CN110488745B - Automatic ultrasonic scanning robot for human body, controller and control method - Google Patents
Automatic ultrasonic scanning robot for human body, controller and control method Download PDFInfo
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- CN110488745B CN110488745B CN201910665363.XA CN201910665363A CN110488745B CN 110488745 B CN110488745 B CN 110488745B CN 201910665363 A CN201910665363 A CN 201910665363A CN 110488745 B CN110488745 B CN 110488745B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
Abstract
The invention provides a human body automatic ultrasonic scanning robot, a controller and a control method, wherein the controller comprises a feedforward controller, a position controller, a force and position hybrid controller and a posture corrector, the controller controls a held ultrasonic detection probe to keep constant contact force, constant friction force and posture to adapt to the movement of the outer contour of skin, and the feedforward controller controls the ultrasonic detection probe to move along a preset direction; the position controller controls the mechanical arm of the robot body to move; the force position hybrid controller controls the contact force between the ultrasonic detection probe and the surface of the skin of the human body to be constant and the friction force to be in a certain range; the posture corrector corrects the posture of the ultrasonic detection probe so that the ultrasonic detection probe is more suitable for the outer contour of skin. The invention adopts pressure and friction feedback, ensures that the contact force between the ultrasonic detection probe and the skin of the patient is basically constant, and relieves the pain of the patient caused by the scanning force; the friction force feedback and the historical scanning track simultaneously correct the posture of the ultrasonic detection probe, so that the ultrasonic detection probe is suitable for skin surfaces with different contours.
Description
Technical Field
The invention relates to the field of robot man-machine cooperation and compliance control technology, in particular to a human body automatic ultrasonic scanning robot, a controller and a control method.
Background
The medical ultrasonic imaging technology utilizes the acoustic impedance difference of different tissue structures to ultrasonic sound beams to acquire different reflection signals, so that the internal structure information of the biological tissue is obtained. Compared with other medical imaging technologies, ultrasonic imaging has the advantages of high imaging speed and small measurement accumulated error, ultrasonic waves cannot cause radiation or pain to a human body, and the price is far lower than that of X-ray tomography and nuclear magnetic resonance, so that the ultrasonic imaging becomes a mature and practical disease examination mode clinically, and has very wide application prospects on human tissues and organs such as mammary glands, thyroid glands, bladder and the like.
Currently, the mainstream ultrasonic scanning is manually performed by medical staff, so that the workload of the medical staff is often increased greatly when the medical staff faces a large number of patients, the physical and psychological health of the medical staff is influenced, the working quality of the medical staff is also influenced, and the doctor-patient contradiction is more easily aggravated. In addition, the manual scanning is different in scanning method and force, on one hand, the scanning mode is not standard, inconvenience is caused for subsequent ultrasonic image diagnosis, on the other hand, the contact force of a human hand on the ultrasonic detection probe and the surface of the skin cannot be quantified, and the discomfort of a patient can be caused by the excessive contact force.
Meanwhile, the cooperative robots are increasingly applied in industry, and the concept of human-computer cooperation has reached a new height. According to data of a research institute of high-industrial robots, the annual composite acceleration rate of the global cooperative robots is close to 70% in the last four years, the global cooperative robots are predicted to be sold for 5 thousands of times in 2020, and the market scale of the global cooperative robots breaks through 84 million yuan. However, human-computer cooperation is not common in the field of medical health, and therefore, the method has a wide application prospect.
Through retrieval, Chinese patent with publication number CN105877780A is found, and a full-automatic ultrasonic scanner and a scanning detection method are disclosed, which comprises the following steps: an ultrasonic probe; the driving system is used for driving the ultrasonic probe to move; and the flexible structure enables the ultrasonic probe to always follow the curve of the skin surface and keep vertical to the skin surface during scanning. A full-automatic ultrasonic scanning detection method comprises the following steps: scanning along the curve of the skin surface and keeping the curve vertical to the skin surface by using a full-automatic ultrasonic scanner to obtain N groups of two-dimensional images of the organ to be scanned, wherein N is an integer greater than or equal to 2; and reconstructing the N groups of acquired two-dimensional images to obtain a three-dimensional digital image. In the invention, the flexible structure of the full-automatic ultrasonic scanner has a self-adaptive effect, the scanning track and the probe angle can be adjusted in real time according to different curves of a human body, the ultrasonic probe is ensured to be attached to the surface of the skin for scanning and to be vertical to the surface of the skin, and the quality of a scanned image is improved.
However, the above patent has problems that 1. the flexible structure itself occupies a large space, and a plurality of parts reduce the life span and stability of the apparatus; 2. the fixed hardware structure limits the shape of the scanned skin and cannot fit the skin with a large difference from the curvature of the structure; 3. the change of the rigidity of the spring in the scanning process is limited, and the fitting task of complex curved surface and rigidity change cannot be completed; 4. the pressure sensor can only approximately measure the normal pressure of the skin, and can not monitor and improve the stress condition in other directions.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a human body automatic ultrasonic scanning robot, a controller and a control method.
