Robot arm-assisted ultrasound medical imaging system and robot arm-assisted ultrasound medical imaging acquisition method

Abstract

We provide a system that can automatically supply ultrasonic gel. [Solution] The medical imaging system according to the present invention includes a multi-axis robot arm, a multi-axis robot arm control device for controlling the multi-axis robot arm, an ultrasonic probe mounted on the multi-axis robot arm, an ultrasonic image generation device for controlling the ultrasonic probe to generate ultrasonic images, and a 3D image acquisition device. It also includes an ultrasonic gel dispenser mounted on the multi-axis robot arm and containing ultrasonic gel, a nozzle mounted adjacent to the ultrasonic probe so as to receive the ultrasonic gel from the ultrasonic gel dispenser and discharge it forward in the direction of movement of the ultrasonic probe, and a dispenser control device for controlling the discharge of ultrasonic gel contained in the ultrasonic gel dispenser. It also includes a computer for controlling the multi-axis robot arm control device, the ultrasonic image generation device, the 3D image acquisition device, and the dispenser control device.

Description

Technical Field

[0001] The present invention relates to a robot arm-assisted ultrasonic medical imaging system. More specifically, it relates to an ultrasonic medical imaging system for acquiring ultrasonic images while applying ultrasonic gel using a multi-axis robot arm.

[0002] Further, the present invention relates to a method for acquiring robot arm-assisted ultrasonic medical images. More specifically, the present invention relates to a method for acquiring ultrasonic medical images while applying ultrasonic gel along a predetermined path using a robot arm.

Background Art

[0003] Ultrasonic inspection devices are commonly used to inspect diseases of human body parts such as the thyroid gland, musculoskeletal system, and breast. An ultrasonic image (Ultrasonic image or Ultrasonography) is an image obtained by transmitting a pulse wave through a human tissue with a difference in acoustic impedance, receiving the reflected signal, amplifying and converting it.

[0004] During ultrasonic inspection, when there is air between the ultrasonic probe and the skin surface, the incident ultrasonic wave is reflected by the air, making it difficult to obtain a high-quality ultrasonic image. Therefore, in order to prevent the reflection of ultrasonic waves by the air present between the probe and the skin surface, ultrasonic gel is applied to the skin surface. Also, the ultrasonic gel applied to the skin surface additionally assists the probe to come into contact with the skin surface and move smoothly. Generally, in ultrasonic inspection, an operator directly applies ultrasonic gel to the skin surface of the human body using their hand or an instrument.

[0005] On the other hand, when a practitioner holds an ultrasound probe for an extended period, it can strain the shoulder and arm, causing pain and potentially reducing their ability to concentrate on the ultrasound image. To address this issue, ultrasound systems have been developed that utilize an ultrasound probe mounted on a robotic arm to acquire ultrasound images.

[0006] For example, U.S. Patent Publication US2012 / 0271173 A1 (Title of Invention: AUTOMATIC ULTRASONIC SCANNING SYSTEM AND SCANNING METHOD THEREOF) discloses a system for acquiring ultrasound images using a robotic arm. The system disclosed in the patent comprises a multi-axis robotic arm, an ultrasound probe, a 3D image capture device, and a computer. The 3D image capture device includes a depth camera positioned to capture the ultrasound scan area of ​​the patient. The computer processes the image from the depth camera to generate a scan path for moving the ultrasound probe mounted on the robotic arm to obtain an ultrasound image of the patient, and controls the multi-axis robotic arm to move the ultrasound probe and acquire the ultrasound image of the patient. The system disclosed in the patent does not disclose the idea of ​​automatically applying ultrasound gel to the patient's skin surface when acquiring ultrasound images using a robot.

[0007] Furthermore, the U.S. Patent Publication US 2008 / 0021317 A1 (Title of Invention: ULTRASOUND MEDICAL IMAGING WITH ROBOTIC ASSISTANCE FOR VOLUME MAGING) discloses a system for acquiring ultrasonic images using a robotic arm. The ultrasonic system disclosed in the said patent includes a robot mechanism, an ultrasonic probe (transducer) attached to the robot mechanism, a force sensor, an ultrasonic imaging system, a processor, and a digitizer. The digitizer acquires three-dimensional surface information of a body part for scanning with the ultrasonic probe, and the processor uses the three-dimensional surface information to determine positional information for scanning with the ultrasonic probe, and can control the robot mechanism to automatically acquire ultrasonic images. In addition, the identification code

[0038] of the said patent document states that the robot mechanism includes a gel dispenser and a suction spout, and is configured to supply gel from a gel storage facility to the robot mechanism via a tube. Furthermore, it is stated that the gel dispenser is positioned adjacent to the ultrasound probe (transducer), and that a pump supplies the gel from the gel dispenser to the patient. [Overview of the project] [Problems that the invention aims to solve]

[0008] However, the aforementioned patent document does not disclose the specific technical configuration of the gel dispenser. Furthermore, the system disclosed in the aforementioned patent document is equipped with a force sensor or pressure sensor and is configured to measure the force with which the ultrasound probe contacts the patient when acquiring an ultrasound image using a robotic device. In other words, when acquiring an ultrasound image, the system disclosed in the aforementioned patent document is configured so that the ultrasound probe attached to the robotic mechanism makes direct contact with the patient and pressurizes the patient with a constant pressure, and a force sensor is used to prevent excessive force from being applied to the patient.

[0009] When using a robotic arm equipped with an ultrasound probe to scan a patient's skin surface and acquire ultrasound images, it is necessary to prevent reflection of ultrasound waves by air to obtain high-quality ultrasound images. Therefore, a device is needed that can apply ultrasound gel to the patient's skin surface simultaneously with moving the ultrasound probe attached to the robotic arm. Furthermore, a device is needed that can automatically apply ultrasound gel designed to prevent air bubbles from being incorporated into the gel during application to the skin surface.

[0010] Furthermore, when moving an ultrasound probe attached to a robotic arm along a scanning path, there is a need for a robot-based ultrasound imaging system that can acquire ultrasound images without the ultrasound probe directly applying force to the patient. In other words, when moving an ultrasound probe attached to a robotic arm along a scanning path, there is a need for a system that can acquire ultrasound images while simultaneously moving along the surface of the patient's skin so that the ultrasound probe does not directly contact the patient's skin but instead contacts an ultrasound gel applied to the skin surface.

[0011] On the other hand, providing an ultrasound image of the entire cross-section of the area to be imaged, such as the patient's breast, could be more useful in diagnosing the patient's disease. However, linear array ultrasound probes are only about 4-5 cm long, making it impossible to scan and obtain an ultrasound image of the entire breast area in a single ultrasound scan. An ultrasound image of the entire breast area can be obtained by combining multiple cross-sectional images on the same plane. There is a need for a system that can use a multi-axis robotic arm to acquire multiple ultrasound cross-sectional images at desired positions and combine them to provide an expanded ultrasound image.

