Robot and method for correcting posture of probe

Abstract

Provided are: a robot capable of correcting the posture of a probe; and a method for correcting the posture of a probe.　This robot comprises: an arm that can hold a probe of an ultrasonic device; an acquisition device that acquires posture information pertaining to the posture of the probe with respect to an object imaged by the ultrasonic device; and a control device that controls the arm on the basis of the posture information acquired by the acquisition device and that corrects the posture of the probe.

Description

Method for correcting the attitude of a robot and a probe

[0001] The present disclosure relates to a robot and a method for correcting the pose of a probe.

[0002] A robot of this type has been proposed that includes a robot arm that holds an ultrasonic probe and moves the ultrasonic probe along the body surface of a subject, a storage unit that stores instruction trajectory information for moving the ultrasonic probe by the robot arm, and a robot arm control unit that controls the drive of the robot arm to move the ultrasonic probe according to the stored instruction trajectory information (see, for example, Patent Document 1). In this robot, the living body contact pressure detected by the pressure sensor is transmitted to the operator via a tactile input device.

[0003] Japanese Patent Application Laid-Open No. 2017-159027

[0004] With a robot that uses an ultrasound probe, if the patient changes their posture or other reasons prevent the desired echo image from being captured, it becomes necessary to operate the robot arm and correct the posture of the ultrasound probe while checking the echo image, which increases the burden on the operator.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a robot capable of correcting the attitude of a probe, and a method for correcting the attitude of a probe.

[0006] In order to solve the above problems, this specification discloses a robot including an arm capable of holding a probe of an ultrasound device, an acquisition device that acquires posture information relating to the posture of the probe relative to an object imaged by the ultrasound device, and a control device that controls the arm based on the posture information acquired by the acquisition device to correct the posture of the probe. Note that the content of this disclosure is not limited to implementation as a robot, and is also extremely useful when implemented as a method for correcting the posture of a probe.

[0007] According to the robot and method for correcting the probe posture disclosed herein, the posture of the probe can be corrected based on the posture information acquired by the acquisition device, and therefore the posture of the probe can be automatically corrected so that the desired image is displayed as an echo image. This reduces the burden on the operator of adjusting the posture of the probe, allowing them to concentrate on checking the echo image or other tasks.

[0008] 1 is a perspective view of the exterior of a robot system according to the present embodiment; a schematic diagram of the robot; a partially enlarged view of the robot including a hand; a partially enlarged view of the robot including a hand; a block diagram showing the electrical connections of the robot system; an explanatory diagram showing the movement direction of a one-dimensional ultrasonic probe; an explanatory diagram showing the movement direction of an H-shaped ultrasonic probe; a schematic diagram showing a state in which a one-dimensional ultrasonic probe is brought into contact with the surface of a human body to be treated and its posture is corrected; an explanatory diagram showing the state of a 90-degree rotation of the ultrasonic probe; a diagram showing the positional relationship between an external force and a force sensor in this embodiment and another embodiment; a diagram showing echo images before and after posture correction; a schematic diagram showing the state of the ultrasonic probe and blood vessel before and after posture correction; a diagram for explaining control of moving the ultrasonic probe along the blood vessel while correcting its posture.

[0009] An embodiment of a robot according to the present disclosure will be described below with reference to the drawings. FIG. 1 is an external perspective view of a robot system 10 according to this embodiment. FIG. 2 is a schematic configuration diagram of a robot 20. FIGS. 3 and 4 are partial enlarged views of the robot 20 including a hand unit 60. FIG. 5 is a block diagram showing the electrical connections of the robot system 10. In the following description, as shown in FIGS. 1 and 2, the direction as seen by an operator operating an operation panel 90 of the robot 20 is used as a reference, and the front-to-back direction will be referred to as the X-axis direction, the left-to-right direction as the Y-axis direction, and the up-to-down direction as the Z-axis direction.

[0010] As shown in FIGS. 1 to 5 , the robot system 10 of this embodiment includes a robot 20 having a multi-joint robot arm 21, a foot switch 91, an ESR controller 92, a tablet terminal 93, and an emergency stop switch 94. As shown in FIGS. 1 to 4 , the robot system 10 holds an ultrasound probe 101 of an ultrasound device 100 at the hand of the robot arm 21, and controls the robot 20 to move while pressing the ultrasound probe 101 against the surface of a human body, thereby causing the ultrasound device 100 to acquire an ultrasound echo image (hereinafter simply referred to as an echo image) of the human body. The robot system 10 is used, for example, as an ultrasound echo guide during surgery such as catheter surgery. An operator (surgeon) operating a catheter guidewire instructs the robot 20 to press the ultrasound probe 101 against the surface of the human body (patient), and advances the guidewire while recognizing the positional relationship between the tip of the guidewire and the blood vessel from the obtained echo image, thereby allowing the guidewire to accurately pass through the center of an occluded or stenotic site in the blood vessel. In addition, the operator can manually operate the robot arm 21, place the ultrasound probe 101 held by the robot arm 21 on the patient, check the acquired echo image, and perform direct teaching, in which the operator determines the points (images) that he or she wants to reproduce during surgery and registers them in the robot 20 (robot control device 80).

[0011] As shown in FIG. 1, the ultrasound device 100 includes an ultrasound probe 101 and an ultrasound device main unit 110 connected to the ultrasound probe 101 via a cable 102. As shown in FIG. 5, the ultrasound device main unit 110 includes an ultrasound diagnosis control unit 111 that controls the entire device, an image processing unit 112 that processes signals received from the ultrasound probe 101 to generate an echo image, an image display unit 113 that displays the echo image, and various operation switches (not shown). The ultrasound device 100 also includes an external IF (abbreviation of interface) 114. The ultrasound device 100 can be connected to the robot control device 80 of the robot 20 via the external IF 114. The ultrasound probe 101 can be a one-dimensional linear or convex type, or a two-dimensional or three-dimensional probe, an H-shaped probe, or any other shape. FIGS. 1 to 4 show a state in which the one-dimensional ultrasound probe 101 is attached.

[0012] As shown in Figures 1 and 2, the robot 20 includes a base 25, a housing 29 installed on the base 25, a robot arm 21 supported by the housing 29, a hand 60 attached to the tip of the robot arm 21, a robot control device 80 that controls the robot arm 21, and an operation panel 90.

[0013] Casters 26 with stoppers are attached to the four corners of the back surface of the base 25. The robot 20 can be moved freely by the casters 26. In addition, locking portions 28 are provided at multiple locations (for example, three locations) on the back surface of the base 25. The locking portions 28 protrude vertically downward when a lever 27 is pressed down, thereby locking (fixing) the robot 20 so that it cannot move.

[0014] In this embodiment, the robot arm 21 is, for example, a seven-axis articulated arm, and has a first arm 22, a second arm 23, a base 24, a first arm driving device 35, a second arm driving device 36, an attitude holding device 37, a three-axis rotation mechanism 50, and a brake lever 65 (see Figure 4).

[0015] The base end of the first arm 22 is connected to the base 24 via a first joint shaft 31 extending in the vertical direction (Z-axis direction). The first arm driving device 35 includes a motor 35a, an encoder 35b, and an amplifier 35c (see FIG. 5). The rotation shaft of the motor 35a is connected to the first joint shaft 31 via a reducer (not shown). The first arm driving device 35 rotates (pivots) the first arm 22 along a horizontal plane (XY plane) around the first joint shaft 31 as a fulcrum by driving the first joint shaft 31 with the motor 35a. The encoder 35b is attached to the rotation shaft of the motor 35a and is configured as a rotary encoder that detects the amount of rotational displacement of the motor 35a. The amplifier 35c is a driving unit that drives the motor 35a by switching on and off a switching element.

