Remote control method and apparatus for color doppler ultrasonography probe, system, electronic device, and medium

Abstract

The present disclosure relates to the technical field of medical instrument control, and specifically to a remote control method and apparatus for a color Doppler ultrasonography probe, a system, an electronic device, and a medium. The method comprises: in a current control period, obtaining a target instantaneous velocity and a target instantaneous angular velocity of the tail end of a mechanical arm from a remote control device, wherein a color Doppler ultrasonography probe is installed at the tail end of the mechanical arm; and performing component division on the basis of a first instantaneous velocity, a first position, a first instantaneous angular velocity, and a first attitude of the tail end of the mechanical arm in the current control period, calculating a second position component and a second attitude component of the tail end of the mechanical arm in any one of a plurality of directions in a next control period on the basis of a constraint of the tail end of the mechanical arm, and determining a position and attitude of the tail end of the mechanical arm in the next control period, so as to control movement of the probe in the next control period. According to the present disclosure, the problem of shutdown of the mechanical arm caused by a plurality of target velocities that differ greatly being received at any time is solved, the responsiveness and flexibility of remote control of the color Doppler ultrasonography probe are improved, and the safety and stability of movement of the color Doppler ultrasonography probe are guaranteed.

Description

Remote control method and device, system, electronic equipment and medium for color ultrasound probe Technical Field

[0001] The present disclosure relates to the field of medical device control technology, and in particular to a remote control method and device, system, electronic equipment, and medium for a color ultrasound probe. Background Art

[0002] In order to realize the instant and intuitive remote control function of the color ultrasound probe, the color ultrasound probe is currently loaded onto a robotic arm, and then the remote control continuously sends the various components of the target speed of the color ultrasound probe to the control program of the robotic arm. Through this control program, the color ultrasound probe can reach the target speed in the shortest time.

[0003] However, because the remote control itself has no movement restrictions and the user can move it freely, the robotic arm control program may receive multiple, widely varying target speeds at any time. The robotic arm, which houses the color Doppler ultrasound probe, must also meet certain movement restrictions, otherwise the robotic arm will crash. These restrictions include speed and acceleration limits for the robotic arm's position coordinates and attitude angle coordinates. The absolute values ​​of the instantaneous velocity and acceleration of each component of the position coordinates and attitude angle coordinates must not exceed manufacturer-specified thresholds to ensure smooth operation of the robotic arm.

[0004] Therefore, in order to ensure the normal operation of the above functions, it is necessary to cope with the ever-changing end speed of the robot arm, and also to take into account the limitations of the robot arm itself on movement speed and acceleration.

[0005] Summary of the Invention

[0006] In order to solve the problems in the related art, the embodiments of the present disclosure provide a remote control method and device, system, electronic device and medium for a color ultrasound probe.

[0007] In a first aspect, an embodiment of the present disclosure provides a method for remotely controlling a color Doppler ultrasound probe, comprising the following steps:

[0008] In a current control cycle of the robotic arm, a target instantaneous velocity and a target instantaneous angular velocity of a distal end of the robotic arm are acquired according to a control signal from a remote control device, wherein the color Doppler ultrasound probe is mounted on the distal end of the robotic arm;

[0009] Obtaining a first instantaneous velocity, a first position, a first instantaneous angular velocity, and a first posture of the end of the robotic arm in the current control cycle;

[0010] Dividing the target instantaneous velocity, the first instantaneous velocity, the first position, the target instantaneous angular velocity, the first instantaneous angular velocity, and the first posture of the end of the manipulator into components based on the fixed coordinate system of the manipulator to obtain target instantaneous velocity components, the first instantaneous velocity components, the first position components, the target instantaneous angular velocity components, the first instantaneous angular velocity components, and the first posture components in multiple directions;

[0011] Obtaining the constraint conditions of the end of the robotic arm;

[0012] For any direction of the multiple directions, calculating a second position component of the end of the manipulator arm in the any direction in a next control cycle based on the target instantaneous velocity component, the constraint condition, the first instantaneous velocity component, and the first position component of the any direction, and calculating a second posture component of the end of the manipulator arm in the any direction in the next control cycle based on the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component, and the first posture component of the any direction;

[0013] Determining the position and posture of the end of the robotic arm in the next control cycle according to the second position component and the second posture component in each direction of the multiple directions;

[0014] According to the posture of the end of the robot arm in the next control cycle, the movement of the end of the robot arm in the next control cycle is controlled.

[0015] According to an embodiment of the present disclosure, the multiple directions are directions of three orthogonal coordinate axes of a fixed coordinate system of the robotic arm.

[0016] According to an embodiment of the present disclosure, obtaining the first instantaneous speed of the end of the robotic arm in the current control cycle includes:

[0017] Obtain the duration of each control cycle based on the control frequency of the end of the robotic arm;

[0018] Obtain the third position of the end of the robotic arm in the previous control cycle;

[0019] Calculating the displacement of the end of the robotic arm from the end of the previous control cycle to the end of the current control cycle based on the third position and the first position;

[0020] According to the displacement and the duration, the average speed of the end of the robotic arm in the current control cycle is calculated as the first instantaneous speed of the end of the robotic arm in the current control cycle.

