Teleoperated dual-arm collaborative robotic ultrasound scanning system with real-time force telepresence feedback

Abstract

The application discloses a remote dual-arm collaborative robot ultrasonic scanning system with real-time force sense telepresence feedback, and relates to the technical field of artificial intelligence.The system comprises a collaboration end and an operation end, and the collaboration end and the operation end are wirelessly connected.The collaboration end is used for path planning based on a target image, completing coupling agent smearing in a target area, and acquiring haptic force feedback data and an ultrasonic image of the target.The operation end is used for displaying the ultrasonic image and transmitting the haptic force feedback data to the hands of a doctor of the operation end.The doctor of the operation end adjusts the posture of the operation end according to the ultrasonic image and the haptic force feedback data.The application improves the ultrasonic scanning precision of the remote dual-arm collaborative robot by setting the collaboration end which can autonomously plan a path and the operation end which transmits the haptic force feedback data to the hands of the doctor of the operation end.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to a remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback. Background Technology

[0002] B-mode ultrasound (hereinafter referred to as B-mode ultrasound) is currently the most commonly used type of ultrasound examination. It is a non-invasive, radiation-free, real-time, versatile, and easy-to-operate medical imaging method. It plays a vital role and has significant value in clinical diagnosis and treatment, providing doctors with reliable diagnostic information and patients with a safer, more comfortable, and accurate diagnostic experience. The accuracy and reliability of B-mode ultrasound results are directly affected by the physician's technique and skill level. However, highly skilled physicians are concentrated in large hospitals in big cities, while remote areas suffer from a shortage of both equipment and specialized physicians due to resource and environmental limitations. Summary of the Invention

[0003] The purpose of this application is to provide a remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback, which can improve the ultrasonic scanning accuracy of the remote dual-arm collaborative robot.

[0004] To achieve the above objectives, this application provides the following solution:

[0005] This application provides a remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback, including: a collaborative end and an operating end;

[0006] The collaboration terminal and the operation terminal are wirelessly connected;

[0007] The collaborative terminal is used to perform path planning based on the target image and complete the application of coupling agent within the target area, and to obtain tactile force feedback data and ultrasound images of the target.

[0008] The operating terminal is used to display ultrasound images and transmit tactile feedback data to the doctor's hand; the doctor adjusts the posture of the operating terminal based on the ultrasound images and tactile feedback data.

[0009] The collaborating terminal adjusts its own posture according to the posture of the operating terminal.

[0010] Optionally, the collaborative end includes: a collaborative control module, a main operating collaborative arm, an auxiliary operating collaborative arm, an ultrasound examination device, and a data acquisition module;

[0011] The main operating arm, the auxiliary operating arm, the ultrasound examination device, and the data acquisition module are all connected to the cooperative control module; the detection probes in the data acquisition module and the ultrasound examination device are all located at the end of the main operating arm.

[0012] The data acquisition module is used to acquire the target image;

[0013] The collaborative control module is used to send the target image to the auxiliary operation collaborative arm;

[0014] The auxiliary operation collaboration arm is used to determine the target position based on the target image, and to perform path planning with the end of the auxiliary operation collaboration arm as the starting point and the position as the ending point to obtain an optimized path. The arm is controlled to reach the target position along the optimized path, and coupling agent is applied to the target area with the target position as the midpoint.

[0015] The collaborative control module is used to parse the operator's posture to obtain motion commands and send the motion commands to the main operator collaborative arm;

[0016] The main operating arm is used to execute motion commands and moves while carrying the data acquisition module.

[0017] The data acquisition module is also used to acquire tactile force feedback data of the target after the end of the main operating arm contacts the target;

[0018] The ultrasound examination device is also used to generate an ultrasound image after the detection probe comes into contact with the target.

[0019] The collaborative control module is used to transmit the tactile force feedback data and the ultrasound image to the operating terminal.

[0020] Optionally, the auxiliary operation collaborative arm is further provided with a coupling agent storage device and a coupling agent application device at its end;

[0021] The coupling agent storage device is connected to the cooperative control module;

[0022] The collaborative control module is used to control the opening of the coupling agent storage device when the end of the auxiliary operation collaborative arm reaches the target area.

[0023] Optionally, the data acquisition module includes a six-dimensional force sensor, a joint torque sensor, a vision sensor, and an inertial measurement unit;

[0024] The visual sensor is used to acquire the target image;

[0025] The six-dimensional force sensor, the joint torque sensor, and the inertial measurement unit are all used to acquire tactile force feedback data of the target.