[0016] The base end of the second arm 23 is connected to the tip end of the first arm 22 via a second joint shaft 32 extending in the vertical direction. The second arm driving device 36 includes a motor 36a, an encoder 36b, and an amplifier 36c (see FIG. 5). The rotation shaft of the motor 36a is connected to the second joint shaft 32 via a reducer (not shown). The second arm driving device 36 rotates (pivots) the second arm 23 along a horizontal plane around the second joint shaft 32 as a fulcrum by driving the second joint shaft 32 with the motor 36a. The encoder 36b is attached to the rotation shaft of the motor 36a and is configured as a rotary encoder that detects the amount of rotational displacement of the motor 36a. The amplifier 36c is a driving unit that drives the motor 36a by switching on and off a switching element.

[0017] In this embodiment, the first arm 22 and the second arm 23 form a horizontal joint arm. Therefore, the robot 20 has arm postures including a right-arm posture mode in which the robot arm 21 operates in a right-arm posture, and a left-arm posture mode in which the robot arm 21 operates in a left-arm posture.

[0018] As shown in FIG. 2 , an elevator device 40 is provided within the housing 29. The elevator device 40 is installed on the base 25. The base 24 is provided at the base end of the robot arm 21 and is movable up and down relative to the base 25 by the elevator device 40. The elevator device 40 includes a first slider 41, a first guide member 42, a first ball screw shaft 43 (elevation shaft), a motor 44a, an encoder 44b, and an amplifier 44c (see FIG. 5 ). The first slider 41 is fixed to the base 24. The first guide member 42 extends vertically to guide the movement of the first slider 41. The first ball screw shaft 43 extends vertically and is threadedly engaged with a ball screw nut (not shown) fixed to the first slider 41. The motor 44a rotates the first ball screw shaft 43. The amplifier 44c drives the motor 44a. The lifting device 40 rotates the first ball screw shaft 43 using the motor 44a, thereby moving the base 24 fixed to the first slider 41 up and down along the first guide member 42. The encoder 44b is configured as a linear encoder that detects the vertical position (lifted position) of the first slider 41 (base 24).

[0019] As shown in FIGS. 1 and 2 , the three-axis rotation mechanism 50 is connected to the tip of the second arm 23 via an attitude-maintaining shaft 33 extending in the vertical direction. The three-axis rotation mechanism 50 includes a first rotation shaft 51, a second rotation shaft 52, and a third rotation shaft 53 that are perpendicular to one another, a first rotation device 55 that rotates the first rotation shaft 51, a second rotation device 56 that rotates the second rotation shaft 52, and a third rotation device 57 that rotates the third rotation shaft 53. The first rotation shaft 51 is supported in an orientation perpendicular to the attitude-maintaining shaft 33. The second rotation shaft 52 is supported in an orientation perpendicular to the first rotation shaft 51. The third rotation shaft 53 is supported in an orientation perpendicular to the second rotation shaft 52. The first rotation device 55 includes a motor 55a that rotates the first rotating shaft 51, an encoder 55b attached to the rotating shaft of the motor 55a and detecting the rotational displacement of the motor 55a, and an amplifier 55c that drives the motor 55a (see FIG. 5). The second rotation device 56 includes a motor 56a that rotates the second rotating shaft 52, an encoder 56b attached to the rotating shaft of the motor 56a and detecting the rotational displacement of the motor 56a, and an amplifier 56c that drives the motor 56a (see FIG. 5). The third rotation device 57 includes a motor 57a that rotates the third rotating shaft 53, an encoder 57b attached to the rotating shaft of the motor 57a and detecting the rotational displacement of the motor 57a, and an amplifier 57c that drives the motor 57a (see FIG. 5).

[0020] The third rotation device 57 includes a housing 54 to which the second rotation shaft 52 is connected and which rotatably supports the third rotation shaft 53 so as to extend perpendicular to the second rotation shaft 52, a motor 57a that rotates the third rotation shaft 53, and a force sensor 68 (see FIG. 5 ). As shown in FIG. 3 , the housing 54 is a box-shaped member having a first surface 54b, a second surface 54t, a third surface 54r, and a fourth surface 54f, which are connected in the circumferential direction (direction along the outer periphery). The second rotation shaft 52 is connected to the third surface 54r. The third rotation shaft 53 is rotatably supported on the housing 54 so as to extend outward from the first surface 54b perpendicular to the third surface 54r, and is rotationally driven by the motor 57a. Here, when the robot arm 21 is in the state shown in FIG. 2 , the first surface 54b is the lower surface, the second surface 54t is the upper surface, the third surface 54r is the back surface, and the fourth surface 54f is the front surface. 3, an operation handle 66 and a stop switch 67 are arranged on the second surface 54t (top surface) of the housing 54. The operation handle 66 is held by the operator when the operator manually operates the ultrasound probe 101 held by the robot arm 21 during direct teaching. The stop switch 67 is a switch that the operator operates to temporarily stop the operation of the robot arm 21 when an unexpected operation occurs in the robot arm 21.

[0021] The force sensor 68 is provided in the housing 54 and attached to the third rotation shaft 53. The force sensor 68 transmits power from a motor 57a (see FIG. 5 ) provided in the housing 54 to the third rotation shaft 53 (hand 60), and detects force components acting in the X-, Y-, and Z-axis directions and torque components acting around the Ra, Rb, and Rc axes as external forces acting on the hand 60 (ultrasonic probe 101), etc. The robot control device 80 of this embodiment controls the robot arm 21 based on the external forces (force components, torque components, examples of posture information disclosed herein) detected by the force sensor 68, correcting the posture of the ultrasonic probe 101. Details of posture correction control will be described later. The force sensor 68 is an example of an acquisition device disclosed herein. Note that the acquisition device disclosed herein is not limited to the force sensor 68. For example, the robot 20 may include a device for acquiring forces and torques acting on each joint of the robot arm 21 as an acquisition device. The robot control device 80 may then detect the external force acting on the ultrasonic probe 101 based on the force and torque components acquired by this device, and correct the posture of the ultrasonic probe 101. Therefore, the method for detecting the external force and torque acting on the ultrasonic probe 101 can be changed as appropriate.

[0022] The hand unit 60 is attached to the tip of the third rotation shaft 53. The hand unit 60 has a base 601, a holding unit 602 that holds the ultrasonic probe 101 so as to be coaxial with the third rotation shaft 53, and a gripping unit 603 that is held by the operator. The base 601 is a plate-shaped member and is detachably attached to the third rotation shaft 53 with a snap lock 64. Therefore, the hand unit 60 can be replaced depending on the type of ultrasonic probe 101. The hand unit 60 (base 601) may be attached to the third rotation shaft 53 with other fasteners (for example, a ratchet-type fastener, a screw, etc.).

[0023] The holding unit 602 is provided on one surface of the base 601 and holds the ultrasonic probe 101. The holding unit 602 includes, for example, a pair of support walls that support the ultrasonic probe 101 from both sides, and a plate-shaped pressing member that spans from one support wall to the other support wall and presses and holds the ultrasonic probe 101 against the base 601. The pressing member is openable and closable relative to the pair of support walls, and switches between a closed state in which the ultrasonic probe 101 is held, and an open state in which the ultrasonic probe 101 can be attached and detached. This allows the holding unit 602 to be attached in either orientation by flipping the ultrasonic probe 101 over.