[0012] This invention aims to solve the aforementioned problems that arise when acquiring ultrasound images of a patient using a multi-axis robotic arm.

[0013] The present invention aims to provide a novel Ultrasound Medical Imaging System that can automatically supply ultrasonic gel when an ultrasonic probe attached to a robotic arm is moved.

[0014] Furthermore, the present invention aims to provide a new ultrasound medical imaging device configured to avoid applying excessive force to the patient when the ultrasound probe attached to the robot arm is moved.

[0015] Furthermore, the present invention aims to provide a method for acquiring ultrasound medical images using a novel robot arm-assisted ultrasound medical imaging system.

[0016] Furthermore, the present invention aims to provide a method for forming an augmented ultrasound image using a novel robot arm-assisted ultrasound medical imaging system. [Means for solving the problem]

[0017] A robot arm-assisted ultrasonic medical imaging system is provided according to one aspect of the present invention. The medical imaging system according to the present invention includes a multi-axis robot arm, a multi-axis robot arm control device for controlling the multi-axis robot arm, an ultrasonic probe mounted on the multi-axis robot arm, an ultrasonic image generation device for controlling the ultrasonic probe to generate an ultrasonic image, and a three-dimensional image acquisition device. It also includes an ultrasonic gel dispenser mounted on the multi-axis robot arm and containing ultrasonic gel, a nozzle mounted adjacent to the ultrasonic probe so as to receive the ultrasonic gel from the ultrasonic gel dispenser and discharge it forward in the direction of movement of the ultrasonic probe, and a dispenser control device for controlling the discharge of the ultrasonic gel contained in the ultrasonic gel dispenser. It also includes a computer for controlling the multi-axis robot arm control device, the ultrasonic image generation device, the three-dimensional image acquisition device, and the dispenser control device.

[0018] In particular, in the medical imaging system according to the present invention, the computer is provided with an ultrasound scan area image of the patient from the 3D image acquisition device, processes the ultrasound scan area image of the patient to generate 3D shape data of the ultrasound scan area, generates an ultrasound scan path for moving the ultrasound probe attached to the multi-axis robot arm to acquire an ultrasound image based on the 3D shape data of the ultrasound scan area, and controls the multi-axis robot arm control device, the ultrasound image generation device, and the dispenser control device to discharge ultrasound gel while the ultrasound probe moves along the ultrasound scan path and simultaneously acquire an ultrasound image.

[0019] In some embodiments, the ultrasonic scan path generated by the computer can be configured such that the end of the ultrasonic probe is separated from the surface of the patient's ultrasonic scan area by a certain distance.

[0020] In some embodiments, the ultrasonic gel dispenser includes a hollow housing mounted on the multi-axis robot arm, having an inlet on one side connected to an air source for the inflow of high-pressure air, and an opening on the other side into which a flexible ultrasonic gel container is inserted, and a hollow housing cap having a small diameter portion configured for the insertion of the outlet of the flexible ultrasonic gel container inserted inside, and a large diameter portion configured to be sealed and coupled with the opening of the hollow housing. The dispenser control device also includes a valve for intermittently supplying the flow of air from the air source to the hollow housing of the gel dispenser.

[0021] In some embodiments, the ultrasonic probe is a linear array probe, and the nozzle comprises an inlet, an outlet, and a passage connecting the inlet and the outlet, wherein the length of the cross-section of the passage increases from the inlet to the outlet and is longer than the length of the linear array probe.

[0022] In some embodiments, the end of the nozzle may be positioned at a certain distance from the end of the ultrasound probe so that it is further from the patient's skin surface than the end of the ultrasound probe.

[0023] In some embodiments, the nozzle may be configured to surround the widthwise side of the linear array probe so that the widthwise side of the linear array probe restricts the passage.

[0024] A robot arm-assisted ultrasound imaging acquisition method is provided in accordance with another aspect of the present invention. The robot arm-assisted ultrasound medical imaging acquisition method according to the present invention is a method for acquiring ultrasound medical images using the robot arm-assisted ultrasound medical imaging system.

[0025] The method for obtaining ultrasonic medical images assisted by a robotic arm according to the present invention includes the steps of: a computer providing an ultrasonic scan area image of a patient from a depth imaging device; the computer processing the provided ultrasonic scan area image of the patient to generate three-dimensional shape data of the ultrasonic scan area; the computer generating an ultrasonic scan path for moving an ultrasonic probe mounted on the multi-axis robotic arm based on the generated three-dimensional shape data of the ultrasonic scan area to obtain an ultrasonic image; and the computer controlling a multi-axis robotic arm, an ultrasonic probe mounted on the multi-axis robotic arm, and an ultrasonic gel supply means mounted adjacent to the ultrasonic probe to discharge ultrasonic gel in front of the moving path of the ultrasonic probe while the ultrasonic probe moves along the ultrasonic scan path and obtaining an ultrasonic image at the same time.

[0026] In some embodiments, the ultrasonic scan path generated by the computer may be configured such that the end of the ultrasonic probe is spaced apart from the surface of the ultrasonic scan area of the patient by a certain distance. Further, the ultrasonic gel supply means includes an ultrasonic gel dispenser mounted on the multi-axis robotic arm and containing ultrasonic gel, a nozzle mounted adjacent to the ultrasonic probe to receive the supply of ultrasonic gel from the ultrasonic gel dispenser and discharge it in front of the moving direction of the ultrasonic probe, and a dispenser control device for controlling the discharge of the ultrasonic gel contained in the ultrasonic gel dispenser. The computer may be configured to control the dispenser control device to discharge ultrasonic gel.

[0027] In some embodiments, the ultrasonic probe is a linear array probe, and the computer may be configured to control the gel dispenser to discharge ultrasonic gel so that it is greater than the product of a certain distance G1 separating the end of the linear array probe from the surface of the ultrasonic scan area of the patient, the length of the linear array probe, and the moving speed of the linear array probe.

[0028] According to yet another aspect of the present invention, a method for acquiring an extended ultrasonic image is provided.

