Robot arm-assisted ultrasonic medical imaging system and robot arm-assisted ultrasonic medical image acquisition method

Abstract

A medical imaging system according to the present invention comprises: a multi-axis robot arm; a multi-axis robot arm control device for controlling the multi-axis robot arm; an ultrasonic probe mounted on the multi-axis robot arm; an ultrasonic image generation device for generating an ultrasonic image by controlling the ultrasonic probe; a three-dimensional image capture device; an ultrasonic gel dispenser, which is mounted on the multi-axis robot arm and accommodates an ultrasonic gel; a nozzle mounted to be adjacent to the ultrasonic probe so as to receive the ultrasonic gel from the ultrasonic gel dispenser and discharge same in front of the ultrasonic probe in the movement direction thereof; a dispenser control device for controlling discharge of the ultrasonic gel accommodated in the ultrasonic gel dispenser; and a computer for controlling the multi-axis robot arm control device, the ultrasonic image generation device, the three-dimensional image capture device and the dispenser control device.

Description

Robotic arm-assisted ultrasound medical imaging system and robotic arm-assisted ultrasound medical image acquisition method The present invention relates to a robotic arm-assisted ultrasound medical imaging system. More specifically, the present invention relates to an ultrasound medical imaging system for simultaneously acquiring ultrasound images while applying ultrasound gel using a multi-axis robotic arm. The present invention also relates to a method for acquiring ultrasound medical images using a robotic arm. More specifically, the present invention relates to a method for acquiring ultrasound medical images while applying ultrasound gel along a predetermined path using a robotic arm. Ultrasound examination devices are widely used to examine diseases of human body parts such as the thyroid, musculoskeletal system, and breasts. Ultrasonic images (or ultrasonography) are created by transmitting pulse waves through human tissues with different acoustic impedances, receiving the reflected signals, amplifying and converting them, and displaying them as images. During an ultrasound examination, if air exists between the ultrasound probe (or ultrasound probe) and the skin surface, the incident ultrasound waves will be reflected by the air, making it difficult to obtain high-quality ultrasound images. Therefore, ultrasound gel is applied to the skin surface to prevent ultrasound reflection due to the air between the probe and the skin surface. Additionally, the ultrasound gel applied to the skin surface helps the probe move smoothly by making contact with the skin surface. In ultrasound examinations, the operator typically applies the ultrasound gel directly to the skin surface using their hands or an instrument. Meanwhile, if a practitioner holds an ultrasound probe for extended periods of time, it can strain the shoulders and arms, causing pain and potentially reducing the ability to focus on the ultrasound image. To address this issue, ultrasound systems are being developed that utilize an ultrasound probe mounted on a robotic arm to acquire ultrasound images. For example, U.S. Patent Publication No. US2012 / 0271173 A1 (Title of the Invention, AUTOMATIC ULTRASONIC SCANNING SYSTEM AND SCANNING METHOD THEREOF) discloses a system for acquiring ultrasound images using a robotic arm. The system disclosed in the patent includes a multi-axis robotic arm, an ultrasound probe, a 3D image capture device, and a computer. The 3D image capture device includes a depth camera installed to capture an ultrasound scan area of ​​a patient. The computer processes the image of the depth camera to generate a scan path for moving the ultrasound probe mounted on the robotic arm to acquire an ultrasound image of the patient, and controls the multi-axis robotic arm to move the ultrasound probe to acquire an ultrasound image of the patient. The system disclosed in the patent document does not disclose the idea of ​​automatically applying ultrasound gel to the surface of the patient's skin when acquiring an ultrasound image using a robot. In addition, U.S. Patent Publication No. US 2008 / 0021317 A1 (Title of the invention, ULTRASOUND MEDICAL IMAGING WITH ROBOTIC ASSISTANCE FOR VOLUME MAGING) discloses a system for acquiring ultrasound images using a robotic arm. The ultrasound system disclosed in the patent includes a robotic mechanism, an ultrasound probe (transducer) mounted on the robotic mechanism, a force sensor, an ultrasound imaging system, a processor, and a digitizer. The digitizer acquires three-dimensional surface information of a body part to be scanned by the ultrasound probe, and the processor determines position information for scanning by the ultrasound probe using the three-dimensional surface information and controls the robotic mechanism to automatically acquire ultrasound images. In addition, the identification number of the patent document