[0024] The grip portion 603 is gripped by an operator when the operator manually moves the ultrasound probe 101 held by the robot arm 21 during, for example, direct teaching. The grip portion 603 is provided on the surface of the base 601 opposite the surface on which the holding portion 602 is provided, and is formed so as to protrude convexly outward from the other surface. In this embodiment, the grip portion 603 is formed with a convex curved surface as shown in FIGS. 3 and 4 . However, the grip portion 603 may be formed in any shape that can be gripped by the operator, such as a tapered shape, a rod shape, a hemisphere, a rectangular parallelepiped shape, or a cube shape. In addition, a direct teaching switch 61 is provided at the top of the convex portion (convex curved surface portion) of the grip portion 603 to allow the operator to manually operate the robot arm 21 during direct teaching. The position of the direct teaching switch 61 may be changed as appropriate.

[0025] In this embodiment, the direct teaching switch 61 is configured as a three-position enable switch. One end of a cable 62 is connected to a terminal of the direct teaching switch 61. A cable guide 63 that guides one end of the cable 62 to the direct teaching switch 61 is fixed to the other surface of the base 601 of the hand 60, closer to the housing 54 than the gripping portion 603. The other end of the cable 62 is connected to wiring that runs from the housing 54 along the robot arm 21 to the robot control device 80. In this embodiment, a connector 621 is provided at the other end of the cable 62, and is removably connected to a connector provided on the housing 54.

[0026] FIG. 6 shows the movement direction of the one-dimensional ultrasonic probe 101, and FIG. 7 shows the movement direction of the H-shaped ultrasonic probe 101. As described above, the robot 20 of this embodiment operates the robot arm 21 by a combination of translational motion in three directions, namely, the X-axis, Y-axis, and Z-axis directions, performed by the first arm driving device 35, the second arm driving device 36, and the elevator device 40, and rotational motion in three directions, namely, Rb (pitching) around the X-axis, Ra (rolling) around the Y-axis, and Rc (yawing) around the Z-axis, performed by the three-axis rotation mechanism 50. As a result, as shown in FIGS. 6 and 7 , the robot 20 can move the ultrasonic probe 101 in each of the X-axis, Y-axis, and Z-axis directions (both forward and reverse directions) and rotate it around each of the Ra, Rb, and Rc axes (both forward and reverse rotation directions). In this embodiment, the X-axis direction is the direction in which the ultrasonic probe 101 is moved away from or toward the housing 29. For example, as shown in Figures 6 and 7, in the X-axis direction, the direction in which the ultrasonic probe 101 is moved away from the housing 29 is the positive direction, and the direction in which the ultrasonic probe 101 is moved closer to the housing 29 is the negative direction. In addition, in the Y-axis direction, the left direction is the positive direction, and the right direction is the negative direction. In addition, in the Z-axis direction, the upward direction is the positive direction, and the downward direction is the negative direction. Note that the definitions of directions and positive / negative signs shown in Figures 6 and 7 are merely examples. In addition, in the robot system 10 of this embodiment, the center of rotation is set so that the holding unit 602 (ultrasonic probe 101) rotates around the center 107 (see Figures 6 and 7) of the tip of the ultrasonic probe 101 held by the holding unit 602.

[0027] The attitude holding device 37 holds the attitude of the three-axis rotation mechanism 50 (the orientation of the first rotation shaft 51) in a constant direction regardless of the attitudes of the first arm 22 and the second arm 23. The attitude holding device 37 includes a motor 37a, an encoder 37b, and an amplifier 37c (see FIG. 5). The rotation shaft of the motor 37a is connected to the attitude holding shaft 33 via a reducer (not shown). The attitude holding device 37 sets a target rotation angle of the attitude holding shaft 33 based on the rotation angles of the first joint shaft 31 and the second joint shaft 32 so that the axial direction of the first rotation shaft 51 is always aligned in the left-right direction (Y-axis direction), and drives and controls the motor 37a so that the attitude holding shaft 33 reaches the target rotation angle. This allows the translational motion in three directions and the rotational motion in three directions to be controlled independently, making control easier.

[0028] As shown in FIG. 4 , the brake lever 65 is a generally L-shaped member that extends downward (in the direction of extension of the attitude-maintaining shaft 33) from the three-axis rotation mechanism 50 (first rotation shaft 51) and bends perpendicularly at the end of the extension. Mechanical brakes (e.g., disc brakes) are attached to each axis of the robot arm 21 except for the horizontally rotating axes (first joint shaft 31, second joint shaft 32, and attitude-maintaining shaft 33). The mechanical brakes are configured to activate when the corresponding motors are stopped. The operator can release the mechanical brakes by operating the brake lever 65 upward in the figure. This allows the operator to manually release the mechanical brakes and move the robot arm 21 to a safe position even if the power supply to the robot 20 is interrupted due to some abnormality.

[0029] The operation panel 90 is a touch panel display that displays various information related to the robot system 10 and allows various instructions to be input to the robot system 10. In this embodiment, the operation panel 90 is installed on the top surface of the housing 29 that houses the lifting device 40 of the robot 20 and the robot control device 80. In addition, a user can issue operation instructions, emergency stop instructions, etc. to the robot system 10 by operating the foot switch 91, ESR controller 92, tablet terminal 93, and emergency stop switch 94 shown in FIG.

[0030] As shown in FIG. 5 , the robot control device 80 includes a robot control unit 81, a monitoring unit 82, an IO unit 83, a communication unit 84, a storage unit 85, and an external IF 86. The robot control unit 81 is configured as a processor including a CPU, ROM, RAM, peripheral circuits, etc. The monitoring unit 82 is configured as a one-chip microcomputer including a CPU, ROM, RAM, peripheral circuits, etc. The robot control unit 81 performs various processes related to the control of the robot arm 21 (motors 35a-37a, 44a, 55a-57a). The monitoring unit 82 monitors the status of each unit, such as the IO unit 83, the communication unit 84, the external IF 86, the amplifiers 35c-37c, 44c, 55c-57c, the encoders 35b-37b, 44b, 55b-57b, and the sensor unit including the direct teaching switch 61. The robot control unit 81 detects abnormalities in the robot system 10 based on the monitoring results of the monitoring unit 82. The IO unit 83 is an I / O port that receives detection signals from the direct teaching switch 61, detection signals from the stop switch 67, operation signals from the operation panel 90, etc., and outputs display signals to the operation panel 90. The communication unit 84 communicates with the robot control device 80 and external devices (such as the foot switch 91, ESR controller 92, tablet terminal 93, and emergency stop switch 94) via wire or wirelessly, and exchanges various signals and data. The memory unit 85 is a memory device such as a RAM, ROM, HDD, or SSD, for example.

[0031] The external IF 86 is, for example, a LAN interface, and is connected to the external IF 114 of the ultrasound device main body 110 via a LAN cable 87. The robot control device 80 can acquire echo images from the ultrasound device 100 via the LAN cable 87. The standard of the communication cable connecting the robot 20 and the ultrasound device 100 is not limited to the LAN standard, and other communication standards such as the USB standard may also be used. Furthermore, the communication connecting the robot 20 and the ultrasound device 100 is not limited to wired communication, and may be wireless communication.

