CN113796895B

CN113796895B - Ultrasonic scanning device

Info

Publication number: CN113796895B
Application number: CN202111127444.8A
Authority: CN
Inventors: 张朋; 赵保亮; 胡颖; 雷隆; 王子文; 姚亮; 何玉成; 靳海洋
Original assignee: Shenzhen Broadcare Medical Robot Co ltd; Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Broadcare Medical Robot Co ltd; Shenzhen Institute of Advanced Technology of CAS
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2023-07-07
Anticipated expiration: 2041-09-26
Also published as: CN113796895A

Abstract

The application provides an ultrasonic scanning device, include: a hand-held housing for holding by a doctor, the hand-held housing having an opening; the ultrasonic probe is fixedly arranged in the handheld shell, and the front end part of the ultrasonic probe penetrates out to the outside through the opening; the positioning target point is fixedly arranged on the handheld shell and is used for the optical positioning tracking equipment to acquire the pose of the ultrasonic probe; and the force transducer is used for measuring the acting force at the contact point of the ultrasonic probe and the skin of the patient in the pose. The ultrasonic scanning device provided by the application can collect operation experience data of a doctor during ultrasonic scanning, so that a characterization model of the doctor operation experience can be established, and training data is provided for an ultrasonic scanning robot.

Description

Ultrasonic scanning device

Technical Field

The application belongs to the technical field of ultrasound, and particularly relates to an ultrasound scanning device.

Background

Medical ultrasound examination is becoming the most commonly used medical imaging technique by virtue of low cost, no radiation, real-time performance, and the like. At present, the traditional manual detection mode is easy to cause repeated labor injury to doctors, the imaging quality depends on the working experience and operation method of the doctors, in addition, the limitation of space is difficult to break through between the doctors and patients, and the problems can be effectively avoided by adopting an ultrasonic detection robot to replace manual detection.

However, the current ultrasonic detection robot only performs constant-speed standardized scanning on a patient, but cannot make a personalized judgment path based on knowledge of human anatomy and pathology like a doctor and combines information given by the current ultrasonic image, so that a high-quality image and a full-coverage inspection result without leakage points are obtained. In the related art, in order to improve the automation degree of an ultrasonic robot, a great amount of clinical ultrasonic scanning experience data of a doctor is generally obtained to perform reinforcement learning training on the ultrasonic detection robot. However, the prior art lacks an ultrasound scanning device for acquiring the ultrasound scanning experience data of a doctor.

Disclosure of Invention

The application provides an ultrasonic scanning device can gather doctor's ultrasonic scanning experience data to can establish doctor's operation experience's characterization model, provide training data for ultrasonic scanning robot, be favorable to promoting ultrasonic scanning robot's autonomous control and safety control research progress.

In order to solve the problems, the technical scheme provided by the application is as follows: an ultrasound scanning device, comprising: a hand-held housing for holding by a doctor, the hand-held housing having an opening; the ultrasonic probe is fixedly arranged in the handheld shell, and the front end part of the ultrasonic probe penetrates out to the outside through the opening; the positioning target point is fixedly arranged on the handheld shell and is used for the optical positioning tracking equipment to acquire the pose of the ultrasonic probe; and the force transducer is used for measuring the acting force at the contact point of the ultrasonic probe and the skin of the patient in the pose.

In one possible design, the ultrasonic scanning device further comprises a mounting seat fixedly sleeved on the periphery of the tail end of the ultrasonic probe, and the ultrasonic probe is fixedly mounted in the handheld shell through the mounting seat.

In one possible design, the force sensor is a force and moment sensor, the mounting seat is fixed at the tail end of the handheld shell through the force and moment sensor, and a gap is arranged between the ultrasonic probe and the inner wall of the handheld shell.

In one possible design, the mount is connected to the force and moment sensor via a sensor mount, and the force and moment sensor is connected to the hand-held housing via a housing connection.

