recorded as follows: .

[0108] (2) The point of collision to be detected where the left arm may collide with the main body of the machine is point C at the motor of the 5th axis of the robotic arm, denoted as The point of potential collision between the right arm and the main body of the robotic arm is point D at the motor of the 5th axis of the robotic arm, denoted as... The point of potential collision between the left arm and the examination table is point E on the outer edge of the probe, and its location is denoted as... The point of potential collision between the right arm and the examination table is the outer edge point F of the probe, and its location is denoted as... The locations of each collision point to be detected are shown in [link / reference]. Figure 7 As shown.

[0109] The current position of the first probe at the end of the right arm is known to be The current rotation matrix is The current position of the second probe at the end of the left arm is... The current rotation matrix is The position of point D relative to the coordinate system of the tool end of the first probe is: = [ , , The position of point C relative to the coordinate system of the tool end of the second probe is: = The position of point E relative to the coordinate system of the tool end of the second probe is: = [ , , The position of point F relative to the coordinate system of the first probe end tool is: = [ , , ]. , , , These are fixed values, related to the geometry of the robotic arm, with recommended values ​​of 0.04m, -0.26m, 0.04m, and -0.04m. The calculated positions of the four collision points to be detected are as follows:

[0110] ;

[0111] ;

[0112] ;

[0113] ;

[0114] Step 402: Calculate the collision distance between the first robotic arm, the second robotic arm and the collision point to be detected, respectively.

[0115] set up , This refers to the collision distance between the joint and the housing. , The collision distance between the probe edge and the examination bed is preset to a threshold value. (The reference threshold is 0.04m). The calculation process is as follows:

[0116] ;

[0117] ;

[0118] ;

[0119] ;

[0120] in, for The Y-direction component of for The Y-direction component of for The Y-direction component of for The Y-direction component of for The Z-direction component, for The Z-direction component, for The Z-direction component.

[0121] Step 403: When all collision distances are greater than a preset distance threshold, it is determined that there is no collision risk in the scanning path.

[0122] When the following conditions are met:

[0123] ;

[0124] This indicates no collision risk; otherwise, it indicates a collision risk. If a collision risk exists, the path points of the currently executed scanning path are discarded, and the path points without collision risk are continued to ensure the safety of breast scans.

[0125] In some embodiments, such as Figure 8 As shown, this disclosure also proposes a breast autonomous scanning planning device for use in a breast ultrasound robot system. The breast ultrasound robot system includes a body, a first robotic arm, and a second robotic arm, comprising:

[0126] The scanning path planning module 801 is used to obtain the scanning path for the target object;

[0127] The forward collision detection module 802 is used to detect the collision risk of the first robotic arm and the second robotic arm performing parallel scanning according to the scanning path based on the collision detection algorithm.

[0128] The scanning module 803 is used to control the first robotic arm and the second robotic arm to perform scanning according to the scanning path when there is no collision risk.

[0129] The dynamic collision detection module 804 is used to perform dynamic collision detection between the first robotic arm, the second robotic arm, and the body in pairs during the scanning process according to the scanning path.

[0130] The principles by which the above-described apparatus, client, medium, related equipment, and system in this embodiment 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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 equivalents of this invention, this invention is also intended to include these modifications and variations.

Claims

1. A breast autonomous scan planning method applied to a breast ultrasound robotic system, the breast ultrasound robotic system comprising a body, a first robotic arm and a second robotic arm, characterized in that, The method comprises the following steps: acquiring a scanning path for a target object; detecting a collision risk of parallel scanning of the first mechanical arm and the second mechanical arm according to a collision detection algorithm; controlling the first mechanical arm and the second mechanical arm to scan according to the scanning path when the collision risk does not exist; performing dynamic collision detection between the first mechanical arm, the second mechanical arm and the machine body respectively during scanning according to the scanning path.

2. The method of claim 1, wherein, The step of detecting the collision risk of parallel scanning of the first mechanical arm and the second mechanical arm according to the collision detection algorithm comprises the following steps: acquiring a first joint position and a first ultrasonic probe position corresponding to the first mechanical arm and a second joint position and a second probe position corresponding to the second mechanical arm respectively according to the collision detection algorithm; obtaining a first distance between the joints of the two arms according to the first joint position and the second joint position; obtaining a second distance between the probes of the two arms according to the first probe position and the second probe position; determining that the first mechanical arm and the second mechanical arm do not have the collision risk when the first distance and the second distance are both greater than a preset collision threshold.

3. The method of claim 1, wherein, The dynamic collision detection between the first mechanical arm, the second mechanical arm and the machine body respectively comprises the following steps: dynamic collision detection between the first mechanical arm and the second mechanical arm; dynamic collision detection between the first mechanical arm, the second mechanical arm and the machine body respectively.

4. The method of claim 3, wherein, The dynamic collision detection between the first mechanical arm and the second mechanical arm comprises the following steps: acquiring to-be-detected path points of the first mechanical arm and the second mechanical arm respectively; performing collision detection on the to-be-detected path points by using the collision detection algorithm, and entering a dynamic obstacle avoidance state when there is a collision risk.

5. The method of claim 4, wherein, The dynamic obstacle avoidance comprises the following steps: acquiring an initial position of the second mechanical arm; adjusting the position of the second mechanical arm according to the distance between the first mechanical arm and the second mechanical arm until the distance between the first mechanical arm and the second mechanical arm is greater than a preset collision threshold; controlling the second mechanical arm to return to the initial position and scan according to the scanning path.

6. The method of claim 3, wherein, The dynamic collision detection between the first mechanical arm, the second mechanical arm and the machine body respectively comprises the following steps: acquiring to-be-detected collision points between the first mechanical arm, the second mechanical arm and the machine body respectively; calculating collision distances between the first mechanical arm, the second mechanical arm and the to-be-detected collision points respectively; determining that the scanning path does not have a collision risk when the collision distances are all greater than a preset distance threshold.

7. The method of claim 6, wherein, The method further comprises the following steps: when there is a collision risk, abandoning the path points of the currently executed scanning path and continuing to execute the path points without a collision risk.

8. A breast autonomous scan planning device applied to a breast ultrasound robot system, the breast ultrasound robot system comprising a body, a first mechanical arm and a second mechanical arm, characterized in that, The method comprises the following steps: a scanning path planning module is configured to acquire a scanning path for a target object; a forward collision detection module is configured to detect a collision risk of parallel scanning of the first mechanical arm and the second mechanical arm according to a collision detection algorithm; a scanning module, configured to control the first mechanical arm and the second mechanical arm to scan according to the scanning path when the collision risk does not exist; a dynamic collision detection module, configured to perform dynamic collision detection between the first mechanical arm, the second mechanical arm and the machine body respectively during the scanning according to the scanning path.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the method of any one of claims 1-7.

10. A breast autonomous scan planning device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the method of any one of claims 1-7.

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