[0026] Optionally, the visual sensor is a depth camera.

[0027] Optionally, the main operating arm is a seven-degree-of-freedom robotic arm.

[0028] Optionally, the auxiliary operation collaborative arm is a seven-degree-of-freedom robotic arm.

[0029] Optionally, the operating terminal includes: an operation control module, a display module, and a tactile force feedback device;

[0030] Both the display module and the haptic feedback device are connected to the operation control module; the operation control module is also connected to the collaborative control module.

[0031] The operation control module is used to acquire the posture data of the tactile force feedback device and send the posture data to the cooperation control module;

[0032] The operation control module is also used to receive the tactile force feedback data and the ultrasound image;

[0033] The display module is used to display the ultrasound image;

[0034] The tactile feedback device interacts with the doctor's hand at the operating end, transmitting tactile feedback data to the doctor's hand; the posture of the tactile feedback device is adjusted by the doctor at the operating end based on the ultrasound image and tactile feedback data.

[0035] Optionally, the remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback also includes: an operating microphone and a collaborative player;

[0036] The operating microphone is used to collect the voice of the doctor at the operating end and send the doctor's voice to the collaborative control module through the operating control module;

[0037] The collaborative player is used to play the doctor's voice on the operating terminal.

[0038] Optionally, the collaboration terminal and the operation terminal are connected via a 5G transmission module.

[0039] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0040] This application provides a remote dual-arm collaborative robot ultrasound scanning system with real-time force feedback. The system includes a collaborative end and an operating end that are wirelessly connected. The collaborative end is used for path planning based on the target image and applying coupling agent within the target area, acquiring tactile force feedback data and ultrasound images of the target. The operating end displays the ultrasound images and transmits the tactile force feedback data to the operator's hand. The operator adjusts the posture of the operating end based on the ultrasound images and tactile force feedback data. By setting up a collaborative end capable of autonomous path planning and an operating end that transmits tactile force feedback data to the operator's hand, the system improves the accuracy of ultrasound scanning with the remote dual-arm collaborative robot, addressing the problem of untimely and inaccurate lesion screening caused by the uneven distribution of high-quality medical resources.

[0041] Combined with a voice interaction module, operators can communicate with the system using natural language, no longer limited to inputting commands via keyboard or touchscreen. This makes operation more intuitive and convenient, especially when simultaneous visual observation and operation are required, avoiding distractions. An added camera, preferably a depth camera, not only allows real-time observation of the patient's condition but also provides depth perception and coordinate information for 3D coordinate reconstruction and position calibration for target detection, trajectory planning, and other autonomous robotic arm movements, enabling position information sharing with the robotic arm. A path planning feature for the robotic arm has been added to the collaborative end. Once the ultrasound examination subject is in the examination position, the robotic arm uses the received position coordinates to move the end ultrasound probe above the chest and abdominal cavities, reducing the need for significant operator arm movements when using haptic feedback devices and improving the efficiency of ultrasound examinations. Attached Figure Description

[0042] 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.

[0043] Figure 1 This is a structural diagram of a remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback according to an embodiment of this application.

[0044] Figure 2 This is a structural diagram of a tactile force feedback device in one embodiment of this application.

[0045] Explanation of reference numerals in the attached diagram: tactile force feedback device-1; display module-2; operating microphone-3; collaborative arm-4; detection probe-5; visual sensor-6; coupling agent storage device-7; ultrasonic examination device-8. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Virtual haptic force feedback technology is a technique that provides real-time perception and force information during operation. It typically involves integrating sensors into the operating device to monitor the force and pressure between the device and the external environment, and then converting this information into corresponding feedback signals through a control system. Force feedback technology is widely used in various fields, including virtual reality, medical devices, and robotics. For example, force feedback technology can help doctors perform minimally invasive surgery or delicate procedures. By integrating force sensors into surgical instruments or surgical robots, doctors can perceive the hardness, pressure, and position of tissues in real time during surgery, thereby performing surgical operations more accurately and improving the success rate and safety of the surgery. Robotic arms, combined with target detection and path planning technology, represent a relatively mature automated operation solution. They use depth cameras to identify target objects in the working environment in real time and utilize advanced path planning algorithms to autonomously plan the optimal operating path, enabling the robotic arm to precisely move above the target. This technology possesses autonomous adaptability, enabling it to complete tasks quickly and safely in various complex working scenarios, greatly improving work efficiency and achieving the goal of intelligent perception and operation.