[0021] According to an embodiment of the present disclosure, obtaining the first instantaneous angular velocity of the end of the robotic arm in the current control cycle includes:

[0022] Obtain the duration of each control cycle based on the control frequency of the end of the robotic arm;

[0023] Obtain the third posture of the end of the robotic arm in the previous control cycle;

[0024] Calculating the angular displacement of the end of the robotic arm from the end of the previous control cycle to the end of the current control cycle based on the third posture and the first posture;

[0025] According to the angular displacement and the duration, the average angular velocity of the end of the robotic arm in the current control cycle is calculated as the first instantaneous angular velocity of the end of the robotic arm in the current control cycle.

[0026] According to an embodiment of the present disclosure, the restriction condition includes an instantaneous acceleration threshold and an instantaneous angular acceleration threshold of the end of the robotic arm in any one of the multiple directions.

[0027] According to an embodiment of the present disclosure, the calculation of the second position component of the end of the manipulator in the direction of the next control cycle based on the target instantaneous velocity component in the direction, the constraint condition, the first instantaneous velocity component, and the first position component includes calculating the second instantaneous velocity component of the end of the manipulator in the direction of the next control cycle according to the following formula, wherein the second instantaneous velocity component is used to calculate the second position component: |v t -v0| l t p When v1=v t ; Otherwise, v1=v0+a l t p ;

[0028] Among them, v0 is the first instantaneous velocity component, v t is the target instantaneous velocity component, t p is the duration of the control cycle, a l is the instantaneous acceleration threshold of the end of the robotic arm, and v1 is the second instantaneous velocity component.

[0029] According to an embodiment of the present disclosure, the calculation of the second position component of the end of the manipulator in the direction of the next control cycle based on the target instantaneous velocity component in the direction, the constraint condition, the first instantaneous velocity component and the first position component also includes calculating the second position component of the end of the manipulator in the direction of the next control cycle according to the following formula: s1=s0+v1t p ;

[0030] Among them, s0 is the first position component and s1 is the second position component.

[0031] ​According to an embodiment of the present disclosure, the calculation of the second posture component of the manipulator joint in the direction of the next control cycle based on the target instantaneous angular velocity component in the direction, the constraint condition, the first instantaneous angular velocity component and the first posture component includes calculating the second instantaneous angular velocity component of the manipulator end in the direction of the next control cycle according to the following formula, wherein the second instantaneous angular velocity component is used to calculate the second posture component: |ω t -ω0| ω t p when, ω1=ωt; otherwise, ω1=ω0+a ω t p ;

[0032] Among them, ω0 is the first instantaneous angular velocity component; ω t is the instantaneous angular velocity component of the target, t p is the duration of the control cycle, a ω is the instantaneous angular acceleration threshold of the end of the robotic arm, and ω1 is the second instantaneous angular velocity component.

[0033] According to an embodiment of the present disclosure, the calculation of the second posture component of the manipulator joint in any direction in the next control cycle based on the target instantaneous angular velocity component in any direction, the constraint condition, the first instantaneous angular velocity component and the first posture component also includes calculating the second posture component of the manipulator end in any direction in the next control cycle according to the following formula: θ1=θ0+ω1t p ;

[0034] Among them, θ0 is the first posture component and θ1 is the second posture component.

[0035] In a second aspect, an embodiment of the present disclosure provides a remote control device for a color Doppler ultrasound probe, comprising:

[0036] a first acquisition module configured to acquire, in a current control cycle of the robotic arm, a target instantaneous velocity and a target instantaneous angular velocity of a distal end of the robotic arm according to a control signal of a remote control device, wherein the color ultrasound probe is mounted on the distal end of the robotic arm;

[0037] a detection module configured to obtain a first instantaneous velocity, a first position, a first instantaneous angular velocity, and a first posture of the end of the robotic arm in the current control cycle;

[0038] a dividing module configured to divide the target instantaneous velocity, the first instantaneous velocity, the first position, the target instantaneous angular velocity, the first instantaneous angular velocity, and the first posture of the end of the manipulator into components based on the fixed coordinate system of the manipulator, to obtain target instantaneous velocity components, the first instantaneous velocity components, the first position components, the target instantaneous angular velocity components, the first instantaneous angular velocity components, and the first posture components in multiple directions;​

[0039] A second acquisition module is configured to acquire the constraint condition of the end of the robotic arm;

[0040] a calculation module configured to calculate, for any direction among the multiple directions, a second position component of the end of the manipulator arm in the any direction in a next control cycle based on the target instantaneous velocity component, the constraint condition, the first instantaneous velocity component, and the first position component of the any direction, and calculate a second posture component of the end of the manipulator arm in the any direction in the next control cycle based on the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component, and the first posture component of the any direction;

[0041] a determination module configured to determine a position and posture of the end of the robotic arm in a next control cycle based on the second position component and the second posture component in each of the multiple directions;

[0042] The control module is configured to control the movement of the end of the robotic arm in the next control cycle according to the posture of the end of the robotic arm in the next control cycle.