[0032] Each of the amplifiers 35c to 37c, 44c, and 55c to 57c includes a motor control unit 71, a drive power supply unit 72, and an IO unit 73. The drive power supply unit 72 includes, for example, an inverter circuit that supplies the power necessary to drive the motors 35a to 37a, 44a, and 55a to 57a. The motor control unit 71 controls each of the motors 35a to 37a, 44a, and 55a to 57a by, for example, feedback control (switching control) of the switching elements of the inverter circuit of the drive power supply unit 72 based on encoder information from the encoders 35b to 37b, 44b, and 55b to 57b. The IO unit 83 is an I / O port that inputs various signals such as encoder information from the encoders 35b to 37b, 44b, and 55b to 57b, current signals from current sensors that detect the current flowing through each of the motors 35a to 37a, 44a, and 55a to 57a, and command signals (control signals) from the robot control unit 81 to each of the motors 35a to 37a, 44a, and 55a to 57a.

[0033] Next, the posture correction control of the robot 20 included in the robot system 10 configured as described above will be described. For example, when performing a procedure using the robot system 10, if the operator performs catheter surgery while checking the posture of the ultrasound probe 101 and how the echo image is captured, this requires a step-by-step check. As a result, the operator's workload increases. Therefore, the robot 20 of this embodiment has a function to automatically correct the posture of the ultrasound probe 101 so that the desired echo image is more easily captured. The robot control device 80 of the robot 20 corrects the posture of the ultrasound probe 101 based on both the external force detected by the force sensor 68 and the echo image acquired from the ultrasound device 100.

[0034] The robot control device 80 may switch the posture correction function on and off based on an operation on the operation panel 90. The posture correction function may be a function that is always executed when the robot system 10 is started up. The robot control device 80 may be configured to be capable of executing only one of posture correction based on an external force detected by the force sensor 68 and posture correction based on an echo image acquired from the ultrasound device 100. The robot control device 80 may execute the posture correction function not only during a procedure, but also at times other than a procedure, such as when registering the above-mentioned registered points (during direct teaching) or when moving between registered points.

[0035] First, a description will be given of posture correction control using the force sensor 68. Note that, in the posture correction control using the force sensor 68 described below, a case where a one-dimensional ultrasonic probe 101 is used will be described, but the same can be performed with other types of ultrasonic probes 101, such as an H-shaped ultrasonic probe 101.

[0036] FIG. 8 schematically illustrates a state in which a one-dimensional ultrasonic probe 101 is in contact with the surface of the body of a patient P who is the target of treatment. FIG. 8 also illustrates the state of the ultrasonic probe 101 before posture correction on the left side and the state after posture correction on the right side. To avoid cluttering the drawing, FIG. 8 omits the illustration of the robot 20 (robot arm 21) and the end effector 60. As described above, the robot control device 80 can detect, using the force sensor 68, force components acting in the X, Y, and Z directions on the end effector 60 (ultrasonic probe 101) as external forces. As indicated by the arrows in FIG. 8 , an external force 122 is generated from a contact point 121 of the patient P toward the ultrasonic probe 101. The external force 122 has force components in the X, Y, and Z directions. The arrows in FIG. 8 indicate the combined direction of the force components in the respective axial directions generated at the contact point 121.

[0037] Furthermore, the ultrasonic probe 101 is set with a central axis 125, for example, which serves as a reference for correcting the posture. This central axis 125 indicates the orientation (direction, rotational position) of the posture of the ultrasonic probe 101. For example, the central axis 125 is a line passing through the center 107 of the tip of the ultrasonic probe 101 and the center of the ultrasonic probe 101 as shown in FIGS. 6 and 7 . Furthermore, for example, when the ultrasonic probe 101 is attached to the hand unit 60, the central axis 125 is parallel to the axial direction of the third rotation shaft 53. For example, hand units 60 with different structures are prepared depending on the type of ultrasonic probe 101. The hand units 60 corresponding to the various ultrasonic probes 101 are formed so that the relative positions of the central axis 125 and the center 107 with respect to the third rotation shaft 53 are consistent regardless of the type of ultrasonic probe 101 (hand unit 60) attached to the third rotation shaft 53. The storage unit 85 is previously set with, for example, the coordinates of the center 107 and the direction of the central axis 125. The robot control device 80 reads the setting information from the storage unit 85 and sets the central axis 125, etc. The robot control device 80 may detect the center of gravity of the ultrasonic probe 101 using the force sensor 68, etc., and automatically set the coordinates of the central axis 125 and the center 107.

[0038] The robot control device 80 adjusts the orientation of the ultrasonic probe 101 (hand part 60) so that the central axis 125 of the ultrasonic probe 101 is parallel to the direction of the external force 122. As shown on the right side of FIG. 8 , the robot control device 80 controls the robot arm 21 to correct the orientation of the ultrasonic probe 101 based on the direction of the external force 122 detected by the force sensor 68, and corrects the posture of the ultrasonic probe 101 so that the ultrasonic probe 101 (central axis 125) is aligned with the external force 122. Therefore, the force sensor 68 is an example of an external force acquisition device that acquires the external force 122 acting on the ultrasonic probe 101 from the patient P as posture information of the present disclosure. This makes it possible to align the direction of the force applied from the ultrasonic probe 101 to the contact site 121 with the direction of the reaction force (external force 122) applied from the contact site 121 to the ultrasonic probe 101. Alternatively, the angle θ1 between the two forces can be reduced. This allows the ultrasonic probe 101 to efficiently apply force to the contact area 121, contracting fat and other substances between the blood vessel 126 (the imaging target) and the epidermis, thereby shortening the distance 127 between the blood vessel 126 and the ultrasonic probe 101. As a result, the robot control device 80 corrects the posture of the ultrasonic probe 101 based on the external force 122 so as to shorten the distance 127 between the blood vessel 126 (the imaging target) and the ultrasonic probe 101 in contact with the epidermis. Preferably, the distance 127 between the blood vessel 126 and the ultrasonic probe 101 can be minimized. This allows the blood vessel 126 to be more reliably included in the echo image.

[0039] Furthermore, the robot control device 80 corrects the posture of the ultrasonic probe 101 so that the angle θ1 formed between the direction of the external force 122 acting on the ultrasonic probe 101 from the contact site 121 (external force direction) and the ultrasonic probe 101 becomes smaller, and also corrects the posture so that the blood vessel 126 appears in the echo image. Note that the robot control device 80 does not need to completely align the direction of the external force 122 with the central axis 125, and may control the robot arm 21 so that the angle θ1 formed between the direction of the external force 122 and the central axis 125 is equal to or smaller than a predetermined reference angle.

[0040] For example, the robot control device 80 performs image processing on the echo image acquired from the ultrasound device 100 to detect the position of the blood vessel 126. Based on the detected position, the robot control device 80 maintains the state in which the blood vessel 126 is displayed in the echo image and controls the robot arm 21 so that the angle θ1 between the direction of the external force 122 and the central axis 125 is equal to or less than a predetermined reference angle. This allows the distance 127 between the blood vessel 126 and the ultrasound probe 101 to be shortened while the target blood vessel 126 is more reliably imaged. The method for detecting the position of the blood vessel 126 is not particularly limited, but may employ, for example, a method using an AI (artificial intelligence) program. For example, the memory unit 85 stores an AI program that has learned how to detect the position of the blood vessel from the echo image. The robot control device 80 executes this AI program to detect the position of the blood vessel 126 and perform correction. The method for detecting the position of the blood vessel 126 is not limited to the method using the AI ​​program; other methods, such as a method of detecting the edge of the blood vessel 126 through image processing, may also be used. Furthermore, the method for determining whether or not the blood vessel 126 is displayed in the echo image is not limited to the image processing method performed by the robot control device 80. For example, the robot control device 80 may receive a detection signal from the ultrasound device 100 indicating whether or not the blood vessel 126 is displayed, and correct the posture of the ultrasound probe 101 within the range where the detection signal indicating detection is received.