[0049] Currently, ultrasound robot examination systems can be mainly divided into three types according to their working modes: master-slave ultrasound scanning systems, collaborative-assisted ultrasound scanning systems, and autonomous ultrasound scanning systems. Collaborative-assisted ultrasound scanning systems can complete complex ultrasound scanning tasks, but to reduce the burden on doctors, they are usually designed with a lightweight approach, requiring assistants to participate in the collaborative work. This necessitates good cooperation between the doctor and the assistant. Due to the special nature of ultrasound scanning, it requires the doctor's clinical judgment and experience to adjust the probe angle and apply appropriate pressure. Therefore, autonomous ultrasound scanning systems often only perform simple ultrasound scanning processes. This system, however, adopts a master-slave ultrasound scanning system and adds force feedback technology to ensure real-time operation. It can not only complete complex scanning tasks but also allow remote doctors to perform the scanning operation as if they were physically present. 5G networks provide higher data transmission speeds and bandwidth, thus supporting the transmission of high-definition images and real-time data. Ensuring network stability and high-speed transmission is crucial to guarantee the real-time performance and accuracy of remotely controlling the remote dual-arm collaborative robot.

[0050] In one exemplary embodiment, such as Figure 1As shown, a remote dual-arm collaborative robot ultrasound scanning system with real-time force feedback is provided, comprising: a collaborative end (also called a detection end) and an operating end. The collaborative end and the operating end are wirelessly connected. The collaborative end is used for path planning based on the target image and to apply coupling agent within the target area, acquiring tactile force feedback data and ultrasound images of the target. The operating end is used to display the ultrasound image and transmit tactile force feedback data to the operator's hand. The operator adjusts the posture of the operating end based on the ultrasound image and tactile force feedback data. The collaborative end adjusts its own posture based on the posture of the operating end. The collaborative end and the operating end are connected via a 5G transmission module (also called an intermediate transmission medium).

[0051] The collaborative end includes: a collaborative control module, a main operating collaborative arm, an auxiliary operating collaborative arm, an ultrasound examination device 8, and a data acquisition module. The collaborative arm 4 (including the main and auxiliary operating collaborative arms), the ultrasound examination device, and the data acquisition module are all connected to the collaborative control module. The data acquisition module and the detection probe 5 in the ultrasound examination device are both located at the end of the main operating collaborative arm. The data acquisition module is used to acquire the target image. The collaborative control module is used to send the target image to the auxiliary operating collaborative arm. The auxiliary operating collaborative arm is used to determine the target position based on the target image, and plans a path from the end of the auxiliary operating collaborative arm to the target position, obtaining an optimized path. It then controls the end of the auxiliary operating collaborative arm to reach the target position along the optimized path and applies coupling agent to the target area with the target position as the midpoint. The collaborative control module is used to parse the posture of the operating end to obtain motion commands and send the motion commands to the main operating collaborative arm. The main operating collaborative arm is used to execute the motion commands and move while carrying the data acquisition module. The data acquisition module is also used to acquire tactile force feedback data of the target after the end of the main operating collaborative arm contacts the target. The ultrasound examination device is also used to generate an ultrasound image after the detection probe contacts the target. The collaborative control module transmits tactile force feedback data and ultrasound images to the operating terminal. The main operating collaborative arm is a seven-DOF robotic arm. The auxiliary operating collaborative arm is a seven-DOF robotic arm.

[0052] In addition, the distal end of the auxiliary operation collaborative arm is equipped with a coupling agent storage device 7 and a coupling agent application device. The coupling agent storage device is connected to the collaborative control module. The collaborative control module is used to control the opening of the coupling agent storage device when the distal end of the auxiliary operation collaborative arm reaches the target area.

[0053] Specifically, the data acquisition module includes a six-dimensional force sensor, a joint torque sensor, a vision sensor 6, and an inertial measurement unit. The vision sensor is used to acquire images of the target. The six-dimensional force sensor, joint torque sensor, and inertial measurement unit are all used to acquire tactile force feedback data of the target. The vision sensor is a depth camera. The vision sensor 6 can be installed at the end of the main operating arm along with the data acquisition module, or it can be installed separately at the connection between the main operating arm and the auxiliary operating arm.