[0038] In the present disclosure, the robotic device is described as including a gel dispenser and a suction spout, and configured to supply gel from a gel reservoir to the robotic device via a tube. The gel dispenser is also described as being positioned adjacent to an ultrasound probe (transducer), and a pump supplies the gel from the gel dispenser to the patient. However, the patent document does not disclose the specific technical configuration of the gel dispenser. In addition, the system disclosed in the patent document is configured to include a force sensor or a pressure sensor and measure the force with which the ultrasound probe contacts the patient when acquiring an ultrasound image using a robotic device. That is, the system disclosed in the patent document is configured to have the ultrasound probe mounted on the robotic device directly contact the patient and pressurize the patient with a certain pressure when acquiring an ultrasound image, and the force sensor is used to prevent excessive force from being applied to the patient. When scanning a patient's skin surface with an ultrasound probe mounted on a robotic arm to obtain ultrasound images, it is necessary to prevent ultrasound reflection by air to obtain high-quality ultrasound images. To achieve this, a device capable of simultaneously applying ultrasound gel to the patient's skin surface while moving the ultrasound probe mounted on the robotic arm is required. Furthermore, a device designed to automatically apply ultrasound gel to the skin surface without introducing air bubbles is required. In addition, a system for acquiring ultrasound images using a robot is required, which can acquire ultrasound images without the ultrasound probe directly applying force to the patient when moving the ultrasound probe mounted on the robot arm along a scan path. In other words, a system is required that can acquire ultrasound images by moving the ultrasound probe mounted on the robot arm along a scan path so that the ultrasound probe does not directly contact the patient's skin but rather contacts ultrasound gel applied to the skin surface, while simultaneously moving along the patient's skin surface. Meanwhile, providing ultrasound images of the entire cross-section of a desired area, such as a patient's breast, can be more useful in diagnosing a patient's disease. However, linear array ultrasound probes are only about 4-5 cm long, making it impossible to obtain ultrasound images of the entire breast with a single ultrasound scan. Ultrasound images of the entire breast can be obtained by synthesizing multiple cross-sectional images of the same plane. A system capable of acquiring multiple ultrasound cross-section images at a desired location using a multi-axis robotic arm and synthesizing them to provide an expanded ultrasound image is required. The present invention is intended to solve the above problems required when obtaining ultrasound images of a patient using a multi-axis robot arm. The present invention aims to provide a novel ultrasound medical imaging system capable of automatically supplying ultrasound gel when an ultrasound probe mounted on a robot arm moves. In addition, the present invention aims to provide a new ultrasonic medical imaging device configured so as not to apply excessive force to a patient when an ultrasonic probe mounted on a robot arm moves. In addition, the present invention aims to provide a method for acquiring ultrasound medical images using a novel robotic arm-assisted ultrasound medical imaging system. In addition, the present invention aims to provide a method for forming an extended ultrasound image using a novel robotic arm-assisted ultrasound medical imaging system. According to one aspect of the present invention, a robot arm-assisted ultrasound medical imaging system is provided. The medical imaging system according to the present invention includes a multi-axis robot arm, a multi-axis robot arm control device for controlling the multi-axis robot arm, an ultrasound probe mounted on the multi-axis robot arm, an ultrasound image generation device for controlling the ultrasound probe to generate an ultrasound image, and a three-dimensional image capturing device. In addition, the medical imaging system includes an ultrasound gel dispenser mounted on the multi-axis robot arm and containing ultrasound gel, a nozzle mounted adjacent to the ultrasound probe so as to receive ultrasound gel from the ultrasound gel dispenser and discharge the ultrasound gel forward in the direction of movement of the ultrasound probe, and a dispenser control device for controlling discharge of the ultrasound gel contained in the ultrasound gel dispenser. In addition, the medical imaging system includes a computer for controlling the multi-axis robot arm control device, the ultrasound image generation device, the three-dimensional image capturing device, and the dispenser control device. In particular, in the medical imaging system according to the present invention, the computer is configured to receive an ultrasound scan area image of a patient from the three-dimensional image capturing device, process the ultrasound scan area image of the patient to generate three-dimensional shape data of the ultrasound scan area, generate an ultrasound scan path for obtaining an ultrasound image by moving an ultrasound probe mounted on the multi-axis robot arm based on the three-dimensional shape data of the ultrasound scan area, and control the multi-axis robot arm control device, the ultrasound image generating device, and the dispenser control device to discharge ultrasound gel while the ultrasound probe moves along the ultrasound scan path and obtain an ultrasound image at the same time. In some embodiments, the ultrasound scan path generated by the computer may be configured such that the end of the ultrasound probe is spaced a certain distance from the surface of the ultrasound scan portion of the patient. In some embodiments, the ultrasound gel dispenser comprises a hollow housing having an inlet formed on one side thereof to be connected to an air source for introducing high-pressure air, an opening formed on the other side thereof for inserting a flexible ultrasound gel container, and mounted on the multi-axis robot arm, and a hollow housing cap having a small diameter portion configured to insert an outlet of a flexible ultrasound gel container inserted therein, and a large diameter portion configured to be sealingly connected to the opening of the hollow housing. In addition, the dispenser control device includes a valve for controlling a flow of an air source supplied to the hollow housing of the gel dispenser. In some embodiments, the ultrasonic probe is a linear array probe, and the nozzle has an inlet, an outlet, and a passage connecting the inlet and the outlet, wherein the passage has a cross-sectional length that increases from the inlet to the outlet and may be configured to be longer than the length of the shaped array probe. In some embodiments, the end of the nozzle may be positioned a distance away from the end of the ultrasound probe so as to be further from the patient's skin surface than the end of the ultrasound probe. In some embodiments, the nozzle may be configured to surround a widthwise side of the linear array probe such that the widthwise side of the linear array probe defines a passageway. According to another aspect of the present invention, a method for obtaining an ultrasound image supported by a robot arm is provided. The method for obtaining an ultrasound medical image supported by a robot arm according to the present invention is a method for obtaining an ultrasound medical image using the above-described robot arm-supported ultrasound medical imaging system. A method for obtaining an ultrasound medical image using a robot arm according to the present invention comprises the steps of: receiving an ultrasound scan area image of a patient from a depth image device in a computer; processing the received ultrasound scan area image of the patient in the computer to generate three-dimensional shape data of the ultrasound scan area; generating an ultrasound scan path for obtaining an ultrasound image by moving an ultrasound probe mounted on the multi-axis robot arm based on the generated three-dimensional shape data of the ultrasound scan area in the computer; and controlling a multi-axis robot arm, an ultrasound probe mounted on the multi-axis robot arm, and an ultrasound gel supply means installed adjacent to the ultrasound probe in the computer to discharge ultrasound gel in front of a moving path of the ultrasound probe while the