[0041] Furthermore, when the longitudinal direction of the one-dimensional ultrasonic probe 101 is arranged so as to align with the extension direction of a blood vessel 126 of the human body, as shown in FIG. 8 , the robot control device 80 corrects the posture of the ultrasonic probe 101 in the rotation direction around the extension direction of the blood vessel 126 as the center of rotation based on the external force 122. Here, the longitudinal direction of the ultrasonic probe 101 refers to, for example, the direction in which ultrasonic transducer elements (such as piezoelectric elements, which may also be called a transducer array) that transmit and receive ultrasonic waves in the linear ultrasonic probe 101 are arranged. The extension direction refers to the direction perpendicular to the paper surface of FIG. 8 . Therefore, the blood vessel 126 in FIG. 8 shows a cross section of the blood vessel 126 cut along a plane perpendicular to the extension direction (longitudinal direction). In this way, by correcting the posture of the ultrasonic probe 101 along the rotation direction around the extension direction, the angle θ1 can be reduced, thereby shortening the distance 127 between the blood vessel 126 and the ultrasonic probe 101. The center of rotation along the extension direction can be, for example, a straight line passing through the center of the blood vessel 126. As a method for detecting the center of the blood vessel 126, a method for detecting the position of the blood vessel 126 by the image processing described above can be used.

[0042] Furthermore, by arranging the longitudinal direction of the one-dimensional ultrasonic probe 101 along the extension direction of the blood vessel 126 and controlling the central axis 125 to coincide with the direction of the external force 122 while the blood vessel 126 is displayed in the echo image, the orientation of the ultrasonic probe 101 in the rotational direction around the extension direction as the center of rotation is corrected based on the external force 122. However, the robot control device 80 may first set the center of the transverse section of the blood vessel 126 and then correct the orientation of the ultrasonic probe 101 based on the set center. For example, an H-shaped ultrasonic probe 101 can capture images of the longitudinal and transverse sections of the blood vessel 126 without changing the position of the ultrasonic probe 101. Therefore, the center of the blood vessel 126 can be set from the echo image of the transverse section of the blood vessel 126 that has been captured. The robot control device 80 may then correct the orientation of the ultrasonic probe 101 around the center of the blood vessel 126 that has been detected and set from the echo image of the transverse section.

[0043] Furthermore, with a one-dimensional ultrasonic probe 101, an echo image of a longitudinal section can be acquired by aligning the longitudinal direction of the ultrasonic probe 101 with the extension direction of the blood vessel 126. Furthermore, by rotating the ultrasonic probe 101 by 90 degrees and aligning the lateral direction of the ultrasonic probe 101 with the extension direction, a transverse section (widthwise cross section) of the blood vessel 126 can be imaged. At this time, the robot control device 80 may rotate the ultrasonic probe 101 by 90 degrees while maintaining the posture of the robot arm 21 so that the imaging position does not change. Furthermore, rotating the ultrasonic probe 101 while it is in contact with the patient P may cause discomfort to the patient P. Therefore, when performing a 90-degree rotation, the robot control device 80 may temporarily move the ultrasonic probe 101 away from the body surface of the patient P, rotate the ultrasonic probe 101 by 90 degrees around the third rotation axis 53, and then bring the ultrasonic probe 101 into contact with the body surface, as shown in FIG. 9 . The robot control device 80 may then set the center of the blood vessel 126 from the echo image of the cross section and correct the posture of the ultrasound probe 101 based on the set center. The robot control device 80 may also obtain information about the center of the blood vessel 126 detected by the ultrasound device 100 from the ultrasound device 100.

[0044] Furthermore, the robot control device 80 may correct the posture of the ultrasonic probe 101 based on the moment acting on the ultrasonic probe 101 from the patient P. As described above, the force sensor 68 is attached to the third rotation axis 53 and can detect force components acting in the directions of the X-axis, Y-axis, and Z-axis as external forces applied to the hand portion 60 (ultrasonic probe 101), and torque (moment) components acting around the Ra, Rb, and Rc axes.

[0045] FIG. 10 shows the positional relationship between the external force 122 and the force sensors 68, 68A in this embodiment and another embodiment. In the present embodiment shown in the left diagram of FIG. 10 , the force sensor 68 directly detects the force component acting on the third rotation shaft 53 to which the hand unit 60 is attached. Therefore, the posture can be corrected by aligning the central axis 125 of the ultrasonic probe 101 with the direction of the external force 122. In other words, when the external force 1221 is aligned with the central axis 125, no moment acts on the ultrasonic probe 101 to rotate it (ideally, the moment is zero). Therefore, the robot control device 80 controls the robot arm 21 so that the torque components acting around each axis detected by the force sensor 68, i.e., the moment acting on the ultrasonic probe 101, are reduced (e.g., the moment is reduced to zero). As a result, the distance 127 (see FIG. 8 ) can be shortened, similar to the control for correcting the posture to reduce the angle θ1 described above.

[0046] 10 shows a force sensor 68A according to another embodiment, where the detection position of the force sensor 68A and the position where the ultrasonic probe 101 is attached are offset by a distance L. For example, suppose the ultrasonic probe 101 is attached to the end of a holder that extends a distance L forward in the X-axis direction from the third rotation axis 53. In this case, a moment due to the weight of the ultrasonic probe 101 is generated in the ultrasonic probe 101 even when the ultrasonic probe 101 is not in contact with the patient P. Specifically, a moment is generated that is the product of the distance L and the mass of the ultrasonic probe 101 (or the mass including the member that holds the ultrasonic probe 101).

[0047] For this reason, in another embodiment, the robot control device 80 may eliminate the influence of the moment due to the robot's own weight from the moments detected by the force sensor 68A, and then correct the posture of the ultrasonic probe 101 so that the remaining moment becomes zero. For example, the robot control device 80 subtracts the moment component due to the robot's own weight from the moment components acting around the Ra, Rb, and Rc axes, and then controls the robot arm 21 so that each remaining moment component becomes zero. This makes it possible to correct the posture of the ultrasonic probe 101 even if, for some reason, the ultrasonic probe 101 is attached at a position offset from the force sensor 68A.

[0048] Next, the posture correction control using the echo image will be described. The posture correction control using the echo image described below may be used in combination with the posture correction control using the force sensor 68 described above. The following description will be given for the case where an H-shaped ultrasonic probe 101 is used.

[0049] Fig. 11 shows echo images 131 before and after posture correction using echo images. Fig. 12 schematically shows the states of the H-shaped ultrasonic probe 101 and blood vessel 126 before and after posture correction. The H-shaped ultrasonic probe 101 has, for example, two probes 101A and 101C that image the transverse cross section of the blood vessel 126, and a probe 101B that is positioned between the two probes 101A and 101C and images the longitudinal cross section of the blood vessel 126. The following description will be given of a case where the longitudinal direction of the central probe 101B of the three probes 101A to 101C of the H-shaped ultrasonic probe 101 is positioned in the extension direction of the blood vessel 126.