[0054] The operating terminal includes an operation control module, a display module 2, and a tactile force feedback device 1. Both the display module and the tactile force feedback device are connected to the operation control module. The operation control module is also connected to a collaborative control module. The operation control module acquires the posture data of the tactile force feedback device and sends the posture data to the collaborative control module. The operation control module also receives tactile force feedback data and ultrasound images. The display module displays the ultrasound images. The structure of the tactile force feedback device is as follows: Figure 2 As shown, the tactile feedback device interacts with the doctor's hand at the operating end, transmitting tactile feedback data to the doctor's hand. The posture of the tactile feedback device is adjusted by the doctor at the operating end based on the ultrasound image and the tactile feedback data.

[0055] In addition, the remote dual-arm collaborative robot ultrasound scanning system with real-time force feedback also includes: an operating microphone 3 and a collaborative player (broadcast speaker). The operating microphone is used to collect the doctor's voice at the operating end and send the doctor's voice to the collaborative control module through the operating control module. The collaborative player is used to play the doctor's voice at the operating end.

[0056] The remote dual-arm collaborative robot ultrasound scanning system with real-time force feedback provided in this embodiment can offer telemedicine services, enabling patients in remote areas to enjoy high-quality medical resources. These telemedicine services include, but are not limited to, remote ultrasound examinations and participation in remote surgical guidance. Specifically, the tactile force feedback device is connected to the main operating collaborative arm via a 5G transmission module, enabling real-time control of the main operating collaborative arm's movement and providing force feedback. The auxiliary operating collaborative arm autonomously detects targets and moves to the area being examined to apply coupling agent to the skin surface, collaborating with the main operating collaborative arm to complete the ultrasound examination task. The main operating collaborative arm and its control box carry the ultrasound probe and perform the ultrasound examination. The collaborative control module receives remote operation signals (i.e., interprets the operator's posture) and controls the main operating collaborative arm to complete the ultrasound examination. A six-dimensional force sensor collects the motion state of the main operating collaborative arm. The 5G transmission module transmits force sensor data and ultrasound signals (ultrasound images) to the remote operating terminal, enabling high-speed, real-time, and stable data transmission. The data acquisition module has a real-time force feedback function, capable of transmitting six-dimensional force information from the cross-section of the patient's body to the tactile force feedback device at the remote operating terminal. The data acquisition module includes a six-dimensional force sensor, a joint torque sensor, a depth camera, and an inertial measurement unit, used to monitor the tactile force feedback data and motion status of the main manipulator arm in real time. The detection probe, located at the end of the main manipulator arm, moves with it. The main manipulator arm can flexibly adjust its angle and direction on human tissue with negligible error, enabling multi-angle and multi-directional full coverage of the patient's scanning area. The collaborative control module has an automatic adjustment function, capable of adjusting the movement trajectory and operating force of the main manipulator arm based on sensor data and remote operation signals.

[0057] The collaborative end includes a seven-DOF main operating arm with an end-captured detection probe and a six-dimensional force sensor, an auxiliary operating arm with an end-captured dexterous hand, a B-mode ultrasound examination device for image transmission, a live camera, and a broadcast speaker. The operating end includes a tactile force feedback device, a live display screen, a B-mode ultrasound image display screen, and a microphone. The intermediate transmission medium includes a 5G transmission server, a 5G communication module, a 5G antenna, a 5G base station, a 5G router, and 5G terminal devices. All devices on the operating end will be connected to the 5G router to form a local area network (LAN), and then communicate with all devices on the collaborative end via the 5G base station through the LAN formed by the 5G router for information exchange and real-time communication. A high-precision six-dimensional force sensor is deployed at the end of the main operating arm on the collaborative end, which can remotely transmit the force sensed by the ultrasound probe in contact with the skin tissue in real time to the tactile force feedback device on the operating end. This allows for accurate recording of the force data in each direction after the ultrasound probe contacts the skin tissue, and the data is transmitted back to the tactile force feedback device. The assistive robotic arm at the collaborative end employs target detection and autonomous path planning, allowing it to autonomously move to the examination area. It can precisely position itself above the examination area and autonomously apply coupling agent. The operating end utilizes a virtual haptic force feedback device. By receiving real-time data from a six-dimensional force sensor, doctors can perceive the tissue's hardness, pressure, and position during the examination, leading to more accurate procedures and improved accuracy and safety. The (ultrasound) probe's fixation structure features a portable, detachable design, allowing for complete probe placement and better acquisition of values ​​from all directions of the six-dimensional force sensor. This ensures complete force acquisition and transmission, guaranteeing the operator's realistic tissue contact perception. The ultrasound examination equipment uses a 5G-enabled B-mode ultrasound device, ensuring real-time image transmission and providing the operator with a more realistic experience, improving both the user experience and efficiency.