According to a first aspect of the present invention, there is provided a controller comprising a feedforward controller, a position controller, a force-position hybrid controller and a posture corrector; wherein:
the feed-forward controller controls the ultrasonic detection probe to move to the starting point of the path according to the set path, and slowly moves along the direction which tends to the preset contact force in the contact direction of the ultrasonic detection probe and the skin until the ultrasonic detection probe and the skin reach the preset contact force, and controls the ultrasonic detection probe to move along the preset direction; the output end of the feedforward controller is connected with the input end of the position controller, and the feedforward controller outputs displacement increment data in the motion direction to the position controller;
after the ultrasonic detection probe moves a preset distance along a path, the posture corrector corrects the posture of the ultrasonic detection probe according to the historical movement track of the ultrasonic detection probe and the real-time contact friction force, so that the posture of the ultrasonic detection probe conforms to the skin outline, and the normal direction of the ultrasonic detection probe is driven to be parallel to the normal direction of the skin outline; the attitude corrector outputs a reference frictional force offset to the force-position hybrid controller;
the force position hybrid controller controls the pressure of the ultrasonic detection probe in the contact direction with the skin to be constant and the friction force in the movement direction to be within a set range according to the result of the posture corrector; the input end of the force-position hybrid controller is connected with the output end of the posture corrector, the output end of the force-position hybrid controller is connected with the input end of the position controller, the force-position hybrid controller outputs a motion control increment obtained based on pressure and friction force to the position controller, and the motion control increment comprises a contact direction displacement increment and a posture change angle increment;
the input end of the position controller is respectively connected with the output ends of the feedforward controller and the force position hybrid controller, the output end of the position controller is connected with the mechanical arm, the position controller reversely solves the joint space coordinate according to the movement direction displacement increment of the feedforward controller, the contact direction displacement increment and the posture change angle increment of the force position hybrid controller and the structural parameter of the mechanical arm, and controls the ultrasonic detection probe held by the mechanical arm to keep constant contact force, constant friction force and posture to adapt to the skin outline motion.
Preferably, the controller further comprises a safety monitoring module, an output end of the safety monitoring module is connected with an input end of the force position hybrid controller, and is used for monitoring joint current, terminal force and singular point proximity in the scanning process of the ultrasonic detection probe, when one or more detection items are abnormal, a result is fed back to the force position hybrid controller, the force position hybrid controller closes the operation of the force position hybrid controller, and sends a zero increment signal to the position controller to drive the mechanical arm to stop moving, so that the ultrasonic detection probe is stopped emergently.
Preferably, the posture corrector fits a target posture inclination angle of the ultrasonic detection probe according to space coordinates of a tail end holder of the ultrasonic detection probe clamped by the mechanical arm in a plurality of continuous periods, and compares the target posture inclination angle with an actual posture inclination angle of the ultrasonic detection probe to adjust the reference friction force of the force-position hybrid controller;
the force position hybrid controller adjusts the displacement of the ultrasonic detection probe in the contact direction by comparing the actual contact force with the preset contact force according to the actual contact force and the actual friction force in the scanning process, and adjusts the attitude inclination angle of the ultrasonic detection probe by comparing the actual friction force with the reference friction force.
According to a second aspect of the present invention, there is provided an automatic ultrasonic scanning robot for a human body, comprising the above-mentioned controller, further comprising a robot body, a terminal holder, a force sensor, and a joint angle sensor, wherein,
the tail end clamp is arranged on a mechanical arm of the robot body and used for clamping the ultrasonic detection probe;
the force sensor is arranged on the robot body, the input end of the force sensor is connected with the mechanical arm, the output end of the force sensor is connected with the force position hybrid controller, and the force sensor is used for measuring contact force and friction force between the ultrasonic detection probe and the skin on the surface of a human body during scanning and feeding back the contact force and the friction force to the force position hybrid controller;
the joint angle sensor is arranged on the robot body, the input end of the joint angle sensor is connected with the mechanical arm, and the output end of the joint angle sensor is connected with the input end of the posture corrector and is used for collecting the actual joint space coordinate of the robot body;
the controller controls the ultrasonic detection probe held by the mechanical arm to keep constant contact force, constant friction force and posture to adapt to the motion of the outer contour of the skin according to the measurement results of the force sensor and the joint angle sensor, wherein: the feed-forward controller is used for controlling the ultrasonic detection probe to move along a preset direction; the position controller is used for controlling the mechanical arm movement of the robot body; the force position hybrid controller is used for controlling the contact force between the ultrasonic detection probe and the surface of the skin of the human body to be constant and the friction force to be within a certain range; the posture corrector is used for correcting the posture of the ultrasonic detection probe to enable the ultrasonic detection probe to be more in line with the outer contour of the skin.
Preferably, the output end of the joint angle sensor is further connected with the input end of the safety monitoring module and used for acquiring the actual joint space coordinate of the robot body;
the robot further comprises a joint current sensor, the joint current sensor is arranged on the robot body, the input end of the joint current sensor is connected with the mechanical arm, and the output end of the joint current sensor is connected with the input end of the safety monitoring module and used for collecting the actual joint current of the robot body.
Preferably, the robot further comprises a control parameter module, wherein the input end of the control parameter module is connected with a configuration parameter module, the output end of the control parameter module is connected with the feedforward controller, and the control parameter module transmits the motion trail planning parameters of the ultrasonic probe; the output end of the control parameter module is connected with the input end of the force position hybrid controller, and the control parameter of the contact force and the friction force of the ultrasonic detection probe and the surface of the human skin is transmitted; the output end of the control parameter module is connected with the input end of the posture corrector and used for transmitting the posture correction parameters of the ultrasonic detection probe.
Preferably, the automatic ultrasonic human body scanning robot further comprises a robot mounting platform and a scanning platform; the robot body is arranged on the robot mounting platform in an inverted mode, so that the motion amplitude of a joint of the robot body in a scanning process is reduced, and the reachable space of the tail end of a mechanical arm of the robot body is increased; the scanning platform is located below the robot mounting platform and used for a patient to lie down.