[0043] In a third aspect, an embodiment of the present disclosure provides a remote control color Doppler ultrasound system, comprising:

[0044] robotic arm;

[0045] A color ultrasound probe is mounted on the end of the robotic arm;

[0046] A host computer, configured to control the movement of the end of the robotic arm, the host computer comprising a memory and a processor; wherein the memory stores computer instructions, wherein the computer instructions are executed by the processor to implement the method steps according to any one of the first aspects;

[0047] A remote control device communicates with the host computer.

[0048] In a fourth aspect, an embodiment of the present disclosure provides an electronic device, comprising a memory and a processor, wherein the memory stores computer instructions, and wherein the computer instructions are executed by the processor to implement the method as described in any one of the first aspects.

[0049] In a fifth aspect, an embodiment of the present disclosure provides a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed by a processor, the method described in the first aspect is implemented.

[0050] According to the technical solution provided by the embodiment of the present disclosure, the target instantaneous speed and target instantaneous angular velocity of the end of the manipulator arm are obtained from the remote control device in the current control cycle, and the color ultrasound probe is installed at the end of the manipulator arm; for any of the multiple directions, the components are divided according to the first instantaneous speed, first position, first instantaneous angular velocity and first posture of the end of the manipulator arm in the current control cycle, and combined with the constraints of the manipulator arm, the second position component and second posture component of the end of the manipulator arm in any direction of the next control cycle are calculated, thereby determining the posture of the end of the manipulator arm in the next control cycle, and controlling the movement of the end of the manipulator arm in the next control cycle based on the posture. The present disclosure ensures that the end of the manipulator arm will not shut down due to the target speed and target angular velocity transmitted by the remote control device exceeding the constraints of the manipulator arm during movement, so that the color ultrasound probe installed at the end of the manipulator arm can approach the target speed and target angular velocity as quickly as possible, thereby improving the responsiveness and flexibility of the color ultrasound probe when it is remotely controlled.

[0051] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Other features, objectives and advantages of the present disclosure will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0053] FIG1 is a flow chart showing a method for remotely controlling a color Doppler ultrasound probe according to an embodiment of the present disclosure;

[0054] FIG2 is a flowchart illustrating a method for calculating a second position component according to an embodiment of the present disclosure;

[0055] FIG3 is a flowchart illustrating a method for calculating a second angle component according to an embodiment of the present disclosure;

[0056] FIG4 shows a structural block diagram of a remote control device for a color Doppler ultrasound probe according to an embodiment of the present disclosure;

[0057] FIG5 is a schematic diagram showing the connection relationship between a robotic arm and a color ultrasound probe of a remote-controlled color ultrasound system according to an embodiment of the present disclosure;

[0058] FIG6 is a schematic diagram showing the connection relationship between a host computer and a remote control device of a remote control color ultrasound system according to an embodiment of the present disclosure;

[0059] FIG7 shows a structural block diagram of an electronic device according to an embodiment of the present disclosure;

[0060] FIG8 shows a schematic diagram of the structure of a computer system suitable for implementing the method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0061] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, parts not related to the description of the exemplary embodiments are omitted in the accompanying drawings.

[0062] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts, or combinations thereof disclosed in the present specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, actions, components, parts, or combinations thereof exist or are added.

[0063] It should also be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0064] In this disclosure, if it involves operations of obtaining user information or user data or displaying user information or user data to others, such operations are all authorized and confirmed by the user, or actively selected by the user.

[0065] To achieve instant and intuitive remote control of a color ultrasound probe, it is necessary not only to cope with the ever-changing motion speed of a robotic arm end but also to consider the speed limits imposed by the robotic arm itself. The present disclosure provides a remote control method for a color ultrasound probe, comprising: obtaining a target instantaneous speed and target instantaneous angular velocity of a robotic arm end from a remote control device during a current control cycle, the color ultrasound probe being mounted on the robotic arm end; performing component division for any of a plurality of directions based on a first instantaneous speed, a first position, a first instantaneous angular velocity, and a first posture of the robotic arm end during the current control cycle, and calculating a second position component and a second posture component of the robotic arm end in any direction during the next control cycle in combination with the robotic arm's constraints, thereby determining the posture of the robotic arm end during the next control cycle and controlling the motion of the robotic arm end during the next control cycle based on the posture. According to an embodiment of the present disclosure, the color ultrasound probe mounted on the robotic arm end can quickly approach the target speed and target angular velocity, improving the responsiveness and flexibility of the color ultrasound probe when remotely controlled. Furthermore, the robotic arm end does not experience a shutdown during motion due to the target speed and target angular velocity transmitted by the remote control device exceeding the robotic arm's constraints, thereby ensuring the safety and stability of the color ultrasound probe's motion.

[0066] Fig. 1 shows a flow chart of a method for remotely controlling a color Doppler ultrasound probe according to an embodiment of the present disclosure. As shown in Fig. 1 , the method includes steps S101 to S107.

[0067] In step S101 , in a current control cycle of the robotic arm, a target instantaneous velocity and a target instantaneous angular velocity of a distal end of the robotic arm are acquired according to a control signal of a remote control device, where the color Doppler ultrasound probe is mounted.