In one possible design, the handheld shell is formed by splicing two oppositely arranged half shells, the ultrasonic scanning device further comprises an annular connecting piece which is sleeved on the periphery of the mounting seat and fixedly connected with the tail ends of the half shells, and a gap is formed between the annular connecting piece and the mounting seat.

In one possible design, the mounting seat is provided with a mounting bracket, and a plurality of positioning targets are fixedly mounted on the mounting bracket.

In one possible design, the gap between the mount and the ultrasound probe is filled with silicone.

In one possible design, a mounting groove is formed in the mounting seat, and a fixing clamping block for fixedly clamping the ultrasonic probe cable is arranged in the mounting groove.

In one possible design, the ultrasound scanning device further comprises a mounting module fixedly disposed on the hand-held housing, the mounting module for connecting the ultrasound probe to an ultrasound scanning robot.

In one possible design, the load cell measures normal and tangential forces of the ultrasound probe at the patient skin contact point.

The ultrasonic scanning device that this application embodiment provided is equipped with location target spot and force transducer on, ultrasonic scanning device can obtain the position appearance of ultrasonic probe when the doctor carries out the ultrasonic scanning through location target spot and optical location tracking system, can obtain the effort of doctor's operation ultrasonic probe under every position appearance through force transducer, like this, in the in-process that the doctor carries out the ultrasonic scanning to the patient just can gather operation experience data, thereby can establish doctor operation experience's characterization model, provide training data for ultrasonic scanning robot, ultrasonic robot can realize autonomous ultrasonic scanning through this characterization model, be favorable to promoting ultrasonic scanning robot's autonomous control and safety control research progress. In addition, the ultrasonic scanning device provided by the embodiment of the application is simple in structure and convenient to operate, and cannot influence the daily work of an ultrasonic examination doctor.

Drawings

Fig. 1 is a schematic diagram of the overall structure of an ultrasonic scanning device according to an embodiment of the present application;

FIG. 2 is a side view of an ultrasound scanning apparatus provided in an embodiment of the present application;

FIG. 3 is an exploded view of an ultrasound scanning apparatus according to an embodiment of the present application;

FIG. 4 is a schematic cross-sectional view of an ultrasound scanning apparatus according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a load cell of an ultrasound scanning device according to an embodiment of the present application;

fig. 6 is a schematic overall structure of an ultrasound scanning apparatus according to another embodiment of the present application;

fig. 7 is a schematic flow chart of an ultrasonic scanning device according to an embodiment of the present application for acquiring an operation force.

Reference numerals: 10. a hand-held housing; 11. an opening; 12. a half shell; 20. an ultrasonic probe; 30. positioning a target point; 31. a mounting bracket; 32. a mounting plate; 33. a bolt; 40. a load cell; 41. a cable end; 50. a mounting base; 51. a mounting groove; 60. a sensor base; 70. a housing connector; 80. an annular connecting member; 90. fixing the clamping block; 100. and (5) installing a module.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In the description of the embodiments of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise. In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present application, it should be understood that the terms "inner," "outer," "upper," "bottom," "front," "rear," and the like indicate an orientation or a positional relationship (if any) based on that shown in fig. 1, merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.

Medical ultrasound examination is a technique for acquiring different reflected signals by using different acoustic impedances of tissue structures to an ultrasonic beam, thereby judging internal structural information of biological tissues. The ultrasonic examination has the advantages of low cost, no radiation, real-time performance and the like, becomes the most widely-used image diagnosis mode in the clinical application at present, and has wider application in the aspects of health examination, medical diagnosis and navigation.

However, conventional medical ultrasound scanning is performed mainly by scanning a corresponding body part of a patient with an ultrasound probe held by a doctor to acquire three-dimensional structural features of the examined part of the patient. Therefore, the problems that on one hand, the condition that fatigue, hand shake, unstable pressure and the like are difficult to avoid to influence the imaging quality when a doctor holds an ultrasonic probe for a long time can be solved, on the other hand, urban and rural medical resource distribution is uneven, and high-quality images and full-coverage scanning without leakage points depend on the operation experience of the doctor to a great extent, so that the ultrasonic inspection has obvious regional limitation. In order to avoid the problem of traditional ultrasonic scanning, the robot-assisted ultrasonic scanning system has profound significance, and is also a development trend of future ultrasonic scanning robots.