In a third aspect of the present invention, a method for controlling the automatic ultrasonic scanning robot for a human body is provided, including:
step 1: setting all scanned paths, and outputting the paths to a feedforward controller; the feedforward controller controls the ultrasonic detection probe to move to the starting point of the path according to the set path and slowly moves along the direction of a preset contact force in the contact direction of the ultrasonic detection probe and the skin until the ultrasonic detection probe and the skin reach the preset contact force;
step 2: after the preset contact force is reached, keeping the pressure of the ultrasonic detection probe in the contact direction with the skin constant and the friction force in the movement direction within a set range by a force position mixing controller; meanwhile, the feedforward controller controls the ultrasonic detection probe to move in a non-contact direction, namely a moving direction according to a set speed according to a set path;
and step 3: according to the set contact force, the force and position hybrid controller controls the held ultrasonic detection probe to keep constant force motion in the appointed direction corresponding to the contact direction, and according to the reference friction force corresponding to the current contact force, the force and position hybrid controller controls the held ultrasonic detection probe to change the attitude inclination angle in the attitude swing direction, namely the cross product direction of the motion direction and the contact force direction;
and 4, step 4: after the ultrasonic detection probe moves for a preset distance along a path, further correcting the posture of the ultrasonic detection probe through a posture corrector, and driving the normal direction of the ultrasonic detection probe to be parallel to the normal direction of the skin outer contour;
and 5: and the constant force control and the attitude control output by the force-position hybrid controller and the motion displacement respectively output by the feedforward controller are simultaneously input into the position controller, and the position controller reversely solves the space coordinates of the joint according to the structural parameters of the mechanical arm to control the ultrasonic detection probe held by the mechanical arm of the robot body to keep constant contact force, constant friction force and attitude adaptive to the motion of the skin outline.
Preferably, after step 5, the method further comprises: the joint angle sensor of the robot body acquires the actual joint space coordinate of the robot body, the space coordinate of the ultrasonic detection tail end clamp is obtained through positive motion solution, the posture corrector fits a target posture inclination angle of the ultrasonic detection probe according to the space coordinate of the tail end clamp in a plurality of continuous periods, and the posture inclination angle is compared with the actual posture inclination angle of the ultrasonic detection probe, so that the reference friction force of the force position hybrid controller is adjusted; the robot body is characterized in that the force sensor collects an actual contact force and an actual friction force in a scanning process, the actual contact force is compared with the preset contact force to adjust the displacement of the ultrasonic detection probe in the contact direction, and the actual friction force is compared with the reference friction force to adjust the attitude inclination angle of the ultrasonic detection probe.
Preferably, the method further comprises a safety monitoring portion comprising one or more of joint current monitoring, tip force monitoring, and singularity proximity monitoring; wherein the content of the first and second substances,
monitoring the joint current, wherein a finger joint current sensor collects the actual joint current of the robot body, the collected actual joint current is compared with a reference joint current, and when the absolute value of the difference value between any actual joint current and the reference joint current is greater than a preset value, the ultrasonic detection probe is emergently stopped to move;
the tail end force monitoring means that the force sensor acquires an actual six-dimensional force signal, and the ultrasonic detection probe is emergently stopped to move when any force and moment exceed a preset limit value by comparing the actual force and moment with the preset force and moment limit value;
and monitoring the proximity of the singular point, namely acquiring the actual joint space coordinate of the robot body by the joint angle sensor, comparing the acquired actual joint space coordinate with the joint space coordinate corresponding to the mechanical arm singular point of the robot body, and emergently stopping the motion of the ultrasonic detection probe when any component in the absolute values of the difference values of the actual joint space coordinate and the joint space coordinate corresponding to the singular point is less than a preset lower limit value.
The robot of the invention realizes the contact of the tail end ultrasonic detection probe and the skin of the human body to be detected through the motion of the robot body, when the set contact force is reached, the ultrasonic detection probe is kept in constant force contact with the skin in the contact direction, further controlling the ultrasonic detection probe held by the robot to move along the set direction according to the proper moving speed and adjusting the posture of the ultrasonic detection probe at the tail end in real time to adapt to the outer contour of the skin on the moving path, wherein, the position controller of the robot body ensures that the ultrasonic detection probe at the tail end of the robot moves at a constant speed along a set direction, the force and position mixed controller ensures that the contact force of the ultrasonic detection probe and the skin in the contact direction is constant in the whole scanning process, controlling the posture of the probe according to the friction force in the motion direction, and continuously correcting the posture of the probe by the posture corrector in the scanning process so that the direction of the ultrasonic detection probe is more consistent with the outer contour of the skin passing through; aiming at different scanning paths, the control parameter module presets corresponding initial values to control the movement on a single path; aiming at the safety problem of the scanning process, the safety monitoring module carries out joint current monitoring, terminal force monitoring and singular point proximity monitoring on the scanning process.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. the controller of the invention adopts pressure and friction feedback, thus ensuring the contact force between the ultrasonic detection probe and the skin of the patient to be basically constant and relieving the pain of the patient caused by the scanning force; the posture of the ultrasonic detection probe is corrected by adopting friction force feedback and a historical scanning track simultaneously so as to adapt to skin surfaces with different profiles, and a brand-new and reliable solution is provided for realizing the tracking problem under an unknown profile.