[0050] In catheter surgery, the operator performs surgery while moving the ultrasound probe 101 from the base of the patient P's foot toward the toes. In the following description, a case will be described in which, for example, an H-shaped ultrasound probe 101 is used to image a blood vessel 126 in the femoral region of the leg from the base of the foot toward the toes. Of the three captured echo images 131, the echo image 131 of the cross section captured by the probe 101A on the toe side will be referred to as echo image 131A, the echo image 131 of the longitudinal section captured by the probe 101B will be referred to as echo image 131B, and the echo image 131 of the cross section captured by the probe 101C on the head side will be referred to as echo image 131C. The cross section of the blood vessel 126 captured by the echo image 131A will be referred to as blood vessel 126A, the longitudinal section of the blood vessel 126 captured by the echo image 131B will be referred to as blood vessel 126B, and the cross section of the blood vessel 126 captured by the echo image 131C will be referred to as blood vessel 126C. Furthermore, when referring to the echo images 131A-131C collectively, they are referred to as the echo image 131, and when referring to the blood vessels 126A-126C collectively, they are referred to as the blood vessel 126. The directions shown in FIGS. 11 and 12 are merely examples and may be changed as appropriate depending on the type and orientation of the ultrasonic probe 101 attached to the hand unit 60. The actual echo image 131 is displayed as a fan-shaped image or other shape depending on the direction of ultrasound emission. However, to avoid complication of explanation, the following description will be given assuming that the echo image 131 is a square image, as shown in FIG. 11. Furthermore, in image processing and correction control using a non-square echo image 131, corrections similar to the posture correction based on the square echo image 131 described below can be performed by converting the fan-shaped image into a square image or by performing processing such as converting the coordinates within the image. In other words, the shape of the echo image 131 is not particularly limited.

[0051] FIG. 11 shows two patterns of uncorrected echo images 131A-131C on the left side. In the uncorrected state shown at the top, the blood vessel 126A is located above the rear side in the echo image 131A. In this case, the toe-side probe 101A (see FIG. 12) of the ultrasound probe 101 is shifted forward relative to the blood vessel 126A. Furthermore, the blood vessel 126B is tilted from the upper left to the lower right in the echo image 131B. In the case of the ultrasound probe 101 at the top, as shown in FIG. 12, the distance 133 between the toe-side probe 101A and the blood vessel 126 is shorter than the distance 134 between the head-side probe 101C and the blood vessel 126. In other words, the ultrasound probe 101 is tilted so that the foot side is closer to the blood vessel 126 than the head side. Furthermore, the blood vessel 126C is located below the front side in the echo image 131C. In this case, the head-side probe 101C (see FIG. 12) of the ultrasonic probe 101 is shifted rearward with respect to the blood vessel 126C.

[0052] The robot control device 80 detects the positions of the blood vessels 126A-126C from each of the echo images 131A-131C using the AI ​​program described above. The robot control device 80 then controls the robot arm 21 to correct the posture of the ultrasound probe 101 (handpiece 60) so that the corrected state shown on the right side is achieved. In the corrected state on the right side, the center of the blood vessel 126A coincides with the center P1 of the echo image 131A. Furthermore, the blood vessel 126B is aligned with the left-right direction, i.e., the horizontal direction, of the echo image 131B, at the center of the vertical direction of the echo image 131B. Furthermore, the center of the blood vessel 126C coincides with the center P2 of the echo image 131C. In this way, the robot control device 80 corrects the posture of the ultrasound probe 101 so that the corrected state of the echo images 131A-131C, i.e., the ideal imaging state, is achieved, as indicated by the arrows in the uncorrected echo images 131A-131C in FIG. 11 .

[0053] Also, in the state shown in the upper left of FIG. 11 , the robot control device 80 controls the robot arm 21 to move the toe-side probe 101A backward. This brings the position of the blood vessel 126A closer to the center P1. The robot control device 80 also controls the head-side probe 101C to move forward. This brings the position of the blood vessel 126C closer to the center P1. The robot control device 80 also rotates the ultrasound probe 101 (probe 101B) so that the toe side of the ultrasound probe 101 moves upward and the head side moves downward. This brings the posture of the ultrasound probe 101 closer to the state of the corrected echo images 131A to 131C on the right side of FIG. 11 , i.e., the ideal imaging state.

[0054] The state shown in the lower left of FIG. 11 shows a state in which the ultrasonic probe 101 is tilted in the opposite direction to the state shown in the upper left. In this case, the robot control device 80 corrects the posture of the ultrasonic probe 101 in the opposite direction to the state shown in the upper left of FIG. 11 . Although a detailed description will be omitted, for example, the robot control device 80 controls the robot arm 21 to move the toe-side probe 101A forward. The robot control device 80 also controls the head-side probe 101C to move backward. The robot control device 80 also rotates the ultrasonic probe 101 so that the toe side of the ultrasonic probe 101 moves downward and the head side moves upward. As a result, the posture of the ultrasonic probe 101 approaches the state of the corrected echo images 131A to 131C on the right side of FIG. 11 .

[0055] While the above description has been given of posture correction control using the echo image 131 captured by the H-type ultrasonic probe 101, posture correction control can also be performed with other types of ultrasonic probes, such as linear types. For example, posture correction control can be performed similarly to the H-type by rotating the one-dimensional ultrasonic probe 101 by 90 degrees and capturing a cross section. Although detailed description will be omitted, the robot control device 80 rotates the one-dimensional ultrasonic probe 101 by 90 degrees to capture a cross section (echo image 131A) on the toe side and a cross section (echo image 131C) on the head side, and determines the positions of the blood vessels 126A to 126C by combining this with the longitudinal section (echo image 131B) before the 90-degree rotation. This allows correction similar to that of the H-type. Furthermore, the robot control device 80 may perform correction using at least one echo image 131 of the three echo images 131A to 131C, or may perform correction using four or more echo images 131.

[0056] As described above, the robot control device 80 can control the robot arm 21 based on the echo image 131 acquired by the ultrasonic probe 101 in addition to the external force 122 acquired by the force sensor 68, thereby correcting the posture of the ultrasonic probe 101. For example, the robot control device 80 may perform correction based on the echo image 131 when the angle θ1 between the external force 122 and the central axis 125 is within a predetermined angle. This shortens the distance between the ultrasonic probe 101 and the blood vessel 126, allowing the blood vessel 126 to be properly displayed in the echo image 131. Alternatively, the robot control device 80 may perform the above-described posture correction based on the echo image 131, and then perform posture correction based on the external force 122. For example, the robot control device 80 may perform control to correct the traveling direction of the ultrasonic probe 101 based on the echo image 131, which will be described later, and, after moving a predetermined distance, perform posture correction based on the external force 122 at the destination. The robot control device 80 may be configured to be switchable between a mode in which posture correction is performed using only the external force 122 and a mode in which posture correction is performed using only the echo image 131 .

[0057] The robot 20 also includes an external IF 86 that acquires an echo image 131 captured by the ultrasonic probe 101 from the ultrasound device 100. The robot control device 80 controls the robot arm 21 based on the echo image 131 acquired from the ultrasound device 100 via the external IF 86, and corrects the posture of the ultrasonic probe 101. This allows the echo image 131 to be acquired quickly, preferably in real time, from the ultrasound device 100, and allows for smooth posture correction based on the echo image 131.