With the development of robot technology, artificial intelligence, 5G and other technologies, the robot-assisted ultrasound scanning technology has rapidly developed. Ultrasonic robot technology can be classified into two categories of semi-autonomous ultrasound and fully autonomous ultrasound according to the degree of automation.

The semi-autonomous ultrasonic is mainly focused on the research of a semi-autonomous algorithm for cooperatively controlling a robot and a person, and the main hand end of a remote control ultrasonic scanning robot is used for controlling a plurality of degrees of freedom of the slave hand end of the person to be detected, so that the remote scanning work of the person to be detected is completed. However, the current remote ultrasonic scanning technology has low presence, can not visually reflect the control of the ultrasonic probe to the hand of a remote operation doctor, and also has difficulty in well reflecting the pressure of the doctor on the probe to the skin of a patient.

"fully autonomous ultrasound" is also in a preliminary stage of development, aimed at replacing to some extent the work of ultrasound scanning doctors with robots and computer-aided systems. However, the ultrasonic scanning robot adopts the thought of industrial part processing, and can only perform standardized scanning on one or more specific organs of a human body, and the scanning path track is single.

However, clinical ultrasound scanning doctors do not just perform constant-speed standardized scanning like an ultrasound robot when scanning patients, but instead perform personalized judgment paths based on knowledge of human anatomy and pathology and combining information given by current ultrasound images, so that high-quality images and full-coverage inspection results without leakage points are obtained. At present, an artificial intelligence algorithm enables an ultrasonic scanning robot to be further in the aspect of scanning intelligence, the ultrasonic scanning robot is subjected to reinforcement learning training mainly by acquiring a large amount of clinical ultrasonic scanning experience data of doctors, and then autonomous ultrasonic scanning is realized through a scanning thought decision maker and a video auxiliary analysis system. However, the prior art does not provide an ultrasound scanning device for acquiring ultrasound scanning experience data of a doctor.

According to the ultrasonic scanning device, the positioning target point and the force transducer are arranged on the traditional ultrasonic scanning device, so that the ultrasonic scanning device can collect operation experience data of a doctor during ultrasonic scanning, and training data are provided for an ultrasonic scanning robot.

Fig. 1 is a schematic diagram of an overall structure of an ultrasonic scanning device according to an embodiment of the present application. Fig. 2 is a side view of an ultrasound scanning apparatus provided in an embodiment of the present application. Fig. 3 is a schematic exploded view of an ultrasound scanning apparatus according to an embodiment of the present application. Fig. 4 is a schematic cross-sectional view of an ultrasound scanning apparatus according to an embodiment of the present application. Fig. 5 is a schematic structural diagram of a load cell of an ultrasonic scanning device according to an embodiment of the present application. As shown in fig. 1-5, an ultrasound scanning apparatus provided in an embodiment of the present application includes a handheld housing 10, an ultrasound probe 20, a positioning target 30, and a load cell 40.

The interior of the handheld housing 10 is in a cavity structure and has an opening 11, the ultrasonic probe 20 is installed in the cavity, and the front end portion of the ultrasonic probe 20 passes through the opening 11 and out of the handheld housing 10 to the external environment, so that a doctor can make the front end portion of the ultrasonic probe 20 contact with a part to be scanned of a patient by holding the handheld housing 10, and further can acquire an ultrasonic image of the part through the ultrasonic probe 20.

The handheld shell 10 is fixedly provided with a positioning target point 30, the positioning target point 30 and the ultrasonic probe 20 are relatively fixed in position, the positioning target point 30 can be positioned through optical positioning tracking equipment (such as a binocular camera and an NDI), and then the pose of the ultrasonic probe 20 during ultrasonic scanning of a doctor can be indirectly acquired according to the acquired positioning and internal algorithm.