[0029] The method for acquiring an extended ultrasonic image according to the present invention acquires an extended ultrasonic image by using a multi-axis robotic arm equipped with an ultrasonic probe, a computer, and a three-dimensional imaging device. The method for acquiring an extended ultrasonic image according to the present invention includes the steps of: photographing an ultrasonic scan area of a patient with the three-dimensional imaging device; generating three-dimensional shape data by providing an ultrasonic scan area image from the three-dimensional imaging device to the computer; generating an extended image plane for obtaining an extended ultrasonic image with respect to the generated three-dimensional shape data by the computer; generating a line scan path for obtaining a plurality of ultrasonic image frames including an overlapping area with respect to the extended image plane by the computer; controlling the robotic arm equipped with the ultrasonic probe by the computer to move the ultrasonic probe along the generated line scan path to obtain a plurality of ultrasonic image frames; selecting an ultrasonic image frame corresponding to the extended image plane from the plurality of ultrasonic image frames acquired by the computer; and generating an extended ultrasonic image by synthesizing overlapping portions of the plurality of ultrasonic image frames selected by the computer.

[0030] In some embodiments, the step of acquiring the plurality of ultrasonic image frames may further include the step of controlling, by the computer, the multi-axis robotic arm, the ultrasonic probe mounted on the multi-axis robotic arm, and the ultrasonic gel supply device to discharge ultrasonic gel in front of the moving path of the ultrasonic probe while acquiring an ultrasonic video while the ultrasonic probe moves along the ultrasonic scan path.

[0031] In some embodiments, the extended image plane generated in the step of generating the extended image plane may be a plane parallel to the Y-Z plane with respect to the reference coordinates of the multi-axis robotic arm.

[0032] In some embodiments, the ultrasonic scan path generated by the computer may be configured such that the end of the ultrasonic probe is separated from the surface of the patient's ultrasonic scan area by a certain distance G1. [Effects of the Invention]

[0033] The robot arm-assisted ultrasound medical imaging system according to the present invention is configured to apply an ultrasound gel to the patient's skin surface simultaneously with the movement of the ultrasound probe attached to the robot arm, thereby preventing the reflection of ultrasound waves by the air on the skin surface and enabling the acquisition of high-quality ultrasound images.

[0034] Furthermore, the robot arm-assisted ultrasound medical imaging system according to the present invention prevents the ultrasound probe from applying excessive force to the patient by ensuring that, when moving the ultrasound probe attached to the robot arm along the scan path, the ultrasound probe does not directly contact the patient's skin but instead contacts an ultrasound gel applied to the skin surface, while simultaneously moving along the surface of the patient's skin. [Brief explanation of the drawing]

[0035] [Figure 1] This is a block diagram showing the multi-axis robot arm-assisted ultrasonic medical imaging system according to the present invention. [Figure 2] This is a perspective view of one embodiment of the robot arm-assisted ultrasonic medical imaging system according to the present invention. [Figure 3] Figure 2 is a side view showing the installation of the robot arm, gel dispenser, and ultrasonic probe in the embodiment illustrated. [Figure 4] This is a perspective view of one embodiment of a hand, ultrasonic probe, nozzle, and three-way solenoid valve mounted on a robot arm. [Figure 5] Figure 4 is a perspective view of the nozzle surrounding the ultrasonic probe shown. [Figure 6] Figure 5 is a plan view of the nozzle shown. [Figure 7] This is a cross-sectional view along line XX in Figure 6. [Figure 8] Figure 5 is an explanatory diagram of the passage formed by the side surface of the ultrasonic probe in the nozzle shown. [Figure 9] This is a cross-sectional view of one embodiment of the gel dispenser according to the present invention. [Figure 10] Figure 9 is an explanatory diagram showing the gel dispenser in a separated state. [Figure 11] Figure 9 is an explanatory diagram showing the process of dispensing ultrasonic gel from the gel dispenser shown. [Figure 12] This is an explanatory diagram of the route for ultrasound scanning the thyroid gland area of ​​a patient. [Figure 13] This is an explanatory diagram of the pathway for ultrasound scanning of the musculoskeletal region of a patient. [Figure 14] This is an explanatory diagram showing how ultrasonic gel is supplied through a nozzle when performing line scanning of the skin surface with an ultrasonic probe. [Figure 15] This is an explanatory diagram showing how ultrasonic gel is supplied through a nozzle when performing line scanning of the skin surface with an ultrasonic probe. [Figure 16] This is a flowchart showing the multi-axis robot arm-assisted ultrasound medical imaging acquisition method according to the present invention. [Figure 17] This is an explanatory diagram of the path for ultrasound scanning the right breast area of ​​a patient. [Figure 18] This is an explanatory diagram showing how the ultrasound area of ​​the patient's right breast is scanned in an overlapping manner. [Figure 19] This is an explanatory diagram showing the extended image plane. [Figure 20] This is a flowchart showing a method for forming an expanded ultrasound image according to the present invention. [Figure 21] This is an example of an image frame corresponding to the extended image plane I4 among multiple image frames of an ultrasonic scan path. [Figure 22]This is an example of an extended ultrasound image obtained by overlapping and combining the image frames shown in Figure 21. [Modes for carrying out the invention]

[0036] Other objectives, particular advantages, and novel features of the present invention will become further apparent from the following detailed description and preferred embodiments relating to the accompanying drawings. In describing the present invention, the size and shape of components illustrated in the drawings may be exaggerated or simplified for clarity and convenience of explanation. Furthermore, terms specifically defined in consideration of the structure and operation of the present invention may vary depending on the intent or convention of the user or operator. Such terms should be interpreted in a sense and concept consistent with the objectives and effects of the present invention based on the overall content of this specification.

[0037] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0038] Figure 1 is a block diagram showing the multi-axis robot arm-assisted ultrasound medical imaging system according to the present invention, and Figure 2 is a perspective view of one embodiment of the robot arm-assisted ultrasound medical imaging system according to the present invention. Figure 3 is a side view showing the installation state of the robot arm, gel dispenser, and ultrasound probe in the embodiment shown in Figure 2.

[0039] Referring to Figures 1 to 3, the medical imaging system 10 according to the present invention includes a multi-axis robotic arm 300, a multi-axis robotic arm control device 310 for controlling the multi-axis robotic arm 300, an ultrasound image acquisition device 100, and a three-dimensional image acquisition device 510. It may also further include a separate camera 520 for capturing two-dimensional images.

[0040] The ultrasound image acquisition device 100 comprises an ultrasound probe 110 mounted on a multi-axis robot arm 300 and an ultrasound image generation device 120 for controlling the ultrasound probe 110 to generate ultrasound images. The ultrasound probe 110 transmits ultrasound signals to the patient and receives ultrasound reflected signals (echo) from inside the patient's body. Various types of ultrasound probes 110 are known. For example, line array probes, phase array probes, convex probes, etc., are known, and an appropriate ultrasound probe can be selected and used in the system of the present invention as needed. The ultrasound image generation device 120 includes a processor and can control the ultrasound probe 110 to acquire ultrasound images and transmit them to an external device.