2. In the control method, the robot body formulates each scanning path according to the relevant configuration parameters and a certain scanning rule, and drives the ultrasonic detection probes one by one to execute scanning tasks along the paths, so that the workload of medical workers is reduced, and the same standard is provided for subsequent ultrasonic image diagnosis.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a block diagram of a controller in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an interaction process between modules of a controller according to a preferred embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an automatic ultrasonic scanning robot for human body according to a preferred embodiment of the present invention;
FIG. 4 is a schematic control diagram of an automatic ultrasonic scanning robot for human body according to a preferred embodiment of the present invention;
FIG. 5 is a flow chart illustrating a control method of the automatic ultrasonic scanning robot for a human body according to a preferred embodiment of the present invention;
the scores in the figure are indicated as: the robot comprises a robot mounting platform 1, a motion control computer 2, a robot body 3, a joint angle sensor 4, a controller 5, a force sensor 6, a tail end clamp holder 7, an ultrasonic detection probe 8, a scanning platform 9 and a patient 10.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1-2, there are block diagrams of an embodiment of the controller of the present invention, which is used to control an ultrasonic inspection probe 8 held by a robot arm.
As shown in fig. 1, the controller 5 includes a feedforward controller, a position controller, a force-position hybrid controller, and an attitude corrector; wherein: the feedforward controller controls the ultrasonic detection probe 8 to move to the starting point of the path according to the set path, and slowly moves in a direction tending to the preset contact force in the contact direction of the ultrasonic detection probe 8 with the skin until the ultrasonic detection probe 8 and the skin reach the preset contact force, and controls the ultrasonic detection probe 8 to move in the preset direction. The output end of the feedforward controller is connected with the input end of the position controller, and the feedforward controller outputs displacement increment data in the motion direction to the position controller. After the ultrasonic detection probe 8 moves a preset distance along the path, the posture corrector corrects the posture of the ultrasonic detection probe 8 according to the historical movement track of the ultrasonic detection probe 8 and the real-time contact friction force, so that the posture of the ultrasonic detection probe 8 accords with the skin outline, and the normal direction of the ultrasonic detection probe 8 is driven to be parallel to the normal direction of the skin outline; the posture corrector outputs the reference frictional force offset to the force position hybrid controller. The force position mixing controller controls the pressure of the ultrasonic detection probe 8 in the contact direction with the skin to be constant and the friction force in the movement direction to be within a set range according to the result of the posture corrector. The input end of the force-position hybrid controller is connected with the output end of the posture corrector, the output end of the force-position hybrid controller is connected with the input end of the position controller, the force-position hybrid controller outputs a motion control increment obtained based on pressure and friction force to the position controller, and the motion control increment comprises a contact direction displacement increment and a posture change angle increment. The input end of the position controller is respectively connected with the output ends of the feedforward controller and the force position hybrid controller, the output end of the position controller is connected with the mechanical arm, the position controller reversely solves the joint space coordinate according to the movement direction displacement increment of the feedforward controller, the contact direction displacement increment and the posture change angle increment of the force position hybrid controller and the structural parameter of the mechanical arm, and controls the ultrasonic detection probe 8 held by the mechanical arm to keep constant contact force, constant friction force and posture to adapt to the skin outline movement.
Referring to fig. 2, in a preferred embodiment, the controller 5 further includes a safety monitoring module, and an output end of the safety monitoring module is connected to an input end of the force-level hybrid controller, and is used for performing joint current monitoring, terminal force monitoring and singular point proximity monitoring on the scanning process of the ultrasonic detection probe 8. When one or more detection items are abnormal, the safety monitoring module feeds the result back to the force position hybrid controller, the force position hybrid controller can implement different emergency stop measures according to the types of emergency stops after receiving corresponding signals, and the force position hybrid controller closes the self operation under any over-limit condition, so that the feedforward controller and the attitude corrector do not perform next calculation any more, and sends zero increment signals to the position controller 5 to drive the mechanical arm to stop moving, and when the over-limit is current or force, the force position hybrid controller can additionally control the mechanical arm to be in power-off protection through electrical connection, and is an emergency control component to emergently stop the movement of the ultrasonic detection probe 8.
In a preferred embodiment, the posture corrector fits the posture inclination angle of the target ultrasonic detection probe 8 according to the space coordinates of the tail end clamp 7 of the mechanical arm clamping ultrasonic detection probe 8 in a plurality of continuous periods, and compares the posture inclination angle with the posture inclination angle of the actual ultrasonic detection probe 8 to adjust the reference friction force of the force-position hybrid controller; and the force and position hybrid controller adjusts the displacement of the ultrasonic detection probe 8 in the contact direction by comparing the actual contact force with the preset contact force according to the actual contact force and the actual friction force in the scanning process, and adjusts the attitude inclination angle of the ultrasonic detection probe 8 by comparing the actual friction force with the reference friction force.
In the above embodiment, the contact between the ultrasonic detection probe 8 and the skin of the human body to be detected, when the set contact force is reached, the constant force contact of the ultrasonic detection probe 8 with the skin in the contact direction is maintained by a feed forward controller, further controlling the ultrasonic detection probe 8 to move along the set direction according to the proper moving speed and adjusting the posture of the ultrasonic detection probe 8 at the tail end in real time to adapt to the outer contour of the skin on the moving path, wherein, the position controller ensures that the ultrasonic detection probe 8 moves at a constant speed along a set direction, the force and position mixed controller ensures that the contact force of the ultrasonic detection probe 8 and the skin in the contact direction is constant in the whole scanning process, the posture of the probe is controlled according to the friction force in the motion direction, and the posture corrector continuously corrects the posture of the ultrasonic detection probe 8 in the scanning process so that the direction of the ultrasonic detection probe 8 is more consistent with the outer contour of the skin passing through; through further setting up safety monitoring module, to the safety problem of scanning process, safety monitoring module carries out joint current monitoring, terminal power monitoring and singular point to the scanning process and closes on the monitoring.