The ultrasonic scanning device is also provided with a force transducer 40, and the force exerted by the ultrasonic probe 20 on the skin contact point of the patient in the current pose can be obtained through the force transducer 40.

Because doctors can make personalized judgment paths according to the information given by the current ultrasonic image based on the knowledge of human anatomy and pathology, ultrasonic examination is carried out along the planned motion track, when the pathological change point is met, the ultrasonic probe 20 is rotated to scan pathological changes or tissues at various angles, and the definition of the ultrasonic image during ultrasonic scanning is closely related to the acting force of the ultrasonic probe 20 on the position to be scanned of a patient. Accordingly, the present application provides for locating the target 30 and the load cell 40 on a conventional ultrasound scanning device to obtain the pose (i.e., position and posture) of the ultrasound probe 20 and the force at the current pose of the physician when performing an ultrasound scan. Further, by continuously acquiring a plurality of poses of the ultrasonic probe 20 at different points in time, the motion trajectory of the ultrasonic probe 20 can be further determined.

When a doctor uses the ultrasonic scanning device provided by the application to carry out ultrasonic scanning on a patient, the ultrasonic scanning device can acquire the pose of the ultrasonic probe 20 through the positioning target 30 and the optical positioning tracking equipment matched with the positioning target, then the acting force of the ultrasonic probe 20 at the contact point with the skin of the patient under the current pose is measured through the load cell 40, then the autonomous ultrasonic scanning can be realized through the characterization model according to the pose (movement locus) of the ultrasonic probe 20 and the acting force data under each pose in the whole scanning process of the doctor, namely the ultrasonic scanning operation experience data of the doctor, which are acquired, and the characterization model of the operation experience of the doctor can be established according to the experience data.

The ultrasonic scanning device that this application provided is equipped with location target 30 and force transducer 40 on, ultrasonic scanning device can obtain the position appearance of ultrasonic probe 20 when the doctor carries out the ultrasonic scanning through location target 30 and optical location tracking system, can obtain the effort of doctor operation ultrasonic probe 20 under every position appearance through force transducer 40, like this, in the in-process that the doctor carries out the ultrasonic scanning to the patient just can gather operation experience data, thereby can establish doctor operation experience's characterization model, provide training data for ultrasonic scanning robot, ultrasonic robot can realize autonomous ultrasonic scanning through this characterization model, be favorable to promoting ultrasonic scanning robot's autonomous control and safety control research progress. In addition, the ultrasonic scanning device provided by the embodiment of the application is simple in structure and convenient to operate, and cannot influence the daily work of an ultrasonic examination doctor.

As shown in fig. 1 to 5, in the embodiment of the present application, the ultrasonic probe 20 is further provided with a mounting seat 50, the mounting seat 50 has a mounting groove 51 penetrating up and down, the tail end of the ultrasonic probe 20 passes through the mounting groove 51 and is fixedly connected with the mounting seat 50, and the ultrasonic probe 20 is fixedly mounted in the handheld housing 10 through the mounting seat 50.

Further, the mounting groove 51 in the mounting base 50 has an opening, and a fixing clamp block 90 for fixing and clamping the cable of the ultrasonic probe 20 is provided in the mounting groove 51. The mounting groove 51 is a closing-in groove, and has a consistent caliber along the height direction, and the cable at the tail end of the ultrasonic probe 20 is gradually thinned, so that the cable can not move at will by arranging the fixed clamping block 90, thereby avoiding the cable from interfering with the positioning target point 30 on the handheld housing 10.

As shown in fig. 1-5, in the embodiment of the present application, one end of the load cell 40 is connected to the outer side wall of the mounting base 50 through the sensor base 60, and the other end is connected to the handheld housing 10 through the housing connector 70, that is, the handheld housing 10 is connected to the mounting base 50 through the housing connector 70, and the mounting base 50 is fixedly connected to the tail end of the handheld housing 10 through the load cell 40.