[0041] The multi-axis robot arm 300 is a robot arm capable of motion control of at least 5 axes, preferably 6 axes. The multi-axis robot arm 300 has multiple joint arms 302, 304, 306 and a hand (Hand: 308), and may be a four-axis robot or a vertical multiple joint robot capable of X-axis, Y-axis, and Z-axis translational movement and Z-axis rotational movement (Rz). Alternatively, the multi-axis robot arm 300 may be a six-axis multiple joint robot arm capable of X-axis, Y-axis, and Z-axis rotational movement (Rx, Ry, Rz). The multi-axis robot arm control device 310 controls the pose of the ultrasonic probe 110 to acquire an ultrasonic image by moving it to a predetermined position using the robot arm control program 442 of the computer 400. In other words, the robot arm 300 can position the ultrasonic probe 110 at any position and orientation in three-dimensional space, and move it along any trajectory and at any speed.

[0042] The 3D image acquisition device 510 is a device that captures the ultrasound image scan area of ​​a patient and provides 3D shape information. The 3D image acquisition device 510 can use a depth camera or a 3D camera. The depth camera provides depth information of the captured image. The 3D camera 510 can be mounted on the arm 306 of the multi-axis robot arm 300, which is fitted with an ultrasound probe 110, as shown in Figures 2 and 3. Alternatively, the 3D camera 510 and the 2D camera 520 may be mounted independently of the multi-axis robot arm 300 on a stand, wall, or the like.

[0043] Furthermore, the medical imaging system 10 according to the present invention includes an ultrasonic gel supply device 200 for applying ultrasonic gel to the ultrasonic scanning area of ​​a patient. The ultrasonic gel supply device 200 is a device for continuously supplying ultrasonic gel to the skin surface of a patient as an ultrasonic probe 110, which is mounted on a multi-axis robot arm 300, moves. The ultrasonic gel supply device 200 consists of a gel dispenser 210, a nozzle 240, and a dispenser control device 270, which contain the ultrasonic gel. The nozzle 240 is mounted adjacent to the ultrasonic probe 110 so as to receive the ultrasonic gel from the ultrasonic gel dispenser 210 and discharge it forward in the direction of movement of the ultrasonic probe 110. The dispenser control device 270 is a device for controlling the discharge of ultrasonic gel contained in the ultrasonic gel dispenser 210.

[0044] Referring to Figures 2 and 3, the gel dispenser 210 is clamped detachably from the arm 302 by multiple clamps (Clamp: 320). The ultrasonic probe 110 is fixed to the hand 308 of the robot arm 300, and a pair of nozzles 240 and 242 are fixed to the ultrasonic probe 110. A three-way solenoid valve 252 for selectively supplying ultrasonic gel to the pair of nozzles 240 and 242 is also fixed to the hand 308. The ultrasonic gel dispenser 210 and the three-way solenoid valve 252 are connected by a flexible hose (Flexible hose: 256) through which the ultrasonic gel passes. Instead of the three-way solenoid valve 252, which can automatically change the flow direction of the ultrasonic gel, a three-way manual valve that allows selective control of the supply of ultrasonic gel 30 by manual operation of a handle can also be used. A lift valve may also be connected to the flexible hose 256. The relief valve protects the equipment by opening when pressure exceeding a specified level is applied, allowing the ultrasonic gel in the flexible hose 256 to be discharged to the outside. A check valve may also be installed in the hose 256 to prevent backflow of the ultrasonic gel.

[0045] Figure 4 is a perspective view of one embodiment of a hand 308, ultrasonic probe 110, nozzle 240, and three-way solenoid valve 252 mounted on a robot arm. In this embodiment, the ultrasonic probe 110 may be a linear array probe. The nozzle 240 is positioned in front of the ultrasonic probe 110 in the direction of movement (direction of arrow D). As shown in the figure, the nozzle 240 is configured to surround the outer surface of the ultrasonic probe 110.

[0046] Figure 5 is a perspective view of the nozzle surrounding the ultrasonic probe shown in Figure 4, Figure 6 is a plan view of the nozzle shown in Figure 5, and Figure 7 is a cross-sectional view taken along line XX of Figure 6. Figure 8 is an explanatory diagram of the passage formed by the side surface of the ultrasonic probe in the nozzle shown in Figure 5.

[0047] Referring to Figures 5 to 7, the nozzle 240 comprises an inlet 240a into which the ultrasonic gel is supplied, an outlet 240c into which the ultrasonic gel is discharged, and a passage 240b connecting the inlet 240a and the outlet 240c. Referring to Figure 8, in this embodiment, the passage 240b and the outlet 240c of the nozzle 240 are configured to be limited by one side surface 110a in the width direction of the ultrasonic probe 110, which is surrounded by the nozzle 240. In some embodiments, unlike the nozzle of this embodiment, the passage and outlet can be configured by forming a separate wall corresponding to the side surface of the ultrasonic probe, rather than utilizing one side surface 110a in the width direction of the ultrasonic probe 110.

[0048] Referring to Figure 7, the passage 240b of the nozzle 240 in this embodiment is configured such that the length of the cross-section increases from the inlet 240a to the outlet 240c, i.e., the relationship k3 > k2 > k1. In some embodiments, it is preferable to configure the length k3 of the cross-section of the outlet 240c to be longer than the length of the ultrasonic probe 110 in the array direction. The nozzles 240 and 242 are configured to widely diffuse and discharge the ultrasonic gel onto the patient's skin through the inverted funnel-shaped passage 248.

[0049] Referring to Figure 4, the nozzle 242 is configured to surround the other side 110b in the width direction of the ultrasonic probe 110, and as shown in the figure, it is positioned opposite to the direction of travel of the ultrasonic probe 110. Therefore, the three-way solenoid valve 252 allows the ultrasonic gel to flow to the nozzle 240, which is positioned in the direction of travel of the ultrasonic probe 110, while blocking the flow of ultrasonic gel to the nozzle 242.

[0050] In some embodiments, only one nozzle 240 can be attached to one side 110a in the width direction of the ultrasonic probe 110. In this case, a three-way solenoid valve 252 for selectively supplying ultrasonic gel to the nozzle is not used, and the hose 256 can be directly connected to the nozzle 240.

[0051] Figure 9 is a cross-sectional view of one embodiment of the ultrasonic gel dispenser according to the present invention, Figure 10 is an explanatory diagram showing the gel dispenser shown in Figure 9 in a separated state, and Figure 11 is an explanatory diagram showing the state in which ultrasonic gel is discharged by the ultrasonic gel dispenser shown in Figure 9.