[0058] The remote dual-arm collaborative robot ultrasound scanning system with real-time force feedback provided in this embodiment is used to realize medical examination and diagnosis of remote patients, balancing the uneven distribution of high-quality medical resources. Its operation process is as follows:

[0059] Pre-inspection operation terminal:

[0060] Start the tactile feedback device on the operating end, connect and initialize the tactile feedback device, and correct the initial position.

[0061] Start the remote robotic arm control box, enable the master-slave mapping node at the software level, and start the tactile force feedback device robotic arm.

[0062] Start the display module and turn on the ultrasound examination equipment.

[0063] Before inspection, the collaborating end:

[0064] Start the main and auxiliary operating arms, initialize the system, perform posture correction, activate the end effector force sensor, and initialize the force sensor.

[0065] The force sensor data processor collects and processes sensor data, including image data captured by a camera, force information collected by a force sensing device, and tactile information from a tactile force feedback device.

[0066] Force sensors are installed at the end of the robotic arm to sense force information between the ultrasonic probe and the target tissue in various directions.

[0067] The collaborative control module's brake is activated for autonomous coupling agent application. The auxiliary collaborative arm is then activated; before use, the brake is released, the pose is detected and adjusted, and the remaining coupling agent level is checked. The robotic arm control system used in this system calculates the position and orientation of the robotic arm's end effector using inverse kinematics algorithms based on the 3D coordinate information of the target object from the environmental perception module. A motion planning algorithm determines the robotic arm's trajectory, moving its end effector above the target object. The processed data is transmitted to the robotic arm control system for image recognition and robotic arm motion control. The sensed force feedback information is transmitted to the sensor data processor for real-time monitoring and control of the force feedback. The tactile force feedback device and sensor data processor used in this system transmit tactile information to a remote operating terminal, allowing the operator to perceive the tactile feedback between the robotic arm and the target object.

[0068] Start the ultrasound examination equipment, select the appropriate ultrasound probe according to the type of examination task, and select the corresponding examination mode.

[0069] Start the remote camera and open the voice interaction module.

[0070] The environmental perception module uses deep learning technology to train an image recognition model for real-time target detection in images captured by the camera. The model can identify target tissues in ultrasound examinations, such as the thoracic and abdominal cavities. The image recognition module can also utilize 3D coordinate reconstruction technology to calculate the 3D coordinates of target objects in space, enabling the modeling of the entire patient surface.

[0071] Connect the operator and collaborator to the 5G transmission system, enable remote connection, and conduct communication tests.

[0072] After remote connection, haptic force feedback devices are used for pose detection, and delay detection is performed based on the following movement of the auxiliary operation collaborative arm.

[0073] During an ultrasound examination:

[0074] The doctor is positioned at the operating end, and the patient is positioned at the collaborative end, adjusting their posture based on voice interaction with the doctor.

[0075] Before the examination, the auxiliary arm is initially positioned outside the examination area to facilitate the patient's positioning into the correct posture. After positioning, the auxiliary arm helps to apply the coupling agent, and the expert at the operating end starts the examination mode. The auxiliary arm then moves autonomously to the airspace above the examination area, allowing the expert to perform specific and subtle manipulations. This mode avoids the expert from making large-scale rotations of the robotic arm, improving the efficiency and safety of ultrasound examinations.

[0076] The tactile feedback device at the control end has two modes: position control and force feedback control, which can be selected according to different needs.

[0077] Voice interaction module: Integrates voice recognition technology, enabling operators to interact with those being inspected on-site via voice commands. This module reduces indirect communication with the inspected individual.

[0078] 5G Transmission Module: The 5G transmission module enables high-speed data transmission between the robot system and the remote control terminal. This module supports low-latency communication, ensuring the real-time performance and stability of remote operations. It also supports high-bandwidth data transmission to ensure high-quality transmission of images and control signals. Remote operation is achieved through image recognition and voice interaction, while the 5G transmission module enables high-speed data transmission for remote ultrasound medical examinations and diagnoses of patients.