ultrasound probe moves along the ultrasound scan path and simultaneously obtain an ultrasound image. In some embodiments, the ultrasound scan path generated by the computer may be configured such that the end of the ultrasound probe is spaced apart from the surface of the ultrasound scan area of ​​the patient by a predetermined distance. In addition, the ultrasound gel supply means may include an ultrasound gel dispenser mounted on the multi-axis robot arm and containing ultrasound gel, a nozzle mounted adjacent to the ultrasound probe so as to receive ultrasound gel from the ultrasound gel dispenser and discharge it in a forward direction of movement of the ultrasound probe, and a dispenser control device for controlling discharge of the ultrasound gel contained in the ultrasound gel dispenser, and the computer may be configured to control the dispenser control device to discharge the ultrasound gel. In some embodiments, the ultrasound probe is a linear array probe, and the computer can be configured to control the gel dispenser to dispense ultrasound gel such that a distance (G1) between an end of the linear array probe and a surface of the ultrasound scan area of ​​the patient is greater than a product of a length of the linear array probe and a moving speed of the linear array probe. According to another aspect of the present invention, a method for obtaining an extended ultrasound image is provided. A method for obtaining an extended ultrasound image according to the present invention obtains an extended ultrasound image using a multi-axis robot arm equipped with an ultrasound probe, a computer, and a three-dimensional image capturing device. The method for obtaining an extended ultrasound image according to the present invention includes the steps of: photographing an ultrasound scan area of ​​a patient using the three-dimensional image capturing device; receiving an ultrasound scan area image from the three-dimensional image capturing device to the computer to generate three-dimensional shape data; generating an extended image plane for obtaining an extended ultrasound image based on the generated three-dimensional shape data using the computer; generating a line scan path for obtaining a plurality of ultrasound image frames including an overlapping area for the extended image plane using the computer; controlling the robot arm equipped with the ultrasound probe to move the ultrasound probe along the generated line scan path to obtain a plurality of ultrasound image frames; selecting an ultrasound image frame corresponding to the extended image plane from among the plurality of ultrasound image frames acquired by the computer; and generating an extended ultrasound image by synthesizing an overlapping portion of the plurality of ultrasound image frames selected by the computer. In some embodiments, the step of acquiring the plurality of ultrasound image frames may further include the step of controlling the multi-axis robot arm and the ultrasound probe and the ultrasound gel supply device mounted on the multi-axis robot arm by the computer to discharge ultrasound gel in front of the movement path of the ultrasound probe while the ultrasound probe moves along the ultrasound scan path and simultaneously acquire ultrasound images. In some embodiments, the extended image plane generated in the step of generating the extended image plane may be a plane parallel to the YZ plane with respect to the reference coordinates of the multi-axis robot arm. In some embodiments, the ultrasound scan path generated by the computer may be configured such that the end of the ultrasound probe is spaced apart from the surface of the ultrasound scan area of ​​the patient by a predetermined distance (G1). The robot arm-assisted ultrasound medical imaging system according to the present invention is configured to simultaneously apply ultrasound gel to the skin surface of a patient when moving an ultrasound probe mounted on a robot arm, thereby preventing ultrasound reflection by air on the skin surface, thereby obtaining high-quality ultrasound images. In addition, the robot arm-assisted ultrasound medical imaging system according to the present invention, when moving an ultrasound probe mounted on a robot arm along a scan path, prevents the ultrasound probe from applying excessive force to the patient by allowing the ultrasound probe to move along the patient's skin surface while making contact with ultrasound gel applied to the skin surface instead of directly contacting the patient's skin. Figure 1 is a block diagram showing a multi-axis robot arm-supported ultrasound medical imaging system according to the present invention. Figure 2 is a perspective view of one embodiment of a robot arm-supported ultrasound medical imaging system according to the present invention. Figure 3 is a side view showing the installation state of the robot arm, gel dispenser, and ultrasonic probe in the embodiment illustrated in Figure 2. Figure 4 is a perspective view of one embodiment of a hand, ultrasonic probe, nozzle, and three-way solenoid valve mounted on a robot arm. Fig. 5 is a perspective view of a nozzle surrounding the ultrasonic probe illustrated in Fig. 4. Figure 6 is a plan view of the nozzle shown in Figure 5. Figure 7 is a cross-sectional view taken along line XX of Figure 6. Figure 8 is an explanatory diagram of a passage formed by the side of the ultrasonic probe in the nozzle illustrated in Figure 5. Figure 9 is a cross-sectional view of one embodiment of a gel dispenser according to the present invention. Figure 10 is an explanatory drawing showing the gel dispenser illustrated in Figure 9 in a separated state. Fig. 11 is an explanatory diagram showing a state in which ultrasonic gel is discharged from the gel dispenser illustrated in Fig. 9. Figure 12 is a diagram illustrating the path for ultrasound scanning of the patient's thyroid ultrasound area. Figure 13 is a diagram illustrating the path for ultrasound scanning of the musculoskeletal ultrasound area of ​​a patient. Figures 14 and 15 are explanatory diagrams showing the state in which ultrasound gel is supplied from a nozzle when scanning the skin surface with an ultrasound probe. Figure 16 is a flowchart showing a method for obtaining ultrasound medical images supported by a multi-axis robot arm according to the present invention. Figure 17 is a diagram illustrating the path for ultrasound scanning of the patient's right breast ultrasound area. Figure 18 is an explanatory diagram showing a state in which the ultrasound area of ​​the patient's right breast is scanned in an overlapping manner. Figure 19 is an explanatory diagram showing an extended image plane. Figure 20 is a flowchart showing a method for forming an extended ultrasound image according to the present invention. Fig. 21 is an example of an image frame corresponding to an extended image plane I4 among multiple image frames of an ultrasound scan path. Fig. 22 is an example of an extended ultrasound image obtained by overlapping and synthesizing the image frames shown in Fig. 21. Other objects, specific advantages, and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments, taken in conjunction with the accompanying drawings. In describing the present invention, the sizes and shapes of components depicted in the drawings may be exaggerated or simplified for clarity and convenience. Furthermore, terms specifically defined in consideration of the structure and operation of the present invention may vary depending on the intent or custom of the user or operator. These terms should be interpreted with meanings and concepts consistent with the purposes and effects of the present invention based on the contents throughout this specification. Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings. Fig. 1 is a block diagram showing a multi-axis robot arm-supported ultrasound medical imaging system according to the present invention, and Fig. 2 is a perspective view of one embodiment of the robot arm-supported ultrasound medical imaging system according to the present invention. Fig. 3 is a side view showing the installation state of the robot arm, the gel dispenser, and the ultrasound probe in the embodiment illustrated in Fig. 2. Referring to FIGS. 1 to 3, a medical imaging system (10) according to the present invention includes a multi-axis robot arm (300), a multi-axis robot arm control device (310) for controlling the multi-axis robot arm (300), an ultrasound image acquisition device (100), and a three-dimensional image capturing device (510). In addition, a separate camera (520) for capturing a two-dimensional image may be further provided. An ultrasonic image acquisition device (100) includes an ultrasonic probe (110) mounted on a multi-axis robot arm (300), and an ultrasonic image generation device (120) for controlling the ultrasonic probe (110) to generate an ultrasonic image. The ultrasonic probe (110) transmits an ultrasonic signal to a patient and receives an ultrasonic reflection signal (echo) from inside the patient's body. Various ultrasonic probes (110) are known. For example, a line array probe, a phase array probe, a convex probe, etc. are known, and an appropriate ultrasonic probe can be selected and used as needed in the system of the present invention. The ultrasonic image generation device (120) includes a processor, and can control the ultrasonic probe (110) to acquire an ultrasonic image and transmit it to an external device. A multi-axis robot arm (300) is a robot arm capable of at least five-axis motion control, preferably six-axis motion control. The multi-axis robot arm (300) has a plurality of joint arms (302, 304, 306) and a hand (Hand: 308), and may be a four-axis robot or a vertical multiple joint robot capable of X-axis, Y-axis, and Z-axis translational movement (XYZ axis translational movement) and Z-axis rotational movement (Z axis rotational movement: Rz). In addition, the multi-axis robot arm (300) may be a six-axis multi-joint robot arm capable of X-axis, Y-axis, and Z-axis rotational movement (XYZ axis rotational movement: Rx, Ry, Rz). The multi-axis robot arm control device (310) controls the ultrasonic probe (110) to move to a predetermined position and the pose for acquiring an ultrasonic image according to the robot arm control program (442) of the computer (400). That is, the robot arm (300) can place the ultrasonic probe (110) in any position and any pose in three-dimensional space and move it at any trajectory and at any speed. The 3D image capturing device (510) is a device that captures a patient's ultrasound image scan area to provide 3D shape information. A depth camera or a 3D camera can be used as the 3D image capturing device (510). The depth camera provides depth information of the captured image. The 3D camera (510) can be mounted on an arm (306) equipped with an ultrasound probe (110) of a multi-axis robot arm (300), as shown in FIGS. 2 and 3. In addition, the 3D camera (510) and the 2D camera (520) can be mounted on a stand, a wall, etc., independently of the multi-axis robot arm (300). In addition, the medical imaging system (10) according to the present invention includes an ultrasound gel supply device (200) for applying ultrasound gel to an ultrasound scan area of ​​a patient. The ultrasound gel supply device (200) is a device for continuously supplying ultrasound gel to a patient's skin surface when an ultrasound probe (110) mounted on a multi-axis robot arm (300) moves. The ultrasound gel supply device (200) includes a gel dispenser (210), a nozzle (240), and a dispenser control device (270). The ultrasound gel dispenser (210) is mounted on the multi-axis robot arm (300) and contains ultrasound gel. The nozzle (240) is mounted adjacent to the ultrasound probe (110) so as to receive ultrasound gel from the ultrasound gel dispenser (210) and discharge it forward in the direction of movement of the ultrasound probe (110). The dispenser control device (270) is a device for controlling the discharge of ultrasonic gel contained in the ultrasonic gel dispenser (210). Referring to FIGS. 2 and 3, the gel dispenser (210) is releasably clamped from the arm (302) by a plurality of clamps (Clamps: 320). In addition, the ultrasonic probe (110) is fixed to the hand (308) of the robot arm (300), and a pair of nozzles (240, 242) are fixed to the ultrasonic probe (110). In addition, a three-way solenoid valve (252) for selectively supplying ultrasonic gel to the pair of nozzles (240, 242) is fixed to the hand (308). The ultrasonic gel dispenser (210) and the three-way solenoid valve (252) are connected by a flexible hose (Flexible hose: 256) for passing the ultrasonic gel. Instead of a three-way solenoid valve (252) that can automatically change the flow direction of the ultrasound gel, a three-way manual valve that can selectively control the supply of the ultrasound gel (30) by manual operation of a handle may be used. In addition, a relief valve (Lift valve) may be connected to the flexible hose (256). When a pressure exceeding a predetermined pressure is applied, the relief valve opens to allow the ultrasound gel in the flexible hose (256) to be discharged to the outside, thereby protecting the device. In addition, a check valve may be installed in the hose (256) to prevent backflow of the ultrasound gel. FIG. 4 is a perspective view of one embodiment of a hand (308), an ultrasonic probe (110), a nozzle (240), and a three-way solenoid valve (252) mounted on a robot arm. In this embodiment, the ultrasonic probe (110) may be a linear array probe. The nozzle (240) is positioned forward in the direction of movement of the ultrasonic probe (110) (direction of arrow D). As illustrated, the nozzle (240) is configured to surround the outer surface of the ultrasonic probe (110). Fig. 5 is a perspective view of a nozzle surrounding the ultrasonic probe illustrated in Fig. 4, Fig. 6 is a plan view of the nozzle illustrated in Fig. 5, and Fig. 7 is a cross-sectional view taken along line XX of Fig. 6. In addition, Fig. 8 is an explanatory diagram of a passage formed by the side surface of the ultrasonic probe in the nozzle illustrated in Fig. 5. Referring to FIGS. 5 to 7, the nozzle (240) has an inlet (240a) through which ultrasound gel is supplied, an outlet (240c) through which ultrasound gel is discharged, and a passage (240b) connecting the inlet (240a) and the outlet (240c). Referring to FIG. 8, in the present embodiment, the passage (240b) and the outlet (240c) of the nozzle (240) are configured to be limited by a widthwise side surface (110a) of the ultrasonic probe (110) that is wrapped by the nozzle (240). In some embodiments, unlike the nozzle of the present embodiment, the passage and the outlet may not be configured using the widthwise side surface (110a) of the ultrasonic probe (110), but may be configured by forming a separate wall corresponding to a side surface of the ultrasonic probe. Referring to FIG. 7, the passage (240b) of the nozzle (240) of the present embodiment is configured such that the length of the cross section increases from the inlet (240a) to the outlet (240c), that is, such that the length k3 > k2 > k1 relationship exists. In some embodiments, it is preferable that the length k3 of the cross section of the outlet (240c) be configured to be longer than the array direction length of the ultrasound probe (110). Each of the nozzles (240, 242) allows the ultrasound gel to be widely spread and discharged onto the patient's skin by means of the inverted funnel-shaped passage (248). Referring to FIG. 4, the nozzle (242) is configured to surround the other side (110b) in the width direction of the ultrasonic probe (110), and, as illustrated, is positioned in the opposite direction to the direction in which the ultrasonic probe (110) is moving. Accordingly, the three-way solenoid valve (252) allows the ultrasonic gel to flow to the nozzle (240) positioned in the direction in which the ultrasonic probe (110) is moving, and blocks the flow of the ultrasonic gel to the nozzle (242). In some embodiments, only one nozzle (240) may be mounted on one side (110a) of the ultrasonic probe (110) in the width direction. In this case, a hose (256) may be directly connected to the nozzle (240) without using a three-way solenoid valve (252) for selectively supplying ultrasonic gel to the nozzle. FIG. 9 is a cross-sectional view of one embodiment of an ultrasonic gel dispenser according to the present invention, FIG. 10 is an explanatory drawing showing a state in which the gel dispenser shown in FIG. 9 is separated, and FIG. 11 is an explanatory drawing showing a state in which ultrasonic gel is discharged from the ultrasonic gel dispenser shown in FIG. 9. Referring to FIGS. 9 and 10, the ultrasound gel dispenser (210) includes a hollow housing (220) and a housing cap (222). The hollow housing (220) has an inlet (220a) formed on one side to be connected to an air source and to allow high-pressure air to flow in, and an opening (220b) formed on the other side to allow a flexible ultrasound gel container (230) to be inserted into the hollow interior. The hollow housing (220) is mounted on a robot arm (302) by a plurality of clamps (320), as illustrated in FIG. 3. The ultrasound gel container (230) is a flexible container that is