[0052] Referring to Figures 9 and 10, the ultrasonic gel dispenser 210 includes a hollow housing 220 and a housing cap 222. The hollow housing 220 has an inlet 220a on one side for high-pressure air to flow in, connected to an air source, and an opening 220b on the other side for inserting a flexible ultrasonic gel container 230 into the hollow interior. The hollow housing 220 is mounted on a robot arm 302 by a plurality of clamps 320, as shown in Figure 3. The ultrasonic gel container 230 is a flexible container that deforms flexibly when an external force is applied, like a toothpaste container, and the outlet 232 has a screw formed on the inner surface of the housing cap 222 for screw fastening. The hollow housing cap 222 comprises a small-diameter portion 222a into which the outlet 232 of a flexible ultrasonic gel container 230 inserted inside is inserted, and a large-diameter portion 222b configured to be sealed and coupled with the opening 220b of the hollow housing 220. To ensure a sealed connection with the opening 220b of the hollow housing 220, a helical groove 222c can be formed on the inner circumferential surface of the large-diameter portion 222b, a helical projection 220c can be formed on the outer circumferential surface of the opening 220b, or screw threads can be formed on the inner circumferential surface of the large-diameter portion 222b and the outer circumferential surface of the opening 220b for screw fastening. In addition, an O-ring 226 can be attached to the end of the opening 220b, and a step 222d can be formed on the large-diameter portion 222b for pressurizing the O-ring 226.

[0053] The ultrasonic gel dispenser 210 may further include a tube coupling (280) or tube fitting for connecting one end of a flexible hose 256 to the outlet 232 of an ultrasonic gel container 230. The tube coupling 280 is inserted into the outlet 232 of the ultrasonic gel container 230 through a hole 224 formed in the small diameter portion 222a of the housing cap 222. A flange 282 is formed on the outer surface of the tube coupling 280, and several O-rings 284 are placed between the housing cap 222 and the tube coupling 280 and between the ultrasonic gel container 230 for sealing. An open cap 286 is also detachably screwed to the outer surface of the small diameter portion 222a of the housing cap 222 for securing the tube coupling 280. The flange 282 locks against the inner surface of the open cap 286 to prevent the tube coupling 280 from separating from the gel container 230. A flexible hose 264 for supplying high-pressure air is connected to the inlet 220a of the hollow housing 220. Although not shown in the diagram, the flexible hose 264 is connected to a high-pressure air tank storing high-pressure air or to an air compressor for supplying high-pressure air.

[0054] The dispenser control device 270 may include a microprocessor. It may also include a flow control valve to control the flow rate supplied to the flexible hose 262 from a high-pressure air source. The high-pressure air source may be a high-pressure air tank storing compressed air or an air compressor that compresses air to supply high-pressure air. The dispenser control device 270 can control a three-way solenoid valve 252, an air compressor 260, and the flow control valve. The dispenser control device 270 can control the operation of the three-way solenoid valve 252 to select a nozzle from a pair of nozzles 240, 242 that dispenses the ultrasonic gel 30. The dispenser control device 270 can control the flow rate of high-pressure air supplied to the hollow housing 220 to control the amount of ultrasonic gel 30 discharged to the patient's skin surface through the nozzle 240 by controlling the flow control valve. The dispenser control device 270 can adjust the amount of ultrasonic gel 30 discharged to the patient's skin surface by the line scanning speed of the ultrasonic probe 110.

[0055] Referring to Figure 11, when the dispenser control device 270 opens the flow control valve installed on the flexible hose 264, high-pressure air flows into the hollow housing 220 of the ultrasonic gel dispenser 210 through the inlet 220a. The high-pressure air flowing into the hollow housing 220 compresses and deforms the flexible ultrasonic gel container 230, and the ultrasonic gel 30 contained in the gel container 230 is discharged and supplied to the nozzle 240 through the flexible hose 256. Instead of supplying high-pressure air to the flexible hose 264 from a high-pressure air tank, an air compressor 260 may be connected to the flexible hose 256 and compressed high-pressure air supplied directly to the flexible hose 264 by the compressor. In some embodiments, instead of supplying high-pressure air as a means to pressurize the gel container 230 and control the discharge of the ultrasonic gel 30, a syringe pump may be used. The syringe pump advances a plunger into the hollow housing 220 to pressurize and compress the gel container 230, causing it to deform and expel the ultrasonic gel 30.

[0056] Referring to Figure 1, the medical imaging system 10 according to the present invention includes a computer 400, which is connected to a multi-axis robot arm control device 310, an ultrasound image generation device 120, a dispenser control device 270, and a 3D image acquisition device 510, and is configured to exchange data and control signals via a communication device 450.

[0057] Computer 400 comprises an input device 420, a display 430, a memory 440 in which programs are stored, and a processor 410 for executing programs stored in memory 440. The input device 420 includes a keyboard, mouse (Mouse: 424), etc. Computer 400 also comprises a communication device 450 for exchanging data and control signals with external devices. The communication device 450 may be a wired communication device or a wireless communication device. Memory 440 stores a 3D shape data generation program 441, a probe path generation program 442, a robot arm control program 443, an image acquisition control program 444, a dispenser control program 445, and a camera control program 446. To acquire ultrasound images of a patient using a multi-axis robot arm 300, the programs can be executed sequentially or simultaneously by the processor 410.

[0058] The computer 400 receives an ultrasound scan area image of the patient from the 3D image acquisition device 510, processes the provided ultrasound scan area image, and generates 3D shape data of the ultrasound scan area. The computer 400 also generates an ultrasound scan path for acquiring ultrasound images by moving the ultrasound probe 110 mounted on the multi-axis robot arm 300 based on the 3D shape data of the ultrasound scan area. The ultrasound scan path includes the movement path of the ultrasound probe 110, the ultrasound image acquisition position, the orientation of the ultrasound probe, and the movement speed. The computer 400 also controls the multi-axis robot arm control device 310, the ultrasound image generation device 120, and the dispenser control device 270 to dispense the ultrasound gel 30 while the ultrasound probe 110 moves along the ultrasound scan path, and simultaneously receives the ultrasound image acquired by the ultrasound image generation device 120. The computer 400 executes the robot arm control program 443 to control the ultrasonic probe 110 via the robot arm control device 310 so that it translates and / or rotates along each of the ultrasonic scanning paths L1, L2, ..., Ln, and at the same time executes the image acquisition control program 444 to control the operation of the ultrasonic probe 110 so that line scanning data is acquired via the ultrasonic image generator 120. The ultrasonic image generator 120 transmits the line scanning data acquired from the ultrasonic probe 110 to the computer device 400.

[0059] The following describes a method for scanning an ultrasound image over a patient's ultrasound scan area using the robot-based ultrasound examination system for the human body according to the present invention.