Based on the controller, the embodiment of the invention also provides a human body automatic ultrasonic scanning robot comprising the controller 5, the controller 5 controls the mechanical arm of the robot body 3 to realize six-degree-of-freedom movement, and the movement of the ultrasonic detection probe 8 in the ultrasonic scanning process can be realized.
Specifically, referring to fig. 3, a structural diagram of an embodiment of a human body automatic ultrasonic scanning robot is shown, wherein the human body automatic ultrasonic scanning robot includes a robot body 3, a terminal holder 7, a force sensor 6, and a joint angle sensor 4 in addition to a controller 5, wherein the terminal holder 7 is disposed on a mechanical arm of the robot body 3 and is used for holding an ultrasonic detection probe 8; the force sensor 6 is arranged on the robot body 3, the input end of the force sensor 6 is connected with the mechanical arm, the output end of the force sensor 6 is connected with the force position hybrid controller, and the force position hybrid controller is used for measuring contact force and friction force between the ultrasonic detection probe 8 and the skin on the surface of a human body during scanning and feeding back the contact force and the friction force to the force position hybrid controller; the displacement and the posture of the ultrasonic detection probe 8 relative to the skin are adjusted in real time through a force-position hybrid controller; the joint angle sensor 4 is arranged on the robot body 3, the input end of the joint angle sensor 4 is connected with the mechanical arm, and the output end of the joint angle sensor is connected with the input end of the posture corrector and used for collecting the actual joint space coordinate of the robot body 3. The controller 5 controls the ultrasonic detection probe 8 held by the mechanical arm to keep constant contact force, constant friction force and posture to adapt to the motion of the outer contour of the skin according to the measurement results of the force sensor 6 and the joint angle sensor 4, wherein: the feed forward controller is used to control the movement of the ultrasonic detection probe 8 in a predetermined direction. The position controller is used for controlling the mechanical arm movement of the robot body 3; the force position hybrid controller is used for controlling the contact force between the ultrasonic detection probe 8 and the surface of the skin of the human body to be constant and the friction force to be within a certain range; the posture corrector is used for correcting the posture of the ultrasonic detection probe 8 so as to enable the posture of the ultrasonic detection probe to be more in line with the outer contour of the skin.
In a specific embodiment, the robot body 3 adopts a six-degree-of-freedom cooperative robot in a serial structure, and the force sensor 6 adopts a six-dimensional force sensor. Of course, other robots, force sensors, etc. may be used in other embodiments.
In a particular embodiment, the force sensor 6 may be arranged on a third wrist flange of the robot body 3.
The robot adopts pressure and friction feedback, the pressure and friction feedback is transmitted from a force sensor 6 to a force position hybrid controller, the feedback data is six-dimensional force, the six-dimensional force is converted into pressure and friction force through the force position hybrid controller, the pressure and friction force is processed and output by the force position hybrid controller as probe displacement increment and probe attitude angle increment in the contact force direction, and the probe displacement increment and the probe attitude angle increment are output to a position controller; the contact force between the ultrasonic detection probe 8 and the skin of the patient is ensured to be basically constant, and the pain of the patient caused by the scanning force is relieved. The posture of the ultrasonic detection probe 8 is corrected by adopting friction force feedback and a historical scanning track simultaneously so as to adapt to skin surfaces with different contours, and a brand-new and reliable solution is provided for realizing the tracking problem under unknown contours. The historical scanning track is from the joint angle sensor 4 to the posture corrector, the feedback data is the joint angle, the position of the tail end of the probe is obtained through positive motion solution, and the data is recorded and processed by the posture corrector to be changed into corresponding reference friction offset and output to the force position hybrid controller.
In a preferred embodiment, the robot further includes a safety monitoring module, and the safety monitoring module performs joint current monitoring, terminal force monitoring, and singular point proximity monitoring on the scanning process of the ultrasonic detection probe, and corresponds to the joint current monitoring module, the terminal force monitoring module, and the singular point proximity monitoring module.
Specifically, referring to fig. 4, the output end of the joint angle sensor 4 is connected to the input end of the safety monitoring module of the controller 5, and is used for acquiring the actual joint space coordinate of the robot body 3. The robot body 3 is further provided with a joint current sensor, the input end of the joint current sensor is connected with the mechanical arm, and the output end of the joint current sensor is connected with the input end of the safety monitoring module and used for collecting the actual joint current of the robot body 3. The output end of the joint angle sensor 4, the output end of the force sensor 6 and the output end of the joint current sensor are respectively connected with the input end of the safety monitoring module, the output end of the safety monitoring module is connected with the input end of the force position hybrid controller, and the safety of the ultrasonic detection probe in the scanning process is further monitored.
The joint current sensor collects actual joint current of the robot body 3, the joint current monitoring module compares the collected actual joint current with reference joint current, and when the absolute value of the difference value between any actual joint current and the reference joint current is larger than a preset value and the current exceeds the limit, the force and position hybrid controller can control the robot to power off through electrical connection to carry out emergency stop of probe movement and inform a user; in one embodiment, an emergency stop is performed when any joint current deviates by more than 2 amperes and the user is notified to activate the joint current protection.
The force sensor 6 collects actual six-dimensional force signals, the tail end force monitoring module compares the collected actual force and moment values with preset force and moment limit values, when any force and moment value exceeds the preset force and moment limit values, the force-position hybrid controller closes the self operation, and sends a zero increment signal to the position controller to drive the robot to stop moving, and the robot performs emergency probe movement stopping and notifies users; for example, in one embodiment, an emergency stop is made and the user notified when any force exceeds 100 newtons or any torque exceeds 15 newtons.