[0079] This application is characterized by the inclusion of a real-time force feedback device. Based on the force perception information transmitted from the six-dimensional force sensor at the end of the main operating arm, the ultrasound probe at the end of the main operating arm is controlled in real time to complete the ultrasound examination. Furthermore, the auxiliary operating arm autonomously moves to the area to be examined and autonomously applies coupling agent. The two arms work together to complete the remote ultrasound examination task. By combining 5G technology, real-time force feedback robotics technology, and ultrasound examination equipment, doctors can conduct remote ultrasound examinations on patients in an immersive environment through real-time force feedback, providing immediate and efficient medical services to patients in remote areas, thus offering a solution to the problem of uneven distribution of medical resources.

[0080] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback, characterized in that, include: Collaboration end and operation end; The collaboration terminal and the operation terminal are wirelessly connected; The collaborative terminal is used to perform path planning based on the target image and complete the application of coupling agent within the target area, and to obtain tactile force feedback data and ultrasound images of the target. The operating terminal is used to display ultrasound images and transmit tactile feedback data to the doctor's hand; the doctor adjusts the posture of the operating terminal based on the ultrasound images and tactile feedback data. The collaborating terminal adjusts its own posture according to the posture of the operating terminal.

2. The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback as described in claim 1, characterized in that, The collaborative end includes: a collaborative control module, a main operating collaborative arm, an auxiliary operating collaborative arm, an ultrasound examination device, and a data acquisition module; The main operating arm, the auxiliary operating arm, the ultrasound examination device, and the data acquisition module are all connected to the cooperative control module; the detection probes in the data acquisition module and the ultrasound examination device are all located at the end of the main operating arm. The data acquisition module is used to acquire the target image; The collaborative control module is used to send the target image to the auxiliary operation collaborative arm; The auxiliary operation collaboration arm is used to determine the target position based on the target image, and to perform path planning with the end of the auxiliary operation collaboration arm as the starting point and the position as the ending point to obtain an optimized path. The arm is controlled to reach the target position along the optimized path, and coupling agent is applied to the target area with the target position as the midpoint. The collaborative control module is used to parse the operator's posture to obtain motion commands and send the motion commands to the main operator collaborative arm; The main operating arm is used to execute motion commands and moves while carrying the data acquisition module. The data acquisition module is also used to acquire tactile force feedback data of the target after the end of the main operating arm contacts the target; The ultrasound examination device is also used to generate an ultrasound image after the detection probe comes into contact with the target. The collaborative control module is used to transmit the tactile force feedback data and the ultrasound image to the operating terminal.

3. The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback as described in claim 2, characterized in that, The auxiliary operation collaboration arm is also equipped with a coupling agent storage device and a coupling agent application device at its end. The coupling agent storage device is connected to the cooperative control module; The collaborative control module is used to control the opening of the coupling agent storage device when the end of the auxiliary operation collaborative arm reaches the target area.

4. The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback according to claim 2, characterized in that, The data acquisition module includes a six-dimensional force sensor, a joint torque sensor, a vision sensor, and an inertial measurement unit. The visual sensor is used to acquire the target image; The six-dimensional force sensor, the joint torque sensor, and the inertial measurement unit are all used to acquire tactile force feedback data of the target.

5. The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback according to claim 4, characterized in that, The visual sensor is a depth camera.

6. The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback according to claim 2, characterized in that, The main operating arm is a seven-degree-of-freedom robotic arm.

7. The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback according to claim 2, characterized in that, The auxiliary operation collaboration arm is a seven-degree-of-freedom robotic arm.

8. The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback according to claim 4, characterized in that, The operating terminal includes: an operation control module, a display module, and a tactile force feedback device; Both the display module and the haptic feedback device are connected to the operation control module; the operation control module is also connected to the collaborative control module. The operation control module is used to acquire the posture data of the tactile force feedback device and send the posture data to the cooperation control module; The operation control module is also used to receive the tactile force feedback data and the ultrasound image; The display module is used to display the ultrasound image; The tactile feedback device interacts with the doctor's hand at the operating end, transmitting tactile feedback data to the doctor's hand; the posture of the tactile feedback device is adjusted by the doctor at the operating end based on the ultrasound image and tactile feedback data.

9. The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback according to claim 8, characterized in that, The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback also includes: an operating microphone and a collaborative player; The operating microphone is used to collect the voice of the doctor at the operating end and send the doctor's voice to the collaborative control module through the operating control module; The collaborative player is used to play the doctor's voice on the operating terminal.

10. The remote dual-arm collaborative robot ultrasonic scanning system with real-time force feedback according to claim 1, characterized in that, The collaboration terminal and the operation terminal are connected via a 5G transmission module.

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