[0060] Figure 12 shows region A and the line scanning paths L1, L2, L3, ... Ln of the ultrasound probe for ultrasound scanning of the thyroid gland 22 of patient H. Figure 13 shows region A and the line scanning paths L1, L2, L3, ... Ln of the ultrasound probe for ultrasound scanning of the musculoskeletal system 24 of the shoulder region of patient H. Figures 14 and 15 are explanatory diagrams showing the state in which ultrasound gel is supplied by the nozzle when line scanning the skin surface with the ultrasound probe, and Figure 16 is a flowchart of the multi-axis robot arm-assisted ultrasound medical image acquisition method according to the present invention.

[0061] Referring to Figures 12 and 13, the skin surface of patient H in the ultrasound scan area A has a three-dimensional curved shape. In this embodiment, the robot arm 300 to which the ultrasound probe 110 is attached is a 6-axis robot arm capable of ultrasound scanning along the shape of the three-dimensional curved surface.

[0062] Referring to Figure 16, when a user of System 10 wants to image a patient's ultrasound scan area, such as the thyroid region in Figure 12 or the musculoskeletal region in Figure 13, they first use the 3D image acquisition device 510 to image ultrasound scan area A (S100). The user of the system can acquire an image of ultrasound scan area A while viewing it on the computer 400's display. If a 3D camera is attached to the multi-axis robot arm 300, the user of the system can move the multi-axis robot arm 300 to the desired position to acquire an image of ultrasound scan area A.

[0063] Next, the computer 400 receives the image captured from the 3D image acquisition device 510 and generates 3D shape data of the ultrasonic scan area A relative to the origin of the robot arm 300. The processor 410 executes the 3D shape data generation program 441 to generate 3D shape data of the ultrasonic scan area A relative to the origin of the robot arm 300. The generated 3D shape data of the ultrasonic scan area A can be displayed as a mesh representing the skin surface of the ultrasonic scan area A, and can be constructed using the coordinates (x, y, z) of the mesh points relative to the origin of the robot arm 300.

[0064] Next, the processor 410 of the computer 400 executes the probe path generation program 442 to generate line scan paths L1, L2, and L3 of the probe 110 for the scan area A, as shown in Figures 12 and 13. The ultrasonic scan paths L1, L2, and L3 include the movement path of the ultrasonic probe 110, the ultrasonic image acquisition position, the orientation of the ultrasonic probe 110, the movement speed, and so on.

[0065] Next, the processor 410 of the computer 400 simultaneously executes the robot arm control program 443, the image acquisition control program 444, and the dispenser control program 445 to move the robot arm 300, to which the ultrasound probe 110 is attached, along the scan paths L1, L2, and L3, while simultaneously supplying the ultrasound gel 30 to the skin surface of the patient H to acquire an ultrasound image (S130, S140, S150).

[0066] In some embodiments, the ultrasonic probe 110 can acquire line scanning data at approximately 30 fps (frames per second). The line scanning data can include image data and position and orientation information of the probe. The line scanning data can also include position information of the ultrasonic probe in 3D shape data. The computer 400 can generate multiple picture frames containing image data of the line scanning data and position and orientation information of the ultrasonic probe using the image acquisition control program 444.

[0067] Figures 14 and 15 illustrate the state of ultrasound scanning of the thyroid region of patient H along path L1. Referring to Figure 14, scan path L1 is generated such that the end of the ultrasound probe 110 is a certain distance G1 away from the surface 20 of the patient's skin. In some embodiments, the coordinates of scan paths L1, L2, and L3 can be generated by forming a virtual scan path in the three-dimensional shape surface coordinates of the ultrasound scan area A and adding a constant value G1 to the coordinate in the Z direction. As the ultrasound probe 110 moves along scan path L1, the ultrasound gel 30 is continuously supplied to the skin surface 20 by a nozzle 240 positioned in front of the direction of movement of the ultrasound probe 110. The nozzle 240 is also positioned such that its end is located further from the patient's skin surface 20 than the end of the ultrasound probe 110. Therefore, when the ultrasonic gel 30 is discharged, as shown in the figure, the ultrasonic gel 30 accumulates in front of the ultrasonic probe 110, and if sufficient ultrasonic gel 30 is supplied, the ultrasonic gel 30 that has not come into contact with air enters the gap G1 between the skin surface 20 and the ultrasonic probe 110, thereby enabling the acquisition of a high-quality ultrasonic image. In particular, it is desirable to ensure that the ultrasonic gel 30 does not contain air. When the air-free ultrasonic gel 30 is discharged from the nozzle 240, or after discharge, air may mix in and be supplied into the space between the ultrasonic probe and the skin surface. To prevent this, it is necessary to position the nozzle close to the ultrasonic probe and to create a structure in which new gel is discharged into the gel that has been discharged earlier. By discharging new gel into the gel that has been discharged earlier, a gel balloon made of ultrasonic gel is created, achieving the effect of the end of the ultrasonic probe moving inside the ultrasonic gel balloon. In other words, it is possible to achieve an effect similar to performing an ultrasound examination in water. To ensure that the ultrasonic gel continuously discharged from the nozzle is discharged into the previously discharged ultrasonic gel, the end of the nozzle should be positioned as close as possible to the end of the ultrasonic probe, and the nozzle's discharge opening should be as thin as possible. While it is preferable for the nozzle length to be longer than the ultrasonic probe length, it does not need to be excessively long or short.For example, it is preferable that the length of the nozzle outlet be between 2 / 3 and 3.5 / 3 of the length of the ultrasonic probe. In particular, the membrane formed by the ultrasonic gel 30 between the end of the ultrasonic probe 110 and the skin surface generates pressure according to the Reynolds equation as the ultrasonic probe 110 moves, resulting in a weak pressurizing effect on the skin surface. This provides an effect similar to directly pressurizing the skin surface with the ultrasonic probe 110.

[0068] Referring to Figure 15, the passage of the nozzle 240 is configured in an inverted funnel shape so that the ultrasonic gel 30 is diffused more widely than the length of the ultrasonic probe 110 and discharged onto the patient's skin surface 20. As shown in Figure 15, the scan path L1 contains information that the ultrasonic probe 110 is tilted at a constant angle θ3 with respect to the Z axis.

[0069] Next, it is determined whether the scan along the generated scan paths L1, L2, and L3 has been completed (S160). If the ultrasound scan for all generated paths has not been completed (if the result is N in S160), steps S130, S140, and S150 are repeated. If the ultrasound scan for all generated paths has been completed (if the result is Y in S160), the processor 410 of the computer 400 stops the application of the ultrasound gel, stops acquiring ultrasound images, and returns the ultrasound probe to the origin (S170).

[0070] Figure 17 is an explanatory diagram of the path for ultrasound scanning the right breast ultrasound region of a patient, Figure 18 is an explanatory diagram showing the state of scanning the right breast ultrasound region of a patient in an overlapping manner, and Figure 19 is an explanatory diagram showing the expanded image plane. Figure 20 is a flowchart of the method for forming an expanded ultrasound image according to the present invention.