The joint angle sensor 4 collects the actual joint space coordinates of the robot body 3, the singular point approach monitoring module compares the collected actual joint space coordinates with joint space coordinates corresponding to a mechanical arm singular point of the robot body 3, and when any component in the absolute values of the difference values of the actual joint space coordinates and the joint space coordinates corresponding to the singular point is smaller than a preset lower limit value, the probe is stopped emergently and a user is notified. In one embodiment, an emergency stop is made and the user is notified when any of the joint coordinates is within 10 degrees of the vicinity of the singular point.
The joint space coordinates corresponding to the singular points of the mechanical arm are only related to the size structure of the mechanical arm, so that the space coordinates are a fixed value for the same mechanical arm, for example, for a mechanical arm with six degrees of freedom, namely a fixed constant array with the length of 6, each element of the array represents a joint angle value; the actual joint space coordinate refers to real-time six joint angle values, and when the absolute value of the difference between any one of the six joint angle values and the corresponding joint angle value in the fixed constant array is smaller than a preset value, singular point proximity protection is started; any joint coordinate refers to an element in the actual joint space coordinate, namely an angle value; the preset lower limit value refers to a set value, and when the absolute value of the aforementioned difference is smaller than the preset lower limit value, the mechanical arm is considered to be very close to the singular point and needs to trigger protection.
In addition, in other embodiments, the body-automated ultrasonic scanning robot may further include a control parameter module, an input end of the control parameter module is connected to the configuration parameter module, and an output end of the control parameter module is connected to the feedforward controller, and is configured to transmit the motion trajectory planning parameter of the ultrasonic probe; the output end of the control parameter module is connected with the input end of the force position hybrid controller and is used for transmitting contact force control parameters and friction force control parameters of the ultrasonic detection probe 8 and the surface of the skin of the human body; the output end of the control parameter module is connected with the input end of the posture corrector and used for transmitting the posture correction parameters of the ultrasonic detection probe 8.
In a specific embodiment, the control parameter module can be implemented by the motion control computer 2, and the motion control computer 2 is responsible for calculating parameters required by the controller 5 of the robot body 3. Referring to fig. 3, a motion control computer 2 may be provided in the robot installation platform 1, and connected to the controller 5 through a network cable. In other embodiments, the motion control computer 2 may be in the form of a peripheral device.
And a control parameter module, wherein the related parameters comprise but are not limited to contact force control parameters, friction force control parameters, posture correction parameters, trajectory planning parameters and the like. The contact force control parameters comprise control proportion parameters, control integral parameters and limit limiting parameters; the friction control parameters comprise a control proportion parameter, a control differential parameter, a template friction curve and a limit limiting parameter; the posture correction parameters comprise sampling number, continuation proportion, filter coefficient, confidence proportion and the like; the trajectory planning parameters include a scanning center, a scanning interval angle, a scanning limit, a scanning force, a scanning speed and the like.
The configuration parameter module can change the configuration parameters through manual or automatic control according to the actual requirements of patients. The control parameter module can automatically set the control parameters under each path according to the configuration parameters of the configuration parameter module, and map the fuzzy expression to specific numerical values according to a certain relation.
In another embodiment, referring to fig. 3, the body-automated ultrasonic scanning robot may further include a robot mounting platform 1, a scanning platform 9; wherein, set up robot 3 on robot mounting platform 1, specifically set up in robot mounting platform 1 cantilever end to reduce the 3 articular motion amplitude of scanning process robot, increase 3 terminal accessible spaces of robot, prevent that robot 3 from closing on the singular point because the motion space restriction is repeated. The scanning platform 9 is located below the robot mounting platform 1 and the robot body 3, and is used for the patient 10 to lie down. For example, when the robot body 3 is a six-degree-of-freedom cooperative robot having a serial structure, the six-degree-of-freedom cooperative robot may be mounted upside down to the cantilever end of the robot mounting platform 1.
Referring to fig. 4, which is a flowchart of a control method of an automatic ultrasonic scanning robot for a human body, in particular, the automatic ultrasonic scanning robot for a human body in the foregoing embodiment may refer to the following steps during operation control:
step 1: the control parameter module calculates and sets all scanned paths according to the related configuration parameters of the current patient, and outputs the paths to the feedforward controller one by one; the feedforward controller controls the ultrasonic detection probe 8 to move to the initial point of the path according to the set path, and slowly moves along the direction of the preset contact force in the contact direction of the ultrasonic detection probe 8 and the skin until the ultrasonic detection probe 8 and the skin reach the preset contact force;
step 2: after the preset contact force is reached, the force position hybrid controller is started, the pressure of the ultrasonic detection probe 8 in the contact direction with the skin is kept constant through the force position hybrid controller, and the friction force in the movement direction is kept in a set range; meanwhile, the feedforward controller controls the ultrasonic detection probe 8 to move in a non-contact direction, namely a moving direction according to a set speed according to a set path;
and step 3: according to the set contact force, the force position hybrid controller controls the held ultrasonic detection probe 8 to keep constant force motion in the appointed direction corresponding to the contact direction, and according to the reference friction force corresponding to the current contact force, the force position hybrid controller controls the held ultrasonic detection probe 8 to change the attitude inclination angle in the attitude swing direction, namely the cross product direction of the motion direction and the contact force direction;
and 4, step 4: after the ultrasonic detection probe 8 moves for a preset distance along the path, the posture corrector is started, the posture of the ultrasonic detection probe 8 is further corrected through the posture corrector, and the normal direction of the ultrasonic detection probe 8 is driven to be parallel to the normal direction of the skin outer contour;
and 5: the constant force control, the attitude control and the motion displacement output by the feedforward controller respectively are input into the position controller at the same time, and the position controller reversely solves the structural parameters of the mechanical arm to the space coordinates of the joint to control the ultrasonic detection probe 8 held by the mechanical arm of the robot body 3 to keep constant contact force, constant friction force and posture to adapt to the motion of the skin outline.