flexibly deformed when an external force is applied, such as a container containing toothpaste, and a screw for screw fastening to a screw formed on the inner surface of the housing cap (222) is formed on the outlet (232). The hollow housing cap (222) has a small-diameter portion (222a) configured to insert an outlet (232) of a flexible ultrasound gel container (230) inserted therein, and a large-diameter portion (222b) configured to be sealingly connected with an opening (220b) of the hollow housing (220). In order to sealingly connect with the opening (220b) of the hollow housing (220), a spiral groove (222c) may be formed on the inner surface of the large-diameter portion (222b), a spiral protrusion (220c) may be formed on the outer surface of the opening (220b), or a screw thread may be formed for screwing the inner surface of the large-diameter portion (222b) and the outer surface of the opening (220b). In addition, an O-ring (226) can be mounted at the end of the opening (220b), and a step (222d) for pressing the O-ring (226) to the large diameter portion (222b) can be formed. The ultrasound gel dispenser (210) may further include a tube coupling (280) or tube fitting for connecting one end of the flexible hose (256) to the outlet (232) of the ultrasound gel container (230). The tube coupling (280) is inserted into the outlet (232) of the ultrasound gel container (230) through a hole (224) formed in a small diameter portion (222a) of the housing cap (222). A flange (282) is formed on the outer circumferential surface of the tube coupling (280). A plurality of O-rings (284) are installed between the housing cap (222) and the tube coupling (280) and between the ultrasound gel container (230) for sealing. In addition, the open cap (286) is detachably screw-fastened to the outer surface of the small diameter portion (222a) of the housing cap (222) for fixing the tube coupling (280). The flange (282) is caught on the inner surface of the open cap (286) to prevent the tube coupling (280) from being separated from the gel container (230). A flexible hose (264) for supplying high-pressure air is connected to the inlet (220a) of the hollow housing (220). Although not shown, the flexible hose (264) is connected to a high-pressure air tank storing high-pressure air or an air compressor for supplying high-pressure air. The dispenser control device (270) may include a microprocessor. In addition, the dispenser control device (270) may include a flow control valve for controlling the flow rate supplied from a high-pressure air source to the flexible hose (262). The high-pressure air source may be a high-pressure air tank storing compressed air or an air compressor that compresses air and supplies high-pressure air. The dispenser control device (270) may control a three-way solenoid valve (252), an air compressor (260), and a flow control valve. The dispenser control device (270) may control the operation of the three-way solenoid valve (252) to select a nozzle from among a pair of nozzles (240, 242) to discharge ultrasound gel (30). The dispenser control device (270) controls the flow control valve to control the flow rate of high-pressure air supplied to the hollow housing (220), thereby controlling the amount of ultrasound gel (30) discharged onto the patient's skin surface through the nozzle (240). The dispenser control device (270) can control the discharge amount of ultrasound gel (30) discharged onto the patient's skin surface according to the line scanning speed of the ultrasound probe (110). Referring to FIG. 11, when the dispenser control device (270) opens the flow control valve installed in the flexible hose (264), high-pressure air is introduced into the hollow housing (220) of the ultrasonic gel dispenser (210) through the inlet (220a). The flexible ultrasonic gel container (230) is compressed and deformed by the high-pressure air introduced into the hollow housing (220), and the ultrasonic gel (30) contained in the gel container (230) is discharged and supplied to the nozzle (240) through the flexible hose (256). Instead of supplying high-pressure air from the high-pressure air tank to the flexible hose (264), an air compressor (260) may be connected to the flexible hose (256) so that high-pressure air compressed by the compressor may be directly supplied to the flexible hose (264). In some embodiments, instead of supplying high pressure air to pressurize the gel container (230) to control the discharge of the ultrasound gel (30), a syringe pump may be used. The syringe pump advances a plunger inside the hollow housing (220) to pressurize and compress the gel container (230) to discharge the ultrasound gel (30). Referring to FIG. 1, a medical imaging system (10) according to the present invention includes a computer (400), and the computer (400) is connected to a multi-axis robot arm control device (310), an ultrasound image generation device (120), a dispenser control device (270), and a three-dimensional image capturing device (510) through a communication device (450) so as to be configured to exchange data and control signals. The computer (400) has an input device (420), a display (430), a memory (440) in which programs are stored, and a processor (410) for executing programs stored in the memory (440). The input device (420) includes a keyboard, a mouse (424), etc. In addition, the computer (400) has a communication device (450) for exchanging data and control signals with external devices. The communication device (450) may be a wired communication device or a wireless communication device. The memory (440) stores a 3D shape data generation program (441), a probe path generation program (442), a robot arm control program (443), an image acquisition control program (444), a dispenser control program (445), and a camera control program (446). To obtain an ultrasound image of a patient using a multi-axis robot arm (300), the above programs can be executed sequentially or simultaneously in a processor (410). The computer (400) receives an ultrasound scan area image of a patient from a three-dimensional image capturing device (510), processes the received ultrasound scan area image of the patient, and generates three-dimensional shape data of the ultrasound scan area. In addition, the computer (400) generates an ultrasound scan path for acquiring an ultrasound image by moving an ultrasound probe (110) mounted on the multi-axis robot arm (300) based on the three-dimensional shape data of the ultrasound scan area. The ultrasound scan path includes a movement path of the ultrasound probe (110), an ultrasound image acquisition position, a posture of the ultrasound probe, a movement speed, etc. In addition, the computer (400) controls the multi-axis robot arm control device (310), the ultrasound image generation device (120), and the dispenser control device (270) to discharge ultrasound gel (30) while the ultrasound probe (110) moves along the ultrasound scan path, and at the same time, receives an ultrasound image acquired from the ultrasound image generation device (120). The computer (400) controls the ultrasonic probe (110) to move translationally and / or rotationally along each of the ultrasonic scan paths (L1, L2, …, Ln) through the robot arm control device (310) by executing a robot arm control program (443), and simultaneously controls the operation of the ultrasonic probe (110) to acquire line scanning data through the ultrasonic image generation device (120) by executing an image acquisition control program (444). The ultrasonic image generation device (120) transmits the line scanning data acquired from the ultrasonic probe (110) to the computer device (400). Hereinafter, a method for scanning an ultrasound image of a patient's ultrasound scan area using a robot-based ultrasound examination system according to the present invention will be described. Fig. 12 shows an area (A) for ultrasound scanning of the thyroid gland (22) of a patient (H) and a line scan path (L1, L2, L3, ... Ln) of an ultrasound probe. Fig. 13 shows an area (A) for ultrasound scanning of the musculoskeletal system (24) of the shoulder area of ​​a patient (H) and a line scan path (L1, L2, L3, ... Ln) of an ultrasound probe. Figs. 14 and 15 are explanatory diagrams showing a state in which ultrasound gel is supplied from a nozzle when line scanning the skin surface with an ultrasound probe, and Fig. 16 is a flowchart showing a method for acquiring ultrasound medical images supported by a multi-axis robot arm according to the present invention. Referring to FIGS. 12 and 13, the skin surface of the ultrasound scan area (A) of the patient (H) has a