[0058] Furthermore, as described above, the robot control device 80 corrects the orientation of the ultrasonic probe 101 (probe 101B) relative to the blood vessel 126, thereby reducing the angle θ2 between the blood vessel 126 and the ultrasonic probe 101 (central axis 125), as shown in FIG. 12 . Preferably, the inclination of the probe 101B is changed in accordance with the inclination of the blood vessel 126B in the longitudinal cross-sectional echo image 131B, thereby making the blood vessel 126 and the ultrasonic probe 101 parallel to each other. Specifically, the ultrasonic probe 101 can be positioned so that the extension direction of the blood vessel 126 is parallel to the longitudinal direction of the probe 101B. In other words, the robot control device 80 controls the robot arm 21 in a direction that reduces the inclination of the blood vessel 126B in the longitudinal cross-sectional echo image 131B. As a result, for example, by continuing the control to automatically correct the posture, the blood vessel 126B can always be tilted (angled) at the same angle in the echo image 131B, which is a longitudinal cross section, and the blood vessel 126B can be displayed preferably in a direction parallel to the horizontal direction of the echo image 131B. The operator (doctor) can view the blood vessel 126 maintained at a constant angle in the echo image 131, allowing him or her to concentrate on the catheter operation.

[0059] The robot control device 80 also controls the robot arm 21 based on both an echo image 131B of a longitudinal section cut along a plane parallel to the extension direction of the blood vessel 126, for example, a plane parallel to the extension direction, and echo images 131A and 131C of transverse sections cut along a plane perpendicular to the extension direction. Based on the two types of echo images 131, the robot control device 80 corrects the posture of the ultrasound probe 101 so as to reduce the angle θ2 between the blood vessel 126 and the ultrasound probe 101. This allows for correction of positional deviations between the echo images 131A-131C and the blood vessels 126A-126C in the up-down and back-and-forth directions. Preferably, the centers of the blood vessels 126A and 126C can be aligned with the center P1 of the echo images 131A and 131C.

[0060] The above-described correction using the echo image 131 can be performed at a specific imaging position, or can be performed while moving the ultrasound probe 101. By correcting the posture so that the centers of the blood vessels 126A and 126C coincide with or approach the centers P1 and P2 of the two transverse cross-sectional echo images 131A and 131C, and by correcting the posture so that the blood vessel 126B appears in the longitudinal cross-sectional echo image 131B, the ultrasound probe 101 can be moved along the blood vessel 126. In other words, simply by instructing the direction of movement from the head side to the toes side or from the toes side to the head side, the ultrasound probe 101 can be moved along the blood vessel 126 being imaged while imaging the blood vessel 126.

[0061] More specifically, Fig. 13 shows a control state in which the ultrasound probe 101 is moved along the blood vessel 126 while correcting the posture. Fig. 13 also shows the position of the blood vessel 126 as viewed from above and the imaging ranges of cross-sectional echo images 131A and 131C, for example, when imaging a patient P lying supine on a bed with the ultrasound probe 101 placed from above. The following description will be given, as an example, of a case in which an instruction to move the ultrasound probe 101 from the head toward the toes is received. Fig. 13 also illustrates the imaging ranges of the echo images 131A and 131C at four imaging positions P3, P4, P5, and P6.

[0062] For example, the operator places the ultrasonic probe 101 at the insertion position for inserting a catheter on the patient P who is lying on his back, so that the blood vessel 126 is displayed in the echo images 131A to 131C. When the robot control device 80 receives an instruction from the operator to move the ultrasonic probe 101 toward the toes, it moves the ultrasonic probe 101 toward the toes. For example, the robot control device 80 moves the ultrasonic probe 101 while a movement instruction button displayed on the operation panel 90 is pressed. The robot control device 80 executes control to correct the posture while moving the ultrasonic probe 101, and moves the ultrasonic probe 101 so as to follow the blood vessel 126.

[0063] For example, at imaging position P3 shown in FIG. 13 , the position of the blood vessel 126 is shifted forward in the imaging range of the toe-side echo image 131A. Therefore, the robot control device 80 rotates the ultrasonic probe 101 by, for example, rotating the hand unit 60 clockwise in FIG. 13 around the third rotation axis 53 parallel to the up-down direction so that the toe side tilts forward, as shown in imaging position P4. The ultrasonic probe 101 assumes a posture that images the center of the blood vessel 126 at the center in the front-to-back direction (centers P1 and P2 in FIG. 12 ) in the two cross-sectional echo images 131A and 131C. Therefore, the robot control device 80 can correct the traveling direction of the ultrasonic probe 101 by determining the direction and amount of rotation of the ultrasonic probe 101 depending on the direction and amount of deviation of the positions of the blood vessels 126A and 126C relative to the two cross-sectional echo images 131A and 131C. For example, the robot control device 80 can move the ultrasonic probe 101 from the head side to the toe side while performing correction for the above-mentioned deviation at predetermined intervals, thereby moving the ultrasonic probe 101 so as to follow the blood vessel 126.

[0064] Thereafter, at imaging position P5, the position of the blood vessel 126 is shifted backward in the imaging range of the toe-side echo image 131A. Therefore, the robot control device 80 rotates the ultrasonic probe 101 by rotating the hand unit 60 counterclockwise in FIG. 13 about the third rotation axis 53 so that the toe side tilts backward, as shown in imaging position P6. The ultrasonic probe 101 assumes a posture that images the center of the blood vessel 126 at the center in the front-to-back direction in the two cross-sectional echo images 131A and 131C. In this way, the ultrasonic probe 101 can be moved along the blood vessel 126 while correcting its posture.

[0065] Therefore, the robot control device 80 of this embodiment moves the ultrasonic probe 101 along the blood vessel 126 while maintaining the state in which the blood vessel 126 is reflected in the longitudinal cross-sectional echo image 131B and the transverse cross-sectional echo images 131A and 131C by correcting the posture of the ultrasonic probe 101. As a result, the operator can move the ultrasonic probe 101 along the blood vessel 126 while capturing an image of the blood vessel 126, simply by instructing whether to move from the head side to the toes side or from the toes side to the head side.

[0066] As described above, the robot control device 80 corrects the traveling direction of the ultrasonic probe 101 based on the positions of the blood vessels 126A and 126C in the two cross-sectional echo images 131A and 131C captured at different positions in the extension direction of the blood vessel 126. The robot control device 80 corrects the posture and traveling direction of the ultrasonic probe 101 while moving the probe in the corrected traveling direction. This allows the traveling direction of the ultrasonic probe 101 to be corrected according to the imaging position of the blood vessel 126, and the ultrasonic probe 101 to be moved along the blood vessel 126. Preferably, the ultrasonic probe 101 is first positioned and oriented so that the blood vessel 126 is reflected in the three echo images 131A to 131C, and then the ultrasonic probe 101 can be moved to follow the blood vessel 126 by simply instructing the traveling direction (toward the toes or toward the head). 13, the control of the movement from the head side to the toes side has been described, but the control of the movement in the opposite direction, from the toes side to the head side, can be similarly executed. Therefore, when moving from the toes side to the head side, the direction of travel may be corrected based on the echo image 131, and the ultrasound probe 101 may be moved along the blood vessel 126.

[0067] Incidentally, the correspondence between the terms used in this embodiment and those described in the claims will be explained below. The ultrasound device 100 of this embodiment is an example of an ultrasound device. The ultrasound probe 101 is an example of a probe of the present disclosure. The robot arm 21 is an example of an arm. The force sensor 68 is an example of an acquisition device and an external force acquisition device. The robot control device 80 is an example of a control device. The external IF 86 is an example of an acquisition device and an external interface. The external force 122 is an example of posture information. The echo image 131B is an example of posture information and a longitudinal cross-sectional echo image. The echo images 131A and 131C are examples of posture information and a transverse cross-sectional echo image. The blood vessels 126, 126A to 126C are examples of an imaging target. The patient P is an example of an object.