It should be noted that, there is a gap between the mounting base 50 and the hand-held housing 10, and there is a gap between the hand-held housing 10 and the ultrasonic probe 20. The force transducer 40 can accurately receive the acting force transmitted by the ultrasonic probe 20 through the mounting seat 50 on the basis of ensuring stable connection among the three through the mounting seat 50 and the handheld shell 10 and the gap between the handheld shell 10 and the ultrasonic probe 20, and the interference of the handheld shell 10 on the acting force transmission can be effectively avoided. In addition, the gap between the inner side wall of the mounting seat 50 and the ultrasonic probe 20 is filled with silica gel, so that the connection between the mounting seat 50 and the ultrasonic probe 20 is firmer, and the accurate transmission of acting force can be ensured.

Specifically, the Force sensor 40 may be a Force/Torque sensor (F/T sensor), or may be a multi-axis Force and Torque sensor (e.g., a tri-axis Force and Torque sensor or a six-axis Force and Torque sensor, etc.), where the Force sensor 40 is a multi-axis Force and Torque sensor, it is required that one axis of the Force sensor 40 is parallel to the central axis of the ultrasonic probe 20, and the other axis is perpendicular to the central axis of the ultrasonic probe 20 and perpendicular to the connection surface of the mount 50 to the Force sensor 40, which may measure forces and torques in multiple axial directions. In addition, as shown in fig. 5, a cable end 41 is also provided on the outer side wall of the load cell 40.

In the present embodiment, the load cell 40 is capable of measuring both the normal force of the ultrasound probe 20 at the patient's skin contact point, which is the positive pressure of the ultrasound probe 20 perpendicularly against the patient's tissue, and the tangential force, which is the resistance to the motion of the ultrasound probe 20 perpendicular to the normal force and directed along the surface of the ultrasound probe 20.

In the process of ultrasonic scanning of body tissues of a patient, the quality of an ultrasonic image is closely related to the normal force of the ultrasonic probe 20, the tangential force of the ultrasonic probe 20 is related to different positions and normal forces of tissues, and due to the difference of human tissues, the normal force and the tangential force of the ultrasonic probe 20 are changed or fluctuated when the ultrasonic probe passes through glandular tissues or nodular tissues, so that the normal force and the tangential force of the ultrasonic probe 20 need to be measured simultaneously.

As shown in fig. 1-5, in the embodiment of the present application, a mounting bracket 31 is disposed on an upper end surface of the mounting seat 50, and a plurality of positioning targets 30 are fixedly and alternately mounted on the mounting bracket 31.

Optionally, the number of the plurality of positioning targets 30 is three or more, for example, 4 or five, so that the optical positioning and tracking system can more accurately determine the pose of the positioning targets 30 on the mounting base 50.

Specifically, the mounting bracket 31 includes an "L" bracket and a mounting plate 32, the bottom end of the "L" bracket is detachably fixed on the upper end surface of the mounting seat 50 by a bolt 33, a plurality of positioning targets 30 are disposed on the disk surface of the mounting plate 32, and the other end of the disk surface is fixedly connected with the "L" bracket.

When a doctor performs ultrasonic scanning on a patient, the ultrasonic scanning device provided by the embodiment of the application can identify the position and the gesture of the positioning target 30 installed on the mounting seat 50 according to the triangle formed by the optical positioning tracking device and the positioning target 30 through the optical positioning tracking device, such as the binocular camera, the NDI and other tracking devices, and can obtain the position and the gesture of the ultrasonic probe 20 as the position and the gesture of the positioning target 30 relative to the ultrasonic probe 20 are known, and can obtain the ultrasonic scanning operation experience data of the doctor by combining the collected position and gesture point clouds of the ultrasonic probe 20 and the acting force under the state of each gesture, thereby establishing the characterization model of the operation experience of the doctor.