[0071] Referring to Figure 17, the skin surface of 26 areas of patient H's breast, which is to be scanned with ultrasound, has a three-dimensional curved shape. Furthermore, the linear array ultrasound probe is only about 4-5 cm long, making it impossible to obtain an ultrasound image of the entire breast area in a single ultrasound scan. Even if the ultrasound probe is long enough, because the skin surface to be scanned with ultrasound has a three-dimensional curved shape, there will be areas where the ultrasound gel is not completely applied, making it difficult to scan an ultrasound image of the entire breast area in a single ultrasound scan.

[0072] Providing ultrasound images of the entire breast region of a patient can be useful in diagnosing the patient's disease. To provide ultrasound images of the entire breast region, multiple cross-sectional images from the same plane can be synthesized. Using a multi-axis robotic arm allows for the acquisition of multiple ultrasound cross-sectional images at desired positions, which may be advantageous for enhanced ultrasound image synthesis.

[0073] The following describes a method for scanning a skin surface with a three-dimensional curved shape to provide an augmented ultrasound image. The augmented ultrasound image is a cross-sectional image in the same plane that allows viewing of the entire thyroid, musculoskeletal, and breast region, and is formed by combining multiple image frames.

[0074] Figure 17 shows scan area A for ultrasound scanning of patient H's right breast 26 and line scan paths L1, L2, L3, L4, L5, and L6 displayed in scan area A. Line scan paths L1, L2, L3, L4, L5, and L6 are paths for moving the ultrasound probe 110 attached to the robot arm 300 to acquire ultrasound images of the patient's breast area. As shown in Figure 17, the spacing between paths is shorter than the length of the ultrasound probe 110, that is, it is formed so that the ultrasound image frames obtained when scanning along the scan path with the ultrasound probe 110 overlap. Figure 17 also shows expanded image planes I1, I2, I3, and I4 which are intended to be obtained by synthesizing the ultrasound images acquired in ultrasound scan paths L1, L2, L3, L4, L5, and L6.

[0075] Figures 18 and 19 are explanatory diagrams showing the extended image plane I4. As shown in Figure 18, the spacing between ultrasonic scan paths is formed so that the ultrasonic probes 110 overlap. Also, when an ultrasonic gel supply device is attached to the robot arm, as shown in Figure 18, ultrasonic scan paths can be generated so that the ultrasonic probe 110 is at a certain distance G1 away from the skin surface 26. In the case of a robot arm without an ultrasonic gel supply device, the user may apply ultrasonic gel to the skin surface in advance, and the ultrasonic scan paths generated by the computer may be generated so that they are in close contact with the skin surface.

[0076] Referring to Figure 19, the extended image plane I4 can be expressed by the following mathematical formula.

[0077]

number

[0078] The following describes how to obtain an expanded ultrasound image with reference to Figures 1-3 and Figure 20.

[0079] Augmented ultrasound images can be acquired using the multi-axis robotic arm system according to the present invention, which is equipped with an automatic ultrasound gel supply device, as shown in Figures 1 to 3. Alternatively, augmented ultrasound images may be acquired using a multi-axis robotic arm system that is not equipped with an automatic ultrasound gel supply device. If the system is not equipped with an automatic ultrasound gel supply device, the user must apply the ultrasound gel to the patient's skin surface beforehand.

[0080] First, the 3D image acquisition device 510 is used to capture the patient's ultrasound scan area A and obtain a 3D image of the ultrasound scan area A (S200).

[0081] Next, the computer 400 receives an ultrasonic scan area image from the 3D image acquisition device 510 and executes the 3D shape data generation program 441 to generate 3D shape data of the ultrasonic scan area (S210).

[0082] Next, expanded image planes I1, I2, I3, and I4 are generated from the 3D shape data generated by the computer 400 to obtain expanded ultrasound images (S220). The expanded ultrasound images have preferred intervals and angles depending on the organ being imaged. For example, when obtaining expanded ultrasound images of the breast or thyroid gland, it is preferable to generate expanded image planes that are perpendicular to the direction of travel of the central axis of the ultrasound probe and parallel to each other. Since the quality of the ultrasound image is good when the ultrasound probe is perpendicular to the skin surface, if the scanning path of the ultrasound probe is curved, it is preferable to form the expanded image planes perpendicular to the probe travel path and at a predetermined angle. The expanded image plane I4 shown in Figure 19 is generated at regular intervals parallel to the ZY plane of the reference coordinate system of the robot arm 300.

[0083] Next, the computer 400 executes the probe path generation program 442 to generate ultrasound scan paths L1, L2, L3, L4, L5, and L6 for acquiring multiple ultrasound image frames that include overlapping regions relative to the expanded image plane (S230). If the multi-axis robotic arm system 300 is equipped with an automatic ultrasound gel supply device, the ultrasound scan paths L1, L2, L3, L4, L5, and L6 are generated such that the ultrasound probe 110 is a certain distance away from the skin surface.

[0084] Next, the computer 400 controls the robot arm 300, which is fitted with the ultrasonic probe 110, to move the ultrasonic probe 110 along the generated line scan paths L1, L2, L3, L4, L5, and L6 to acquire multiple ultrasonic image frames (S240).

[0085] The computer 400 can generate multiple picture frames F1, F2, ..., Fn, which include image data of line scanning data and position and orientation information of the ultrasonic probe, using the image acquisition control program 444. Each acquired ultrasonic image frame contains scan path information L1-L6 of the ultrasonic probe 110 when acquiring the ultrasonic image, extended image plane information I1-I4, position information, and orientation information of the ultrasonic probe. The position and orientation information of the ultrasonic probe can be displayed in coordinates of a coordinate system based on the multi-axis robot arm. For example, this could be the coordinates P(X, Y, X) of the end center point of the ultrasonic probe 110 in Figure 15 and the inclination angles W(θ1, θ2, θ3) of the central axis CL of the ultrasonic probe 110 with respect to the X, Y, and Z axes, respectively.

[0086] When acquiring multiple ultrasound image frames using a multi-axis robotic arm system 10 equipped with an automatic ultrasound gel supply device, the computer 400 can simultaneously control the multi-axis robotic arm, the ultrasound probe mounted on the multi-axis robotic arm, and the ultrasound gel supply device to acquire ultrasound image frames. In this case, as the ultrasound probe 110 moves along the ultrasound scan path, the computer 400 discharges the ultrasound gel 30 in front of the movement path of the ultrasound probe 110 and acquires the ultrasound image, as shown in Figures 14 and 15. In this case, the ultrasound scan path generated by the computer 400 is configured such that the end of the ultrasound probe 110 is separated from the skin surface of the ultrasound scan area by a certain distance G1.

