Ultrasound Probe Pressure Feedback in Puncture Robots
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing puncture operation robots face challenges in controlling fitting pressure during semi-automatic puncture operations, leading to issues such as blurred ultrasonic images from low pressure or severe organ deformation from high pressure, compromising operation accuracy and safety.
Innovation Solution
A puncture operation robot equipped with a force sensing module, optical positioning acquisition module, and ultrasonic image perception module, along with a controller, calculates and displays real-time feedback to ensure appropriate pressure, using a preset force perception model to adjust the mechanical arm's action based on normal pressure thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot applies high pressing force to the ultrasonic probe, then the ultrasonic image quality improves, but severe organ squeezing and deformation occurs
Solution Approach 1:
The patent implements a feedback control mechanism where the force sensing module continuously monitors the pressing force applied by the mechanical arm to the ultrasonic probe. The controller receives real-time force data and compares it against preset thresholds, automatically adjusting the mechanical arm's position to maintain optimal pressure for ultrasonic imaging while preventing excessive force that would cause organ deformation. This closed-loop feedback system resolves the contradiction by enabling precise pressure control that prioritizes image quality while safeguarding against harmful effects.
Solution Approach 2:
The patent replaces manual mechanical pressure control with an automated sensing and control system. The force sensing module substitutes for the doctor's manual pressure judgment, providing objective, real-time force measurement. The controller then substitutes for manual adjustment, automatically regulating the mechanical arm's pressing force based on sensor feedback and preset criteria, thereby eliminating the guesswork and risk of excessive force application.
2Object-affected harmful factors
If the robot applies low pressing force to the ultrasonic probe, then organ deformation is prevented, but ultrasonic images become blurred
Solution Approach 1:
The feedback control mechanism continuously monitors the pressing force and provides real-time information to the controller. When the force drops below the minimum threshold required for clear ultrasonic imaging, the controller automatically adjusts the mechanical arm to increase pressure, ensuring sufficient image quality while preventing organ deformation through continuous monitoring and adjustment.
Solution Approach 2:
The automated force sensing and control system replaces manual pressure adjustment, providing objective measurement and automatic response. The force sensing module objectively measures the actual pressure applied, and the controller automatically adjusts the mechanical arm's position to maintain optimal pressure levels, eliminating the uncertainty and risk of insufficient pressure that plagues manual operation.
3Productivity
If fully automatic puncture is used, then operation efficiency improves, but doctor participation and safety decrease
Solution Approach 1:
The feedback control system provides real-time force information to the doctor, enabling informed decision-making during the puncture procedure. The controller displays the measured force values, allowing the doctor to monitor the pressing force and adjust the procedure accordingly, maintaining active doctor participation and safety while benefiting from the robot's positioning precision and operational efficiency.
Solution Approach 2:
The force sensing module and controller act as intermediaries between the mechanical arm and the doctor. They provide real-time force data and control recommendations, enabling the doctor to make informed decisions about the puncture procedure. This intermediary system enhances the doctor's ability to control the procedure while maintaining the benefits of robotic assistance.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances operation efficiency, accuracy, and safety by providing reliable reference information for doctors, reducing the risk of blurred images or organ deformation during semi-automatic puncture operations.
Implementation Method 1
a force sensing module arranged on the puncture mechanism, the force sensing module includes at least two one-dimensional sensors
Implementation Method 2
an optical positioning acquisition module arranged on the puncture mechanism
Implementation Method 3
an ultrasonic image perception module including an ultrasonic probe
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
A puncture operation robot and a control method therefor are disclosed. The control method includes: obtaining, by a force sensing module, a first axial force on an ultrasonic probe; calculating a second axial force on the ultrasonic probe along a central axial direction according to the first axial force and a preset force perception model; calibrating, by an optical positioning acquisition module, a normal vector of a contact point between the ultrasonic probe and skin; a normal pressure of the ultrasonic probe on the skin is calculated according to the second axial force and the normal vector; in response to the normal pressure being greater than or equal to a force criterion threshold, controlling a mechanical arm to stop pressing down; and displaying, by a display module in real time, images of an area to be punctured acquired by an ultrasonic image perception module and the optical positioning acquisition module.