Further, as shown in fig. 1-5, the handheld housing 10 is formed by splicing two oppositely arranged half-shells 12, the tail ends of the two half-shells 12 are fixedly connected through an annular connecting piece 80, and the annular connecting piece 80 is sleeved on the periphery of the mounting seat 50 and has a gap with the mounting seat 50. By providing a gap between the annular connector 80 and the mount 50, the force sensor 40 can more accurately measure the force on the ultrasound probe 20.

Alternatively, the two half-shells 12 are fixedly connected to the annular connecting element 80 by means of bolts 33.

Specifically, as shown in fig. 3, the cross section of the half shell 12 is in a "U" structure, the shape of the inner wall of the half shell 12 is matched with the shape of the outer side wall of the ultrasonic probe 20, the two half shells 12 are mutually butted, are sleeved on the ultrasonic probe 20 through an annular connecting piece 80, and have a gap with the ultrasonic probe 20.

Fig. 6 is a schematic diagram of an overall structure of an ultrasound scanning apparatus according to another embodiment of the present application. As shown in fig. 6, the ultrasound scanning apparatus provided in the embodiment of the present application further includes a mounting module 100, where the mounting module 100 is fixedly disposed on the handheld housing 10 through the annular connecting member 80.

Specifically, the mounting module 100 has a cylindrical structure, and is connected to the end of the mechanical arm of the ultrasonic scanning robot. Through the arrangement, the position of the ultrasonic probe 20 and the acting force of the ultrasonic probe 20 under the current position can be obtained through the positioning target point 30 and the force transducer 40 when the ultrasonic scanning robot autonomously scans, so that problems which possibly occur are avoided in time, and the ultrasonic robot autonomous scanning process is optimized.

Fig. 7 is a schematic flow chart of an ultrasonic scanning device according to an embodiment of the present application for acquiring an operation force. The method for acquiring the operation force of the doctor according to the embodiment of the present application is described below with reference to fig. 7.

As shown in fig. 7, in step 400, when a doctor performs an ultrasonic scanning on a patient by the ultrasonic scanning apparatus provided in the embodiment of the present application, the doctor first operates the ultrasonic probe 20 so that the front end portion of the ultrasonic probe 20 is brought into contact with a portion of the patient to be scanned.

In step 410, an ultrasound image of a patient's site to be scanned is acquired by the ultrasound probe 20;

in step 420, the quality of the ultrasound image is evaluated;

in step 430, it is determined whether the image quality meets the requirement, and when it is confirmed that the image quality meets the requirement, that is, the acquired ultrasound image of the portion to be scanned is considered to be clearly usable, step 440 is entered. When it is confirmed that the image quality does not meet the requirement, that is, the acquired ultrasound image cannot be used, step 450 is entered.

Specifically, if it is confirmed that the acquired image quality does not meet the requirement, the process proceeds to step 450, in which the normal force is increased (a certain value is increased on the current basis) to acquire an ultrasonic image again through the ultrasonic probe 20, and then steps 420 and 430 are performed again, that is, the image quality is evaluated again, and if the image quality is still not met, the normal force is increased again, and then steps 410, 420, 430 and 450 are performed in a loop until the acquired ultrasonic image meets the requirement.

When it is confirmed that the acquired image quality satisfies the requirement, the process proceeds to step 440. In step 440, the normal and tangential forces of the ultrasound probe 20 in the current pose continue to be acquired by the load cell 40, after which step 460 is entered and step 460 is entered.

In step 460, it is determined whether the current normal and tangential forces are within a safe force threshold. The safety force threshold comprises a normal force threshold and a tangential force threshold, which are mainly determined by an experimental method, the ultrasonic image quality and the motion of the ultrasonic probe 20 are comprehensively considered, the pain force felt by a human body is taken as the highest safety threshold, the range of the safety threshold of different tissue parts slightly changes, and the ultrasonic inspection safety threshold curve of different parts of the human body tissue can be obtained through experiments.

When it is confirmed that the current normal force and tangential force are within the safe force threshold range, the measurement of the current position point is completed, and step 480 is entered. In step 480, acquisition of the next location point is performed, and the physician moves the ultrasound probe 20 to the next location point of the site to be scanned for further scanning.