[0068] According to an embodiment of the present disclosure, the duration of each control cycle corresponds to the control frequency of the end of the manipulator. Assuming the control frequency is f and the control cycle is t, then t = 1 / f, where the unit of f can be hertz or kilohertz, and the corresponding unit of t can be seconds or milliseconds, but is not limited thereto. In a specific embodiment, f is 1 kHz, then t is 1 ms. The control frequency of the end of the manipulator is the motor frequency of the drive motor that controls the end of the manipulator. For example, it can be the operating frequency of a linear motor and the pulse frequency of a stepper motor, and the operating frequency and pulse frequency are synchronized, but are not limited thereto. The control frequency of different manipulator ends is obtained according to the type of manipulator.

[0069] According to an embodiment of the present disclosure, a remote control device can remotely control the end of a robotic arm. For example, the remote control device and the end of the robotic arm can be remotely controlled via a communication connection, wherein the communication connection can be wireless communication, but is not limited thereto. Specifically, the remote control device can be a remote control rod, but is not limited thereto.

[0070] According to an embodiment of the present disclosure, in the current control cycle, the robotic arm obtains a remote control signal from the remote control device, and the control program in the robotic arm analyzes and processes the remote control signal to obtain a target instantaneous velocity and a target instantaneous angular velocity.

[0071] According to an embodiment of the present disclosure, the color ultrasound probe is mounted on the end of the robotic arm, wherein the color ultrasound probe and the end of the robotic arm are rigidly connected, for example, by clamping, welding, bolting, etc., but not limited thereto. The color ultrasound probe can be a cardiac color ultrasound probe, but not limited thereto.

[0072] In step S102, a first instantaneous velocity, a first position, a first instantaneous angular velocity and a first posture of the end of the robotic arm in the current control cycle are obtained.

[0073] According to an embodiment of the present disclosure, the first position and the first posture of the end of the robotic arm in the current control cycle are obtained, wherein the position and the posture of the end of the robotic arm can be measured using a measuring sensor, a three-dimensional projection scanning device or a laser tracker, but is not limited thereto; the measurement can be contact measurement and / or non-contact measurement, but is not limited thereto; in the measurement, free surface measurement, posture matrix calculation and other methods can be used for measurement, but is not limited thereto.

[0074] According to an embodiment of the present disclosure, obtaining the first instantaneous speed of the end of the robotic arm in the current control cycle includes:

[0075] Obtain the duration of each control cycle based on the control frequency of the end of the robotic arm;

[0076] Obtain the third position of the end of the robotic arm in the previous control cycle;

[0077] Calculating the displacement of the end of the robotic arm from the end of the previous control cycle to the end of the current control cycle based on the third position and the first position;

[0078] According to the displacement and the duration, the average speed of the end of the robotic arm in the current control cycle is calculated as the first instantaneous speed of the end of the robotic arm in the current control cycle.

[0079] According to an embodiment of the present disclosure, assuming that the third position is X3, the first position is X1, and the displacement is ΔX, then ΔX=X3-X1; assuming that the duration of each control cycle is ΔT, the first instantaneous speed is, then =ΔX / ΔT.

[0080] According to an embodiment of the present disclosure, obtaining the first instantaneous angular velocity of the end of the robotic arm in the current control cycle includes:

[0081] Obtain the duration of each control cycle based on the control frequency of the end of the robotic arm;

[0082] Obtain the third posture of the end of the robotic arm in the previous control cycle;

[0083] Calculating the angular displacement of the end of the robotic arm from the end of the previous control cycle to the end of the current control cycle based on the third posture and the first posture;

[0084] According to the angular displacement and the duration, the average angular velocity of the end of the robotic arm in the current control cycle is calculated as the first instantaneous angular velocity of the end of the robotic arm in the current control cycle.

[0085] According to an embodiment of the present disclosure, assuming that the third posture is 3, the first posture is 1, and the angular displacement is Δ, then Δ=3-1; assuming that the duration of each control cycle is ΔT, the first instantaneous angular velocity is, then =Δ / ΔT.

[0086] In step S103, the target instantaneous velocity, first instantaneous velocity, first position, target instantaneous angular velocity, first instantaneous angular velocity and first posture of the end of the robotic arm are divided into components based on the fixed coordinate system of the robotic arm to obtain target instantaneous velocity components, first instantaneous velocity components, first position components, target instantaneous angular velocity components, first instantaneous angular velocity components and first posture components in multiple directions.

[0087] According to an embodiment of the present disclosure, the multiple directions are directions of three orthogonal coordinate axes of a fixed coordinate system of the robotic arm.

[0088] According to an embodiment of the present disclosure, the fixed coordinate system of the robotic arm is a coordinate system that is stationary relative to the mounting base of the robotic arm. The mounting base of the robotic arm can be stationary, such as fixed on the ground, or movable, such as mounted on a slide rail or a mobile platform; the fixed coordinate system can be a base coordinate system set on the mounting base of the robotic arm, but is not limited to this.

[0089] The inventors noticed that the motion of objects is decomposable, so the various components of the robot arm's posture can be planned separately. Therefore, by directly planning the individual components of the robot arm's position and posture, the individual components of the position and posture can be planned through simple calculations, greatly reducing the complexity of posture calculation and planning.