In a preferred embodiment, after step 5, the method may further include: the joint angle sensor 4 of the robot body 3 acquires the actual joint space coordinate of the robot body 3, the space coordinate of the held ultrasonic detection end holder 7 is obtained through positive motion solution, the posture corrector fits the posture inclination angle of the target ultrasonic detection probe 8 according to the space coordinate of the end holder 7 in a plurality of continuous periods, and the posture inclination angle is compared with the posture inclination angle of the actual ultrasonic detection probe 8, and the reference friction force of the force-position hybrid controller is adjusted; the force sensor 6 of the robot body 3 collects actual contact force and actual friction force in the scanning process, the displacement of the ultrasonic detection probe 8 in the contact direction is adjusted by comparing the actual contact force with preset contact force, and the attitude inclination angle of the ultrasonic detection probe 8 is adjusted by comparing the actual friction force with reference friction force.
In a preferred embodiment, after step 5, a safety monitoring method is further included, including joint current monitoring, tip force monitoring and singular point approach monitoring; monitoring joint current, wherein a finger joint current sensor collects actual joint current of the robot body 3, the collected actual joint current is compared with reference joint current, and when the absolute value of the difference value between any actual joint current and the reference joint current is greater than a preset value, the ultrasonic detection probe 8 is stopped emergently to inform a user of the movement; monitoring the tail end force, namely acquiring an actual six-dimensional force signal by a finger force sensor 6, comparing the actual force and moment with the preset force and moment limit values, and emergently stopping the movement of the ultrasonic detection probe 8 and informing a user when any force and moment exceed the preset limit values; and (3) monitoring the approach of singular points, acquiring actual joint space coordinates of the robot body 3 by the finger joint angle sensor 4, comparing the acquired actual joint space coordinates with joint space coordinates corresponding to the mechanical arm singular points of the robot body 3, and when any component in the absolute values of the difference values of the actual joint space coordinates and the joint space coordinates corresponding to the singular points is smaller than a preset lower limit value, emergently stopping the movement of the ultrasonic detection probe 8 and informing a user.
Based on the automatic human body ultrasonic scanning robot and the control method provided by the above embodiments, the following describes a use method of the automatic human body ultrasonic scanning robot, and further describes features of the robot and the control method in a use process in detail, and as shown in fig. 5, the method includes the following steps:
the first step is as follows: according to the actual requirements of patients, configuration parameters in a configuration parameter module are changed, the configuration parameters are the size, the scanning force and the speed of an area to be scanned, the area to be scanned is a scanning horizontal range and a scanning vertical range, the scanning force represents the size of a preset contact force and is divided into four grades of light, heavy and heavy, the scanning speed marks the preset movement direction speed and is divided into three grades of slow, medium and fast;
the second step is that: the control parameter module automatically sets the control parameters under each path according to the configuration parameters, and maps the fuzzy expression to a specific numerical value according to a certain relation; a "lighter" contact force and a "slow" speed scan may be used when the patient is older.
Thirdly, after the configuration parameter setting and the path planning are completed, referring to fig. 5, the control steps of the automatic ultrasonic scanning robot for the human body are as follows: start-scan plan path-whether to traverse all paths-no (or-ultrasonic test probe 8 returns to origin-end) -ultrasonic test probe 8 moves to the next path start-ultrasonic test probe 8 moves in the contact direction-whether the contact force of ultrasonic test probe 8 with the skin reaches a preset force-yes (or no-return to previous step to move in the contact direction) -start force position hybrid controller-ultrasonic test probe 8 moves along the plan path-whether to reach a preset distance-yes (no-return to previous step to move along the plan path) -open posture corrector-continue to move along the plan path-trigger the end movement condition-return to whether to traverse all paths.
The controller and the robot in the embodiment of the invention adopt pressure and friction feedback, thus ensuring the contact force between the ultrasonic detection probe and the skin of the patient to be basically constant and relieving the pain of the patient caused by scanning force; the friction force feedback and the historical scanning track simultaneously correct the posture of the ultrasonic detection probe, so that the ultrasonic detection probe is suitable for skin surfaces with different contours.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A controller is used for controlling an ultrasonic detection probe held by a mechanical arm, and is characterized by comprising a feedforward controller, a position controller, a force-position hybrid controller and a posture corrector; wherein:
the feed-forward controller controls the ultrasonic detection probe to move to the starting point of the path according to the set path, and slowly moves along the direction which tends to the preset contact force in the contact direction of the ultrasonic detection probe and the skin until the ultrasonic detection probe and the skin reach the preset contact force, and controls the ultrasonic detection probe to move along the preset direction; the output end of the feedforward controller is connected with the input end of the position controller, and the feedforward controller outputs displacement increment data in the motion direction to the position controller;
after the ultrasonic detection probe moves a preset distance along a path, the posture corrector corrects the posture of the ultrasonic detection probe according to the historical movement track of the ultrasonic detection probe and the real-time contact friction force, so that the posture of the ultrasonic detection probe conforms to the skin outline, and the normal direction of the ultrasonic detection probe is driven to be parallel to the normal direction of the skin outline; the attitude corrector outputs a reference frictional force offset to the force-position hybrid controller;
the force position hybrid controller controls the pressure of the ultrasonic detection probe in the contact direction with the skin to be constant and the friction force in the movement direction to be within a set range according to the result of the posture corrector; the input end of the force-position hybrid controller is connected with the output end of the posture corrector, the output end of the force-position hybrid controller is connected with the input end of the position controller, the force-position hybrid controller outputs a motion control increment obtained based on pressure and friction force to the position controller, and the motion control increment comprises a contact direction displacement increment and a posture change angle increment;
the input end of the position controller is respectively connected with the output ends of the feedforward controller and the force position hybrid controller, the output end of the position controller is connected with the mechanical arm, the position controller reversely solves the joint space coordinate according to the movement direction displacement increment of the feedforward controller, the contact direction displacement increment and the posture change angle increment of the force position hybrid controller and the structural parameter of the mechanical arm, and controls the ultrasonic detection probe held by the mechanical arm to keep constant contact force, constant friction force and posture to adapt to the skin outline motion.