three-dimensional curved shape. In the present embodiment, the robot arm (300) equipped with the ultrasound probe (110) is a six-axis robot arm capable of performing ultrasound scanning along the three-dimensional curved shape. Referring to FIG. 16, when a user of the system (10) wants to capture an ultrasound scan area of ​​a patient, for example, a thyroid area in FIG. 12 or a musculoskeletal area in FIG. 13, the user first captures an ultrasound scan area (A) using a 3D image capturing device (510) (S100). The user of the system can obtain an image of the ultrasound scan area (A) while viewing the display of the computer (400). In addition, when a 3D camera is mounted on the multi-axis robot arm (300), the user of the system can move the multi-axis robot arm (300) to a position to be captured and obtain an image of the ultrasound scan area (A). Next, the computer (400) receives the image captured from the 3D image capturing device (510) and generates 3D shape data of the ultrasound scan area (A) with respect to the origin of the robot arm (300). The 3D shape data generating program (441) is executed in the processor (410) to generate 3D shape data of the ultrasound scan area (A) with respect to the origin of the robot arm (300). The generated 3D shape data of the ultrasound scan area (A) may display the skin surface of the ultrasound scan area (A) in the form of a mesh and may be configured with coordinates (x, y, z) of mesh points with respect to the origin of the robot arm (300). Next, the processor (410) of the computer (400) executes a probe path generation program (442) to generate line scan paths (L1, L2, L3) of the probe (110) for the scan area (A), as illustrated in FIGS. 12 and 13. The ultrasonic scan paths (L1, L2, L3) include the movement path of the ultrasonic probe (110), the ultrasonic image acquisition position, the posture of the ultrasonic probe (110), the movement speed, etc. Next, the processor (410) of the computer (400) simultaneously executes the robot arm control program (443), the image acquisition control program (444), and the dispenser control program (445) to move the robot arm (300) equipped with the ultrasound probe (110) along the scan path (L1, L2, L3) while simultaneously supplying ultrasound gel (30) to the skin surface of the patient (H) and acquiring an ultrasound image (S130, S140, S150). In some embodiments, the ultrasonic probe (110) can acquire line scanning data at about 30 frames per second (fps). The line scanning data can include image data and position and attitude information of the probe. Additionally, the line scanning data can include position information of the ultrasonic probe in three-dimensional shape data. The computer (400) can generate a plurality of picture frames including image data of the line scanning data and position and attitude information of the ultrasonic probe by means of an image acquisition control program (444). FIG. 14 and FIG. 15 illustrate a state in which the thyroid region of a patient (H) is scanned with ultrasound along a path L1. Referring to FIG. 14, the scan path (L1) is generated so that the end of the ultrasound probe (110) is spaced apart from the surface (20) of the patient's skin by a predetermined distance (G1). In some embodiments, the coordinates of the scan paths (L1, L2, L3) may be generated by forming a virtual scan path with the three-dimensional shape surface coordinates of the ultrasound scan area (A) and adding a predetermined value (G1) to the Z-direction coordinate. When the ultrasound probe (110) moves along the scan path (L1), ultrasound gel (30) is continuously supplied to the skin surface (20) from a nozzle (240) installed in front of the ultrasound probe (110) in the moving direction. In addition, the nozzle (240) is installed so that the end of the nozzle (240) is located farther from the patient's skin surface (20) than the end of the ultrasound probe (110). Therefore, when the ultrasound gel (30) is discharged, as shown, the ultrasound gel (30) accumulates in front of the ultrasound probe (110), and when the ultrasound gel (30) is sufficiently supplied, the ultrasound gel (30) that has not come into contact with air enters the gap (G1) between the skin surface (20) and the ultrasound probe (110), so that a high-quality ultrasound image can be obtained. In particular, it is preferable that the ultrasound gel (30) does not contain air. When or after the ultrasound gel (30) that does not contain air is discharged from the nozzle (240), air may be mixed and supplied into the space between the ultrasound probe and the skin surface. To prevent this, a structure is required in which the nozzle is positioned close to the ultrasound probe and new gels are discharged into the interior of the previously discharged gel. By allowing new gels to be discharged into the interior of the previously discharged gel, a gel balloon made of ultrasound gel is created, and the end of the ultrasound probe achieves the same effect as moving inside the ultrasound gel balloon. In other words, an effect similar to performing an ultrasound examination underwater can be achieved.In order to ensure that the ultrasound gel continuously discharged from the nozzle is discharged into the previously discharged ultrasound gel, it is recommended that the end of the nozzle be placed as close as possible to the end of the ultrasound probe, and that the outlet of the nozzle be made as thin as possible. It is also desirable that the length of the nozzle be longer than the length of the ultrasound probe, but it is not necessary to make it too long or too short. For example, it is desirable that the length of the outlet of the nozzle be at least 2 / 3 and no more than 3.5 / 3 of the length of the ultrasound probe. In particular, as the ultrasound probe (110) moves, a pressure is generated in the film formed by the ultrasound gel (30) between the end of the ultrasound probe (110) and the skin surface according to the Reynolds equation, which has the effect of slightly pressurizing the skin surface, so that an effect similar to directly pressing the skin surface with the ultrasound probe (110) can be obtained. Referring to Fig. 15, the passage of the nozzle (240) is configured in an inverted funnel shape so that the ultrasound gel (30) spreads wider than the length of the ultrasound probe (110) and is discharged onto the patient's skin surface (20). As illustrated in Fig. 15, the scan path (L1) includes information that the ultrasound probe (110) is inclined at a certain angle (θ3) with respect to the Z axis. Next, it is determined whether the scan along the generated scan path (L1, L2, L3) is completed (S160), and if the ultrasound scan for all generated paths is not completed (if N in S160), steps S130, S140, and S150 are repeated. If the ultrasound scan for all generated paths is completed (if Y in S160), the processor (410) of the computer (400) stops applying ultrasound gel, stops acquiring ultrasound images, and returns the ultrasound probe to the origin (S170). Fig. 17 is a diagram illustrating a path for performing ultrasound scanning of a patient's right breast ultrasound region, Fig. 18 is a diagram illustrating a state in which the patient's right breast ultrasound region is scanned in an overlapping manner, and Fig. 19 is a diagram illustrating an extended image plane. In addition, Fig. 20 is a flowchart illustrating a method for forming an extended ultrasound image according to the present invention. Referring to Fig. 17, the skin surface of the breast (26) area of ​​the patient (H) to be scanned has a three-dimensional curved shape. In addition, the linear array ultrasound probe is about 4 to 5 cm long, so it is impossible to obtain an ultrasound image of the entire breast area with a single ultrasound scan. Even if the length of the ultrasound probe is sufficiently long, the skin surface to be scanned has a three-dimensional curved shape, so there are areas where the ultrasound gel is not completely applied, making it difficult to scan an ultrasound image of the entire breast area with a single ultrasound scan. Providing ultrasound images of the entire breast can be useful for diagnosing a patient's condition. To provide an ultrasound image of the entire breast, multiple cross-sectional images of the same plane can be synthesized. Using a multi-axis robotic arm, multiple ultrasound cross-sectional images can be acquired at a desired location, which can be advantageous for synthesizing extended ultrasound images. Hereinafter, a method is provided for providing an extended ultrasound image by scanning a skin surface having a three-dimensional curved shape. The extended