[0087] Next, the computer 400 selects an ultrasound image frame from among the multiple ultrasound image frames acquired that corresponds to each of the extended image planes I1-I4 (S250). Figure 21 illustrates the ultrasound image frames selected for each image path corresponding to the extended image plane I4. Each ultrasound image frame contains path information L1-L6, extended image plane information I4, and position P and orientation information W of the ultrasound probe when acquiring the respective ultrasound image.

[0088] Next, the computer 400 synthesizes the overlapping portions of the selected ultrasound image frames to generate an augmented ultrasound image (S260). Figure 22 illustrates the augmented ultrasound image generated by synthesizing the ultrasound image frames shown in Figure 21. The augmented ultrasound image can be synthesized using the position and orientation information of the ultrasound probe and the overlapping path information contained in each ultrasound image frame. Alternatively, the augmented ultrasound image may be synthesized using machine learning or numerical computation algorithms. The computer 400 can execute an image processing program to generate an augmented ultrasound image (or panoramic image) from the picture frames. In addition, the computer 400 can remove the overlapping portions between image frames (e.g., L1, L2) taken on adjacent paths using a stitching algorithm in order to execute the image processing program to generate a panoramic image.

[0089] The embodiments described herein are not intended to limit the scope of the present invention. A variety of embodiments beyond those described herein can be modified, altered, or substituted by those with ordinary technical skill within the scope of the claims, and such modified embodiments should be understood to fall within the scope of the present invention.

Claims

1. A multi-axis robotic arm, A multi-axis robot arm control device for controlling the aforementioned multi-axis robot arm, An ultrasonic probe attached to the multi-axis robot arm, An ultrasonic image generation device for generating ultrasonic images by controlling the ultrasonic probe, A 3D image acquisition device, An ultrasonic gel dispenser mounted on the multi-axis robot arm and containing ultrasonic gel; a nozzle mounted adjacent to the ultrasonic probe to receive ultrasonic gel from the ultrasonic gel dispenser and discharge it forward in the direction of movement of the ultrasonic probe; and a dispenser control device for controlling the discharge of ultrasonic gel contained in the ultrasonic gel dispenser. The multi-axis robot arm control device, the ultrasonic image generation device, the three-dimensional image acquisition device, and a computer for controlling the dispenser control device are included. The aforementioned computer, The three-dimensional imaging device provides an ultrasound scan area image of the patient, The ultrasound scan area image of the patient is processed to generate 3D shape data of the ultrasound scan area. Based on the three-dimensional shape data of the ultrasonic scan area, an ultrasonic scan path is generated for acquiring an ultrasonic image by moving the ultrasonic probe attached to the multi-axis robot arm. A robotic arm-assisted ultrasound medical imaging system configured to control the multi-axis robotic arm control device, the ultrasound image generation device, and the dispenser control device so as to dispense ultrasound gel and acquire ultrasound images while the ultrasound probe moves along the ultrasound scan path.

2. The robot arm-assisted ultrasound medical imaging system according to claim 1, wherein the ultrasound scan path generated by the computer is configured such that the end of the ultrasound probe is separated from the surface of the ultrasound scan portion of the patient by a certain distance.

3. The aforementioned ultrasonic gel dispenser is A hollow housing is attached to the multi-axis robot arm, having an inlet on one side connected to an air source for the inflow of high-pressure air, and an opening on the other side for the insertion of a flexible ultrasonic gel container. The hollow housing cap includes a small-diameter portion configured to accommodate the outlet of a flexible ultrasonic gel container inserted inside, and a large-diameter portion configured to be sealed and coupled with the opening of the hollow housing. The robot arm-assisted ultrasonic medical imaging system according to claim 1, wherein the dispenser control device includes a valve for intermittently interrupting the flow of an air source supplied to the hollow housing of the gel dispenser.

4. The aforementioned ultrasonic probe is a linear array probe, The robot arm-assisted ultrasonic medical imaging system according to any one of claims 1 to 3, wherein the nozzle comprises an inlet, an outlet, and a passage connecting the inlet and the outlet, and the length of the cross-section of the passage increases from the inlet to the outlet.

5. The robot arm-assisted ultrasound medical imaging system according to claim 4, wherein the end of the nozzle is positioned at a certain distance from the end of the ultrasound probe so as to be further from the patient's skin surface than the end of the ultrasound probe.

6. The robot arm-assisted ultrasound medical imaging system according to claim 4, wherein the nozzle is configured to surround the widthwise side surface of the linear array probe, and the widthwise side surface of the linear array probe is configured to limit the passage.

7. A method for acquiring ultrasound medical images using a multi-axis robotic arm, The computer receives ultrasound scan area images of the patient from the depth imaging device. The steps include: processing the provided patient ultrasound scan area image with the computer to generate three-dimensional shape data of the ultrasound scan area; The steps include: using the computer to generate an ultrasonic scan path for acquiring an ultrasonic image by moving the ultrasonic probe attached to the multi-axis robot arm based on the generated ultrasonic scan area 3D shape data; A robot arm-assisted ultrasound medical imaging method, comprising the step of controlling the multi-axis robot arm, an ultrasound probe attached to the multi-axis robot arm, and an ultrasound gel supply device with the computer to discharge ultrasound gel forward of the ultrasound probe's movement path while the ultrasound probe moves along the ultrasound scan path, and simultaneously acquire an ultrasound image.

8. The robot arm-assisted ultrasound medical image acquisition method according to claim 7, wherein the ultrasound scan path generated by the computer is configured such that the end of the ultrasound probe is separated from the surface of the patient's ultrasound scan area by a certain distance (G1).

9. The ultrasonic gel supply device includes an ultrasonic gel dispenser mounted on the multi-axis robot arm and containing ultrasonic gel, a nozzle mounted adjacent to the ultrasonic probe to receive ultrasonic gel from the ultrasonic gel dispenser and discharge it forward in the direction of movement of the ultrasonic probe, and a dispenser control device for controlling the discharge of ultrasonic gel contained in the ultrasonic gel dispenser. The robot arm-assisted ultrasound medical image acquisition method according to claim 7 or 8, wherein the computer is configured to control the dispenser control device to dispense the ultrasound gel.

10. The aforementioned ultrasonic probe is a linear array probe, The robot arm-assisted ultrasound medical image acquisition method according to claim 7 or 8, wherein the computer is configured to control the gel dispenser to discharge the ultrasound gel such that the distance (G1) between the end of the linear array probe and the surface of the patient's ultrasound scan area is greater than the product of the length of the linear array probe and the movement speed of the linear array probe.

Images