The invention provides a remote
robot ultrasonic
system and a control method thereof, and belongs to the technical field of medical robots and
ultrasonic detection. The
system comprises a master terminal subsystem and a slave terminal subsystem which are connected through a network. The slave end subsystem is deployed on the patient side, comprises a six-axis mechanical arm, an ultrasonic acquisition instrument, a six-dimensional force /
torque sensor and a slave end control computer, and is used for acquiring force sense,
pose and ultrasonic image data and resolving rheological parameters of contact tissues in real time. The main terminal subsystem is deployed on a doctor side, comprises a force feedback operation device, a first main terminal control computer, a second main terminal control computer and a
mixed reality display device, and is used for realizing local force field reconstruction and
mixed reality scene rendering and display. The control method comprises a
system initialization stage and a
cycle control stage. According to the method, the influence of network time
delay is reduced through parameterized force transmission, deep fusion of force sense and visual information is realized, and intelligent operation guidance based on
image quality is provided, so that the stability of remote ultrasonic operation is improved.