[0090] According to an embodiment of the present disclosure, assuming that the fixed coordinate system of the robotic arm is a spatial rectangular coordinate system O-XYZ, the target instantaneous velocity, the first instantaneous velocity, the first position, the target instantaneous angular velocity and the first posture are divided into components based on the fixed coordinate system of the robotic arm, and the target instantaneous velocity component, the first instantaneous velocity component, the first position component, the target instantaneous angular velocity component, the first instantaneous angular velocity component and the first posture component corresponding to the three coordinate axis directions of XYZ can be obtained.

[0091] Specifically, the posture of the end of the manipulator can be represented by Euler angles or fixed angles; assuming that the three angles of the Euler angles are α, β, and γ, then based on the fixed coordinate system O-XYZ, the Euler angles can be that the end of the manipulator first rotates around the Z axis by an angle α, then rotates around the x axis by an angle β, and finally rotates around the Z axis by an angle γ, but it is not limited to this. For example, the rotation order of the Euler angles can also be XZY, YXZ, YZX, ZXY or ZYX. The fixed angles are RPY angles, which are R: rotation around the X axis, roll angle; P: rotation around the Y axis, pitch angle; Y: rotation around the Z axis, heading angle. In a specific embodiment, the posture components include the angle components of the Euler angles in the directions of the three coordinate axes XYZ.

[0092] In step S104, the constraint conditions of the end of the robotic arm are obtained.

[0093] According to an embodiment of the present disclosure, the restriction condition includes an instantaneous acceleration threshold and an instantaneous angular acceleration threshold of the end of the robotic arm in any one of the multiple directions.

[0094] Specifically, the movement speed of the robot arm depends on the type of robot arm used. Generally speaking, the movement speed of the robot arm can be expressed in distance per second or angle per second, but it is not limited to this. Speed ​​and acceleration are the main indicators of the motion characteristics of the robot arm. A large acceleration during acceleration and deceleration is conducive to improving the effective speed of the robot arm, but too large an acceleration may cause positioning overshoot or oscillation of the fixture, which increases the time required to wait for the oscillation to decay after reaching the target position, thereby reducing the effective speed. Therefore, the robot arm itself is equipped with an acceleration threshold, including instantaneous acceleration and instantaneous angular acceleration, to strike a balance between the effective speed of the robot arm and oscillation decay.

[0095] In step S105, for any direction among the multiple directions, the second position component of the end of the robotic arm in any direction in the next control cycle is calculated based on the target instantaneous velocity component, constraint conditions, first instantaneous velocity component and first position component of the any direction, and the second posture component of the end of the robotic arm in any direction in the next control cycle is calculated based on the target instantaneous angular velocity component, constraint conditions, first instantaneous angular velocity component and first posture component of the any direction.

[0096] The inventors found that if it is necessary to solve the planning of the posture of each control cycle when the target speed changes at any time, interpolation can be performed between the current speed and the target speed to ensure that each control cycle meets the speed and acceleration restrictions, and the posture of the next control cycle can be calculated based on this.

[0097] FIG2 shows a flowchart of a method for calculating a second position component according to an embodiment of the present disclosure.

[0098] As shown in FIG2 , the calculation of the second position component of the end of the manipulator in the direction of the next control cycle based on the target instantaneous velocity component in the direction, the constraint condition, the first instantaneous velocity component, and the first position component includes calculating the second instantaneous velocity component of the end of the manipulator in the direction of the next control cycle according to the following formula, wherein the second instantaneous velocity component is used to calculate the second position component: |v t -v0| l t p When v1=v t ; Otherwise, v1=v0+a l t p ;

[0099] Among them, v0 is the first instantaneous velocity component, v t is the target instantaneous velocity component, t p is the duration of the control cycle, a l is the instantaneous acceleration threshold of the end of the robotic arm, and v1 is the second instantaneous velocity component. ​

[0100] According to an embodiment of the present disclosure, the calculation of the second position component of the end of the manipulator in the direction of the next control cycle based on the target instantaneous velocity component in the direction, the constraint condition, the first instantaneous velocity component and the first position component also includes calculating the second position component of the end of the manipulator in the direction of the next control cycle according to the following formula: s1=s0+v1t p ;

[0101] Among them, s0 is the first position component and s1 is the second position component.

[0102] FIG3 shows a flowchart of a method for calculating a second angle component according to an embodiment of the present disclosure.

[0103] As shown in FIG3 , the calculation of the second posture component of the manipulator joint in the direction of the next control cycle according to the target instantaneous angular velocity component in any direction, the constraint condition, the first instantaneous angular velocity component and the first posture component includes calculating the second instantaneous angular velocity component of the manipulator end in the direction of the next control cycle according to the following formula, wherein the second instantaneous angular velocity component is used to calculate the second posture component: |ω t -ω0| ω t p When ω1=ω t ; Otherwise, ω1=ω0+a ω t p ;

[0104] Among them, ω0 is the first instantaneous angular velocity component; ω t is the instantaneous angular velocity component of the target, t p is the duration of the control cycle, a ω is the instantaneous angular acceleration threshold of the end of the robotic arm, and ω1 is the second instantaneous angular velocity component.