ultrasound image is a cross-sectional image on the same plane that can view the entire thyroid, musculoskeletal, and breast regions, and is an ultrasound image formed by synthesizing multiple image frames. Fig. 17 shows a scan area (A) for performing an ultrasound scan of the right breast (26) of a patient (H) and line scan paths (L1, L2, L3, L4, L5, L6) indicated in the scan area (A). The line scan paths (L1, L2, L3, L4, L5, L6) are paths for acquiring ultrasound images of the patient's breast area by moving the ultrasound probe (110) mounted on the robot arm (300). As shown in Fig. 17, the interval between the paths is formed to be shorter than the length of the ultrasound probe (110), that is, so that the ultrasound image frames obtained when scanning along the scan path with the ultrasound probe (110) are overlapped and captured. In addition, Fig. 17 shows an extended image plane (I1, I2, I3, I4) to be obtained by synthesizing ultrasound images acquired from the ultrasound scan paths (L1, L2, L3, L4, L5, L6). FIG. 18 and FIG. 19 are explanatory diagrams showing an extended image plane (I4). As shown in FIG. 18, the interval between the ultrasound scan paths is formed so that the ultrasound probe (110) overlaps. In addition, when the ultrasound gel supply device is mounted on the robot arm, as shown in FIG. 18, the ultrasound scan path can be generated so that the ultrasound probe (110) is spaced apart from the skin surface (26) by a certain distance (G1). In the case of a robot arm without an ultrasound gel supply device, the user can apply ultrasound gel to the skin surface in advance, and the ultrasound scan path generated by the computer can be generated so that the ultrasound scan path is in close contact with the skin surface. Referring to Fig. 19, the extended image plane (I4) can be expressed mathematically as follows. Here, r0 is a distance vector from the reference coordinate origin of the robot arm (300) to the point P0 (X0, Y0, Z0) on the scan path L4, and r is a distance vector of an arbitrary position on the extended image plane (I4). In addition, n is a normal vector of the extended image plane I4. As illustrated in FIGS. 18 and 19, in the present embodiment, the extended image plane (I4) is a plane parallel to the ZY plane. Hereinafter, a method for obtaining an extended ultrasound image will be described with reference to FIGS. 1 to 3 and FIG. 20. Extended ultrasound images can be acquired using a multi-axis robotic arm system according to the present invention, as illustrated in FIGS. 1 to 3, equipped with an automatic ultrasound gel supply device. Furthermore, extended ultrasound images can also be acquired using a multi-axis robotic arm system without an automatic ultrasound gel supply device. If an automatic ultrasound gel supply device is not provided, the user must first apply ultrasound gel to the patient's skin surface. First, a 3D image of the ultrasound scan area (A) of the patient is captured by a 3D image capturing device (510) to obtain a 3D image of the ultrasound scan area (A) (S200). Next, a computer (400) receives an image of an ultrasonic scan area from a 3D image capturing device (510), and executes a 3D shape data generation program (441) to generate 3D shape data of the ultrasonic scan area (S210). Next, extended image planes (I1, I2, I3, I4) are generated to obtain extended ultrasound images for the 3D shape data generated by the computer (400) (S220). Extended ultrasound images have preferred intervals and angles depending on the organ for which ultrasound imaging is performed. For example, when obtaining extended ultrasound images of the breast or thyroid gland, it is preferable to generate extended image planes perpendicular to the direction of travel of the central axis of the ultrasound probe and parallel to each other. Since the ultrasound image quality is good when the ultrasound probe is perpendicular to the skin surface, when the scan path of the ultrasound probe is curved, it is preferable to form the extended image planes so that they are perpendicular to the probe travel path and form a fixed angle. The extended image plane (I4) illustrated in FIG. 19 is generated at regular intervals parallel to the ZY plane of the reference coordinate system of the robot arm (300). Next, a probe path generation program (442) is executed on a computer (400) to generate ultrasound scan paths (L1, L2, L3, L4, L5, L6) for acquiring a plurality of ultrasound image frames including overlapping areas for an extended image plane (S230). When an ultrasound gel automatic supply device is mounted on the multi-axis robot arm system (300), the ultrasound scan paths (L1, L2, L3, L4, L5, L6) are generated so that the ultrasound probe (110) is spaced a certain distance from the skin surface. Next, a robot arm (300) equipped with an ultrasonic probe (110) is controlled by a computer (400) to move the ultrasonic probe (110) along the generated line scan paths (L1, L2, L3, L4, L5, L6) to obtain a plurality of ultrasonic image frames (S240). The computer (400) can generate a plurality of picture frames (F1, F2, ..., Fn) including image data of line scanning data and position and attitude information of the ultrasonic probe by the image acquisition control program (444). Each acquired ultrasonic image frame includes scan path information (L1 - L6) of the ultrasonic probe (110) when acquiring the ultrasonic image, extended image plane information (I1 - I4), position information, attitude information of the ultrasonic probe, etc. The position and attitude information of the ultrasonic probe can be expressed as coordinates of a coordinate system based on a multi-axis robot arm. For example, it can be the coordinates P(X, Y, X) of the center point of the end of the ultrasonic probe (110) of FIG. 15 and the inclination angle W(θ1, θ2, θ3) of the central axis (CL) of the ultrasonic probe (110) with respect to each of the X, Y, and Z axes. When acquiring multiple ultrasound image frames using a multi-axis robot arm system (10) equipped with an ultrasound gel automatic supply device, the ultrasound image frames can be acquired while simultaneously controlling the multi-axis robot arm, the ultrasound probe mounted on the multi-axis robot arm, and the ultrasound gel supply device with a computer (400). In this case, the computer (400) discharges ultrasound gel (30) in front of the movement path of the ultrasound probe (110) while the ultrasound probe (110) moves along the ultrasound scan path, as shown in FIGS. 14 and 15, and simultaneously acquires ultrasound images. In this case, the ultrasound scan path generated by the computer (400) is configured so that the end of the ultrasound probe (110) is spaced apart from the skin surface of the ultrasound scan area by a certain distance (G1). Next, among the multiple ultrasound image frames acquired from the computer (400), ultrasound image frames corresponding to each of the extended image planes (I1 - I4) are selected (S250). FIG. 21 illustrates ultrasound image frames for each image path selected corresponding to the extended image plane (I4). Each ultrasound image frame includes path information (L1 - L6), extended image plane information (I4), and position (P) and posture information (W) of the ultrasound probe when capturing each ultrasound image. Next, a plurality of ultrasound image frames selected by the computer (400) are synthesized to generate an extended ultrasound image (S260). FIG. 22 illustrates an extended ultrasound image generated by synthesizing each of the ultrasound image frames illustrated in FIG. 21. The synthesis of the extended ultrasound image can be performed using the position and attitude information of the ultrasound probe and the overlapping information of the path included in each ultrasound image frame. Alternatively, the synthesis of the extended ultrasound image can be performed using a machine learning or numerical calculation algorithm. The computer (400) can generate an extended ultrasound image (or a panoramic image) from picture frames by executing an image processing program. In addition, the computer (400) can remove the overlapping portion between image frames (e.g., L1, L2) captured on adjacent paths by a stitching algorithm in order to generate the panoramic image by executing the image processing program. The embodiments described above are not intended to limit the scope of the present invention. Those skilled in the art may modify, alter, or substitute various embodiments within the scope of the claims, other than those described herein. Such modifications should be understood to fall within the scope of the present invention.