[0068] As described above, the present embodiment provides the following advantages: The robot control device 80, which is one aspect of the present embodiment, corrects the posture of the ultrasonic probe 101 based on the external force 122 acquired by the force sensor 68 and the echo image 131 acquired by the external IF 86. This reduces the burden on the operator of adjusting the posture of the ultrasonic probe 101, allowing the operator to concentrate on checking the echo image 131 and performing the treatment.

[0069] The present disclosure is not limited to the above-described examples, and various improvements and modifications are possible within the spirit and scope of the present disclosure. For example, the configuration of the robot system 10 in the above-described embodiment is merely an example. For example, the robot system 10 may be configured to include at least one of the operation panel 90, foot switch 91, ESR controller 92, and tablet terminal 93. Furthermore, while the robot control device 80 performs both posture correction based on the external force 122 and posture correction based on the echo image 131, it may be configured to perform only one of these. Furthermore, the robot control device 80 may perform at least one of posture correction based on the external force 122, posture correction based on the echo image 131, and posture correction based on the moment shown in FIG. 10 . Furthermore, in the above-described embodiment, the robot 20 includes a force sensor 68 as the external force acquisition device of the present disclosure, but this is not limiting. For example, the external force acquisition device of the present disclosure may be a device that acquires the force and torque acting on each joint of the robot arm 21. In this case, the robot control device 80 may detect the external force 122 based on the force or torque acting on each joint. In the above embodiment, the robot 20 is configured as a seven-axis articulated robot capable of translational motion in three directions and rotational motion in three directions. However, the number of axes may be any number. The robot 20 may also be configured as a so-called vertical articulated robot, horizontal articulated robot, or the like.

[0070] Furthermore, the target object of the present disclosure is not limited to a patient P (human body). Accordingly, the imaging target is not limited to a blood vessel 126. Furthermore, the ultrasound device of the present disclosure is not limited to a device that captures an echo image 131, but may be, for example, a device that captures echo images and performs treatment, such as high intensity focused ultrasound therapy (HIFU). In other words, the purpose of use of the ultrasound emitted from the probe can be changed as appropriate.

[0071] The scope of the present disclosure is not limited to the dependent relationships described in the claims. For example, this specification also discloses a technical idea in claim 5 where "the robot according to claim 2 or claim 3" is changed to "the robot according to any one of claims 2 to 4." For example, this specification also discloses a technical idea in claim 6 where "the robot according to claim 2 or claim 3" is changed to "the robot according to any one of claims 2 to 5." For example, this specification also discloses a technical idea in claim 7 where "the robot according to claim 1" is changed to "the robot according to any one of claims 1 to 6." For example, this specification also discloses a technical idea in claim 10 where "the robot according to claim 7 or claim 8" is changed to "the robot according to any one of claims 7 to 9." For example, this specification also discloses a technical idea in claim 12 where "the robot according to claim 1" is changed to "the robot according to any one of claims 1 to 11."

[0072] INDUSTRIAL APPLICABILITY The present disclosure is applicable to the robot manufacturing industry and the like.

[0073] 20 robot, 21 robot arm (arm), 68 force sensor (acquisition device, external force acquisition device), 80 robot control device (control device), 86 external IF (acquisition device), 100 ultrasound device (ultrasound device), 101 ultrasound probe (probe), 121 contact site, 122 external force (posture information), 131 echo image (posture information), 131A, 131C echo image (posture information, transverse cross-sectional echo image), 131B echo image (posture information, longitudinal cross-sectional echo image), 126, 126A to 126C blood vessel (imaging target), 127 distance, P patient (target), θ1, θ2 angle.

Claims

1. A robot comprising: an arm capable of holding a probe of an ultrasound device; an acquisition device that acquires posture information relating to the posture of the probe relative to an object being imaged by the ultrasound device; and a control device that controls the arm based on the posture information acquired by the acquisition device and corrects the posture of the probe.

2. The robot described in claim 1, wherein the acquisition device is an external force acquisition device that acquires the external force acting on the probe from the object as the posture information, and the control device controls the arm based on the external force acquired by the external force acquisition device and corrects the posture of the probe.

3. The robot described in claim 2, wherein the control device corrects the attitude of the probe based on the external force acquired by the external force acquisition device so as to shorten the distance between an imaging target provided within the object and the probe in contact with the surface of the object.

4. The robot described in claim 3, wherein the control device corrects the attitude of the probe so that the angle between the probe and an external force direction acting on the probe at the contact point of the object where the probe makes contact is reduced, and corrects the attitude so that the object to be imaged is reflected in the echo image.

5. The robot described in claim 1, wherein the acquisition device is an external force acquisition device that acquires the moment acting on the probe as the posture information, and the control device controls the arm so that the moment acquired by the external force acquisition device is reduced, thereby correcting the posture of the probe.

6. The robot according to claim 2 or claim 3, wherein the object is a human body, and the control device corrects the attitude of the probe in a rotational direction about a direction in which blood vessels in the human body extend, based on the external force.

7. A robot as described in claim 2 or claim 3, wherein the control device controls the arm and corrects the posture of the probe based on the external force acquired by the external force acquisition device as well as the echo image acquired by the ultrasonic device.

8. The robot described in claim 1, wherein the acquisition device is an external interface that acquires from the ultrasound device an echo image captured by the probe as the posture information, and the control device controls the arm based on the echo image acquired from the ultrasound device via the external interface, thereby correcting the posture of the probe.

9. The robot described in claim 8, wherein the control device corrects the attitude of the probe based on the echo image obtained from the ultrasonic device so as to reduce the angle between the probe and an imaging target located within the object imaged by the ultrasonic device.

10. The robot according to claim 8 or claim 9, wherein the object is a human body, and the control device controls the arm in a direction that reduces the inclination of the blood vessel in a longitudinal cross-sectional echo image of the blood vessel of the human body cut by a plane along the extension direction of the blood vessel.

11. The robot of claim 8 or claim 9, wherein the object is a human body, and the control device controls the arm based on both a longitudinal cross-sectional echo image of the blood vessel cut along a plane along the extension direction in which the blood vessels of the human body extend, and a transverse cross-sectional echo image of the blood vessel cut along a plane perpendicular to the extension direction, and corrects the attitude of the probe so as to reduce the angle between the blood vessel and the probe.

12. The robot described in claim 11, wherein the probe is an H-shaped probe, and the control device moves the probe along the blood vessel while maintaining a state in which the blood vessel is reflected in the longitudinal section echo image and the transverse section echo image taken by the H-shaped probe by correcting the attitude of the probe.

13. The robot described in claim 1, wherein the acquisition device is an external interface that acquires from the ultrasound device an echo image captured by the probe as the posture information, the control device controls the arm based on the echo image acquired from the ultrasound device to correct the posture of the probe, the target object is a human body, and the control device performs correction of the traveling direction of the probe based on the position of the blood vessel in each of two transverse echo images taken at different positions in the extension direction, the two transverse echo images being obtained by cutting the blood vessel in a plane perpendicular to an extension direction in which the blood vessel of the human body extends, and moves the probe in the corrected traveling direction while performing correction of the posture and traveling direction of the probe.

14. A method for correcting the attitude of a probe in a robot comprising an arm capable of holding a probe of an ultrasound device and an acquisition device for acquiring attitude information relating to the attitude of the probe relative to an object being imaged by the ultrasound device, the method comprising controlling the arm based on the attitude information acquired by the acquisition device to correct the attitude of the probe.

Images