[0105] According to an embodiment of the present disclosure, the calculation of the second posture component of the manipulator joint in any direction in the next control cycle based on the target instantaneous angular velocity component in any direction, the constraint condition, the first instantaneous angular velocity component and the first posture component also includes calculating the second posture component of the manipulator end in any direction in the next control cycle according to the following formula: θ1=θ0+ω1t p ;

[0106] Among them, θ0 is the first posture component and θ1 is the second posture component.

[0107] From this we can see that the number of times the statements in the above formulas are executed is a constant, so its time complexity is O(1), which greatly reduces the amount of calculation.

[0108] ​In step S106 , the position and posture of the end of the robotic arm in the next control cycle is determined according to the second position component and the second posture component in each of the multiple directions.

[0109] According to an embodiment of the present disclosure, assuming a fixed coordinate system of O-XYZ, the second position component of each of the multiple directions is the coordinate component of the three X, Y, and Z directions, which are combined to obtain the second position of the end of the manipulator in the fixed coordinate system. The second posture component of each of the multiple directions is the Euler angle component of the three X, Y, and Z directions, which are combined to obtain the Euler angle of the end of the manipulator in the fixed coordinate system, i.e., the second posture of the end of the manipulator in the fixed coordinate system. The second position and second posture are combined to obtain the pose of the next control cycle.

[0110] In step S107 , the movement of the end of the robotic arm in the next control cycle is controlled according to the posture of the end of the robotic arm in the next control cycle.

[0111] Specifically, the posture of the end of the robot arm in the next control cycle is obtained in each current control cycle, that is, the posture of the end of the robot arm during the entire working time after the current moment can be obtained, so as to plan the posture of the end of the robot arm during work.

[0112] The present invention adopts an efficient and reasonable interpolation algorithm to calculate the optimal speed and posture of the next control cycle in each control cycle, so that the color ultrasound probe installed at the end of the robotic arm approaches the target speed given by the remote control device as quickly as possible, realizing dynamic tracking of the color ultrasound probe clamped by the robotic arm, and can adjust the speed and posture of the color ultrasound probe in real time according to the posture changes of the remote control device to achieve the effect of synchronization with the remote control device.

[0113] Figure 4 shows a block diagram of a remote control device for a color Doppler ultrasound probe according to an embodiment of the present disclosure, wherein the device can be implemented as part or all of an electronic device through software, hardware, or a combination of both.

[0114] As shown in FIG4 , a remote control device for a color Doppler ultrasound probe includes: a first acquisition module 301 , a detection module 302 , a division module 303 , a second acquisition module 304 , a calculation module 305 , a determination module 306 and a control module 307 .

[0115] The first acquisition module 301 is configured to acquire, in a current control cycle of the robotic arm, a target instantaneous velocity and a target instantaneous angular velocity of a distal end of the robotic arm according to a control signal of a remote control device, wherein the color Doppler ultrasound probe is mounted on the distal end of the robotic arm;

[0116] The detection module 302 is configured to obtain a first instantaneous velocity, a first position, a first instantaneous angular velocity, and a first posture of the end of the robotic arm in the current control cycle;

[0117] a division module 303 configured to divide the target instantaneous velocity, the first instantaneous velocity, the first position, the target instantaneous angular velocity, the first instantaneous angular velocity, and the first posture of the end of the manipulator into components based on the fixed coordinate system of the manipulator, to obtain target instantaneous velocity components, first instantaneous velocity components, first position components, target instantaneous angular velocity components, first instantaneous angular velocity components, and first posture components in multiple directions;

[0118] A second acquisition module 304 is configured to acquire the constraint condition of the end of the robotic arm;

[0119] a calculation module 305 configured to calculate, for any direction among the multiple directions, a second position component of the end of the manipulator arm in the direction in a next control cycle based on the target instantaneous velocity component, the constraint condition, the first instantaneous velocity component, and the first position component of the any direction; and calculate a second posture component of the end of the manipulator arm in the direction in the next control cycle based on the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component, and the first posture component of the any direction;

[0120] A determination module 306 is configured to determine a position and posture of the end of the robotic arm in a next control cycle based on the second position component and the second posture component of each direction in the multiple directions;

[0121] The control module 307 is configured to control the movement of the end of the robotic arm in the next control cycle according to the posture of the end of the robotic arm in the next control cycle.

[0122] Figure 5 shows a schematic diagram of the connection relationship between the robotic arm and the color ultrasound probe of a remote-controlled color ultrasound system according to an embodiment of the present disclosure; Figure 6 shows a schematic diagram of the connection relationship between the host computer and the remote control device of a remote-controlled color ultrasound system according to an embodiment of the present disclosure.

[0123] As shown in Figures 5 and 6, a remote control color Doppler ultrasound system includes:

[0124] Robotic arm 1;

[0125] A color ultrasound probe 2 is mounted on the end of the robotic arm 1;

[0126] A host computer 3, configured to control the movement of the end of the robotic arm, the host computer comprising a memory and a processor; wherein the memory stores computer instructions, wherein the computer instructions are executed by the processor to implement the method steps according to any one of the embodiments of the present disclosure;

[0127] The remote control device 4 communicates with the host computer 3 .

