A force-position self-sensing flexible joint and an ultrasonic diagnostic system
By integrating a non-contact eddy current sensor array and neural network model inside a flexible joint, the safety and accuracy issues of medical ultrasound robot systems are solved, achieving efficient force-position closed-loop control and curved surface fitting, and reducing system costs.
CN122398360APending Publication Date: 2026-07-17UNIV OF SCI & TECH OF CHINA
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- UNIV OF SCI & TECH OF CHINA
- Filing Date
- 2026-06-08
- Publication Date
- 2026-07-17
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Figure CN122398360A_ABST
Abstract
本发明公开了一种力位自感知柔性关节及超声诊断系统，涉及医疗机器人、软体机器人及柔性传感器技术领域。所述柔性关节包括多腔室气动波纹管本体及内置的非接触式力位感知模块；所述感知模块由相对设置的导电靶标与包含多个周向分布线圈的FPCB传感阵列构成。当波纹管受控发生形变时，靶标的空间位移引起各线圈电感值变化。本发明同步采集电感与气压数据，引入历史序列进行迟滞补偿，利用神经网络模型解耦出关节的三维空间位姿与末端接触力。将该关节应用于超声诊断系统，上位机基于实时力位解算信息协同调节气压，实现探头对复杂生理曲面的自适应贴合与本质安全的柔顺闭环交互，有效解决了传统刚性超声探头接触力难控、易伤患者的问题。
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