When it is determined that the normal force and the tangential force exceed the safety force threshold, although the acquired image quality satisfies the requirement, the patient may have a pain feeling, i.e., may cause discomfort to the patient due to the large force between the probe and the skin of the patient, and step 470 is performed. In step 470, the normal force between the probe and the patient's skin is reduced, after which step 410 is resumed, and steps 410, 420, 430, and 450 are performed in a loop.

It should be noted that there are many methods for evaluating the quality of ultrasonic images, and the present application is mainly to collect data of the operation experience of expert professional ultrasonic examination doctors, so that the quality evaluation method is mainly judged by the experience of the operation doctors, and allows individual variability of the doctors.

Because a doctor can carry out ultrasonic examination on a part to be scanned along a certain motion track according to experience and human physiological structural characteristics, through the steps, the ultrasonic scanning device provided by the embodiment of the application can acquire normal force and tangential force of the ultrasonic probe 20 at all position points on the motion track through the force transducer 40, and can establish a characterization model of ultrasonic scanning operation experience of the doctor by combining the pose of the ultrasonic probe 20 at each position point, so that training data is provided for an ultrasonic scanning robot, and autonomous control and safety control research progress of the ultrasonic scanning robot are facilitated to be promoted.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An ultrasound scanning device, comprising:

a hand-held housing (10) for holding by a doctor, the hand-held housing (10) having an opening (11);

the mounting seat (50) is fixedly sleeved on the periphery of the tail end of the ultrasonic probe (20), and a gap is reserved between the mounting seat (50) and the handheld shell (10);

the ultrasonic probe (20) is fixedly arranged in the handheld shell (10) through the mounting seat (50), and the front end part of the ultrasonic probe (20) passes through the opening (11) to be penetrated out;

the positioning target point (30) is fixedly arranged on the handheld shell (10), and the positioning target point (30) is used for the optical positioning tracking equipment to acquire the pose of the ultrasonic probe (20);

the ultrasonic probe comprises a force transducer (40) and is used for measuring acting force at a contact point of the ultrasonic probe (20) and the skin of a patient under the pose, the force transducer (40) is a force and moment sensor, a mounting seat (50) is fixed at the tail end of a handheld shell (10) through the force and moment sensor, a gap is arranged between the ultrasonic probe (20) and the inner wall of the handheld shell (10), the mounting seat (50) is connected with the force and moment sensor through a sensor base (60), and the force and moment sensor is connected with the handheld shell (10) through a shell connecting piece (70).

2. The ultrasonic scanning device according to claim 1, wherein the hand-held housing (10) is formed by splicing two oppositely arranged half-shells (12), the ultrasonic scanning device further comprises an annular connecting piece (80) sleeved on the periphery of the mounting seat (50) and fixedly connected with the tail ends of the two half-shells (12), and a gap is arranged between the annular connecting piece (80) and the mounting seat (50).

3. The ultrasonic scanning device according to claim 1, wherein a mounting bracket (31) is provided on the mounting base (50), and a plurality of the positioning targets (30) are fixedly mounted on the mounting bracket (31).

4. The ultrasound scanning device according to claim 1, wherein a gap between the mount (50) and the ultrasound probe (20) is filled with silicone.

5. The ultrasonic scanning device according to claim 1, characterized in that a mounting groove (51) is formed in the mounting seat (50), and a fixing clamping block (90) for fixing and clamping the cable of the ultrasonic probe (20) is arranged in the mounting groove (51).

6. The ultrasound scanning device according to claim 1, further comprising a mounting module (100) fixedly arranged on the hand-held housing (10), the mounting module (100) being adapted to connect the ultrasound probe (20) to an ultrasound scanning robot.

7. The ultrasound scanning device according to claim 1, wherein the load cell (40) measures normal and tangential forces of the ultrasound probe (20) at the patient skin contact point.