[0128] According to an embodiment of the present disclosure, the remote control device 4 communicates with the host computer 3, and the communication can be a wireless connection, such as a 4G connection or a 5G connection, but is not limited thereto; in a specific embodiment, the remote control device 4 sends the target speed to the host computer 3 via 5G communication.

[0129] According to the embodiment of the present disclosure, the host computer 3 can be a computer, a single-chip microcomputer, etc., but is not limited to this; a robotic arm control program is set in the host computer 3. After the host computer 3 parses the target speed sent by the remote control, it obtains the target instantaneous speed and target instantaneous angular velocity, and then sends them to the robotic arm control program. The robotic arm control program uses the method of the embodiment of the present disclosure to obtain the planning of the robotic arm posture, and controls the robotic arm through the host computer 3. Among them, the host computer 3 can use a wireless module for control when controlling the robotic arm, such as a Bluetooth or WIFI module, but is not limited to this.

[0130] FIG7 shows a structural block diagram of an electronic device according to an embodiment of the present disclosure.

[0131] As shown in FIG7 , the electronic device includes a memory and a processor, wherein the memory stores computer instructions, and wherein the computer instructions are executed by the processor to implement the method according to an embodiment of the present disclosure.

[0132] FIG8 shows a schematic diagram of the structure of a computer system suitable for implementing the method according to an embodiment of the present disclosure.

[0133] As shown in Figure 8, the computer system includes a processing unit, which can execute the various methods in the above-mentioned embodiment according to the program stored in the read-only memory (ROM) or the program loaded into the random access memory (RAM) from the storage portion. In the RAM, various programs and data required for the operation of the computer system are also stored. The processing unit, ROM and RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0134] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), a speaker, etc.; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN card, a modem, etc. The communication part performs a communication process via a network such as the Internet. The drive is also connected to the I / O interface as needed. Removable media, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed. Among them, the processing unit can be implemented as a processing unit such as a CPU, a GPU, a TPU, an FPGA, an NPU, etc.

[0135] In particular, according to embodiments of the present disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for executing the methods described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication component and / or installed from a removable medium.

[0136] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of code, and the module, program segment or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0137] The units or modules described in the embodiments of the present disclosure may be implemented in software or programmable hardware. The units or modules described may also be provided in a processor, and the names of these units or modules do not, in certain circumstances, limit the units or modules themselves.

[0138] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

Claims

1. A remote control method for a color Doppler ultrasound probe, characterized in that: The following steps are involved: In the current control cycle of the robotic arm, a target instantaneous speed and a target instantaneous angular speed of the end of the robotic arm are obtained according to a control signal of the remote control device, and the color Doppler ultrasound probe is installed at the end of the robotic arm; Acquire a first instantaneous speed, a first position, a first instantaneous angular speed, and a first posture of the end of the robotic arm in the current control cycle; Divide the target instantaneous velocity, the first instantaneous velocity, the first position, the target instantaneous angular velocity, the first instantaneous angular velocity and the first posture of the end of the manipulator based on the fixed coordinate system of the manipulator to obtain target instantaneous velocity components, first instantaneous velocity components, first position components, target instantaneous angular velocity components, first instantaneous angular velocity components and first posture components in multiple directions; Obtaining the constraint condition of the end of the robotic arm; For any direction of the multiple directions, according to the target instantaneous velocity component, the restriction condition, the first instantaneous velocity component and the first position component of the any direction, the second position component of the end of the manipulator in the any direction of the next control cycle is calculated; according to the target instantaneous angular velocity component, the restriction condition, the first instantaneous angular velocity component and the first posture component of the any direction, the second posture component of the end of the manipulator in the any direction of the next control cycle is calculated; Determining the position and posture of the end of the robot arm in the next control cycle according to the second position component and the second posture component in each direction of the multiple directions; According to the posture of the end of the robot arm in the next control cycle, the movement of the end of the robot arm in the next control cycle is controlled.

2. The method according to claim 1, characterized in that: The multiple directions are directions of three orthogonal coordinate axes of the fixed coordinate system of the robot arm.

3. The method according to claim 1, characterized in that The obtaining of the first instantaneous speed of the end of the robotic arm in the current control cycle includes: The duration of each control cycle is obtained according to the control frequency of the end of the robot arm; Obtain the third position of the end of the robot arm in the previous control cycle; Calculate the displacement of the end of the robot arm from the end of the previous control cycle to the end of the current control cycle according to the third position and the first position; According to the displacement and the duration, the average speed of the end of the robot arm in the current control cycle is calculated, As the first instantaneous speed of the end of the robotic arm in the current control cycle.

4. The method according to claim 1, characterized in that: The obtaining of the first instantaneous angular velocity of the end of the robotic arm in the current control cycle includes: The duration of each control cycle is obtained according to the control frequency of the end of the robot arm; Obtain the third posture of the end of the robot arm in the previous control cycle; Calculating the angular displacement of the end of the robot arm from the end of the previous control cycle to the end of the current control cycle according to the third posture and the first posture; According to the angular displacement and the duration, the average angular velocity of the end of the robotic arm in the current control cycle is calculated as the first instantaneous angular velocity of the end of the robotic arm in the current control cycle.