Claims

1. Multi-axis robot arm, A multi-axis robot arm control device for controlling the above multi-axis robot arm, An ultrasonic probe mounted on the above multi-axis robot arm, An ultrasonic image generating device for generating an ultrasonic image by controlling the above ultrasonic probe, 3D image capturing device, An ultrasound gel dispenser mounted on the multi-axis robot arm and containing ultrasound gel, a nozzle mounted adjacent to the ultrasound probe so that ultrasound gel is supplied from the ultrasound gel dispenser and discharged in the forward direction of movement of the ultrasound probe, and a dispenser control device for controlling discharge of the ultrasound gel contained in the ultrasound gel dispenser. A computer for controlling the multi-axis robot arm control device, the ultrasonic image generating device, the three-dimensional image capturing device, and the dispenser control device, The above computer, The patient's ultrasound scan area image is provided from the above 3D image capturing device, Processing the patient's ultrasound scan area image to generate 3D shape data of the ultrasound scan area, Based on the 3D shape data of the above ultrasound scan area, an ultrasound scan path is created to obtain an ultrasound image by moving an ultrasound probe mounted on the multi-axis robot arm, A robot arm-assisted ultrasound medical imaging system configured to control the multi-axis robot arm control device, the ultrasound image generation device, and the dispenser control device to discharge ultrasound gel and simultaneously acquire ultrasound images while the ultrasound probe moves along the ultrasound scan path.

2. In paragraph 1, A robotic arm-assisted ultrasound medical imaging system in which the ultrasound scan path generated by the computer is configured such that the end of the ultrasound probe is spaced a certain distance from the surface of the ultrasound scan portion of the patient.

3. In paragraph 1, The above ultrasound gel dispenser, A hollow housing having an inlet formed on one side to allow high-pressure air to flow in and connected to an air source, and an opening formed on the other side to allow a flexible ultrasonic gel container to be inserted, and mounted on the multi-axis robot arm; A hollow housing cap having a small diameter portion configured to insert an outlet of a flexible ultrasound gel container inserted therein, and a large diameter portion configured to be sealingly connected to an opening of the hollow housing, A robotic arm-assisted ultrasound medical imaging system, wherein the dispenser control device includes a valve for controlling the flow of an air source supplied to the hollow housing of the gel dispenser.

4. In any one of paragraphs 1 to 3, The above ultrasonic probe is a linear array probe, A robot arm-supported ultrasound medical imaging system, wherein the nozzle has an inlet, an outlet, and a passage connecting the inlet and the outlet, and the passage is configured such that the cross-sectional length increases from the inlet to the outlet.

5. In paragraph 4, A robotic arm-supported ultrasound medical imaging system in which the end of the nozzle is positioned at a certain distance from the end of the ultrasound probe so as to be located further from the patient's skin surface than the end of the ultrasound probe.

6. In paragraph 4, A robotic arm-assisted ultrasound medical imaging system wherein the nozzle is configured to surround a widthwise side of the linear array probe, such that the widthwise side of the linear array probe defines a passageway.

7. A method for obtaining ultrasound medical images using a multi-axis robot arm, A step of receiving an ultrasound scan area image of a patient from a depth imaging device on a computer, In the above computer, a step of processing the ultrasound scan area image of the patient provided to generate three-dimensional shape data of the ultrasound scan area, In the above computer, a step of generating an ultrasonic scan path for obtaining an ultrasonic image by moving an ultrasonic probe mounted on the multi-axis robot arm based on the generated 3D shape data of the ultrasonic scan area, A method for acquiring ultrasound medical images assisted by a robot arm, comprising the step of controlling the multi-axis robot arm and the ultrasound probe and ultrasound gel supply device mounted on the multi-axis robot arm by the computer, thereby discharging ultrasound gel in front of the movement path of the ultrasound probe while the ultrasound probe moves along the ultrasound scan path and simultaneously acquiring an ultrasound image.

8. In paragraph 7, A method for obtaining ultrasound medical images using a robot arm, wherein the ultrasound scan path generated by the computer is configured such that the end of the ultrasound probe is spaced apart from the surface of the patient's ultrasound scan area by a certain distance (G1).

9. In paragraph 7 or 8, The above ultrasound gel supply means includes an ultrasound gel dispenser mounted on the multi-axis robot arm and containing ultrasound gel, a nozzle mounted adjacent to the ultrasound probe so as to receive ultrasound gel from the ultrasound gel dispenser and discharge it in the forward direction of movement of the ultrasound probe, and a dispenser control device for controlling discharge of the ultrasound gel contained in the ultrasound gel dispenser. A method for acquiring ultrasound medical images assisted by a robotic arm, wherein the computer controls the dispenser control device to dispense ultrasound gel.

10. In paragraph 7 or 8, The above ultrasonic probe is a linear array probe, A method for obtaining ultrasound medical images assisted by a robot arm, wherein the computer controls the gel dispenser to discharge ultrasound gel so that the distance (G1) between the end of the linear array probe and the surface of the patient's ultrasound scan area is greater than the product of the length of the linear array probe and the moving speed of the linear array probe.

Images