5. The method according to claim 1, characterized in that The restriction condition includes an instantaneous acceleration threshold and an instantaneous angular acceleration threshold of the end of the robotic arm in any direction of the multiple directions.

6. The method according to claim 5, characterized in that The calculating the second position component of the end of the manipulator in the any direction of the next control cycle according to the target instantaneous velocity component in any direction, the restriction condition, the first instantaneous velocity component and the first position component comprises calculating the second instantaneous velocity component of the end of the manipulator in the any direction of the next control cycle according to the following formula, wherein the second instantaneous velocity component is used to calculate the second position component: |v t -v0| l t p When v1=v t ;​ otherwise ,v1=v0+a l t p ; Among them, v0 is the first instantaneous velocity component, v t is the target instantaneous velocity component, t p is the duration of the control cycle, a l is the instantaneous acceleration threshold of the end of the robotic arm, and v1 is the second instantaneous velocity component.

7. The method according to claim 5, characterized in that The step of calculating the second position component of the end of the manipulator in the direction of the next control cycle according to the target instantaneous velocity component in the direction, the restriction condition, the first instantaneous velocity component and the first position component also includes calculating the second position component of the end of the manipulator in the direction of the next control cycle according to the following formula: s1=s0+v1t p ; Among them, s0 is the first position component, and s1 is the second position component.

8. The method according to claim 5, characterized in that The step of calculating the second posture component of the manipulator joint in the any direction of the next control cycle according to the target instantaneous angular velocity component in any direction, the restriction condition, the first instantaneous angular velocity component and the first posture component comprises calculating the second instantaneous angular velocity component of the manipulator end in the any direction of the next control cycle according to the following formula, wherein the second instantaneous angular velocity component is used to calculate the second posture component: |oh t -ω0| ω t p When, ω1=ω t ;​ Otherwise, ω1=ω0+a ω t p ; Among them, ω0 is the first instantaneous angular velocity component; ω t is the instantaneous angular velocity component of the target, t p is the duration of the control cycle, a ω is the instantaneous angular acceleration threshold of the end of the robotic arm, and ω1 is the second instantaneous angular velocity component.

9. The method according to claim 8, characterized in that The step of calculating the second posture component of the manipulator joint in any direction in the next control cycle according to the target instantaneous angular velocity component in any direction, the restriction condition, the first instantaneous angular velocity component and the first posture component also includes calculating the second posture component of the manipulator end in any direction in the next control cycle according to the following formula: θ1=θ0+ω1t p ; Among them, θ0 is the first posture component, and θ1 is the second posture component.

10. A remote control device for a color Doppler ultrasound probe, characterized in that: include: A first acquisition module is configured to acquire a target instantaneous velocity and a target instantaneous angular velocity of a terminal end of the robotic arm according to a control signal of a remote control device during a current control cycle of the robotic arm, wherein the color Doppler ultrasound probe is mounted at the terminal end of the robotic arm; A detection module, configured to obtain a first instantaneous speed, a first position, a first instantaneous angular speed and a first posture of the end of the robotic arm in the current control cycle; a division module configured to divide the target instantaneous velocity, the first instantaneous velocity, the first position, the target instantaneous angular velocity, the first instantaneous angular velocity and the first posture of the end of the manipulator into components based on the fixed coordinate system of the manipulator, and obtain target instantaneous velocity components, first instantaneous velocity components, first position components, target instantaneous angular velocity components, first instantaneous angular velocity components and first posture components in multiple directions; A second acquisition module is configured to acquire the restriction condition of the end of the robotic arm; A calculation module is configured to calculate, for any direction among the multiple directions, a second position component of the end of the manipulator in the any direction of the next control cycle according to the target instantaneous velocity component, the restriction condition, the first instantaneous velocity component and the first position component of the any direction, and calculate a second posture component of the end of the manipulator in the any direction of the next control cycle according to the target instantaneous angular velocity component, the restriction condition, the first instantaneous angular velocity component and the first posture component of the any direction; A determination module, configured to determine the position and posture of the end of the robotic arm in the next control cycle according to the second position component and the second posture component in each direction of the multiple directions; The control module is configured to control the movement of the end of the robotic arm in the next control cycle according to the posture of the end of the robotic arm in the next control cycle.

11. A remote control color Doppler ultrasound system, characterized in that: include: Robotic arm; A color ultrasound probe is mounted on the end of the mechanical arm; A host computer, used to control the movement of the end of the robotic arm, the host computer comprising a memory and a processor; wherein the memory stores computer instructions, wherein the computer instructions are executed by the processor to implement the method steps of any one of claims 1 to 9; A remote control device communicates with the host computer.

12. An electronic device, characterized in that: The method comprises a memory and a processor; wherein the memory stores computer instructions, wherein the computer instructions are executed by the processor to implement the method steps described in any one of claims 1 to 9.

13. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by a processor, the method steps of any one of claims 1 to 9 are implemented.

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