2. The controller according to claim 1, wherein the controller further comprises a safety monitoring module, an output end of the safety monitoring module is connected to an input end of the force position hybrid controller, and is used for performing joint current monitoring, terminal force monitoring and singular point approach monitoring on the scanning process of the ultrasonic detection probe, when one or more detection items are abnormal, a result is fed back to the force position hybrid controller, the force position hybrid controller turns off the operation of the force position hybrid controller, and sends a zero increment signal to the position controller to drive the mechanical arm to stop moving, so that the ultrasonic detection probe is stopped emergently.
3. The controller of claim 1, wherein the posture corrector fits a target posture inclination angle of the ultrasonic test probe according to space coordinates of a terminal holder of the mechanical arm for holding the ultrasonic test probe in a plurality of continuous cycles, and adjusts a reference friction force of the force position hybrid controller compared with an actual posture inclination angle of the ultrasonic test probe;
the force position hybrid controller adjusts the displacement of the ultrasonic detection probe in the contact direction by comparing the actual contact force with the preset contact force according to the actual contact force and the actual friction force in the scanning process, and adjusts the attitude inclination angle of the ultrasonic detection probe by comparing the actual friction force with the reference friction force.
4. An automatic ultrasonic scanning robot for human body, comprising the controller of any one of claims 1 to 3, further comprising a robot body, a tip holder, a force sensor, a joint angle sensor, wherein,
the tail end clamp is arranged on a mechanical arm of the robot body and used for clamping the ultrasonic detection probe;
the force sensor is arranged on the robot body, the input end of the force sensor is connected with the mechanical arm, the output end of the force sensor is connected with the force position hybrid controller, and the force sensor is used for measuring contact force and friction force between the ultrasonic detection probe and the skin on the surface of a human body during scanning and feeding back the contact force and the friction force to the force position hybrid controller;
the joint angle sensor is arranged on the robot body, the input end of the joint angle sensor is connected with the mechanical arm, and the output end of the joint angle sensor is connected with the input end of the posture corrector and is used for collecting the actual joint space coordinate of the robot body;
the controller controls the ultrasonic detection probe held by the mechanical arm to keep constant contact force, constant friction force and posture to adapt to the motion of the outer contour of the skin according to the measurement results of the force sensor and the joint angle sensor, wherein: the feed-forward controller is used for controlling the ultrasonic detection probe to move along a preset direction; the position controller is used for controlling the mechanical arm movement of the robot body; the force position hybrid controller is used for controlling the contact force between the ultrasonic detection probe and the surface of the skin of the human body to be constant and the friction force to be within a certain range; the posture corrector is used for correcting the posture of the ultrasonic detection probe to enable the ultrasonic detection probe to be more in line with the outer contour of the skin.
5. The automatic human body ultrasonic scanning robot of claim 4, wherein the output end of the joint angle sensor is further connected with the input end of a safety monitoring module, and is used for acquiring the actual joint space coordinates of the robot body;
the robot further comprises a joint current sensor, the joint current sensor is arranged on the robot body, the input end of the joint current sensor is connected with the mechanical arm, and the output end of the joint current sensor is connected with the input end of the safety monitoring module and used for collecting the actual joint current of the robot body.
6. The automatic ultrasonic human body scanning robot of claim 4, further comprising a control parameter module, wherein an input end of the control parameter module is connected to the configuration parameter module, and an output end of the control parameter module is connected to the feedforward controller, and transmits the motion trajectory planning parameter of the ultrasonic probe; the output end of the control parameter module is connected with the input end of the force position hybrid controller, and the control parameter of the contact force and the friction force of the ultrasonic detection probe and the surface of the human skin is transmitted; the output end of the control parameter module is connected with the input end of the posture corrector and used for transmitting the posture correction parameters of the ultrasonic detection probe.
7. The automatic ultrasonic human body scanning robot of any one of claims 4-6, further comprising a robot mounting platform, a scanning platform; the robot body is arranged on the robot mounting platform in an inverted mode, so that the motion amplitude of a joint of the robot body in a scanning process is reduced, and the reachable space of the tail end of a mechanical arm of the robot body is increased; the scanning platform is located below the robot mounting platform and used for a patient to lie down.
8. A control method of the automatic ultrasonic human body scanning robot in any one of claims 4 to 6, comprising:
step 1: setting all scanned paths, and outputting the paths to a feedforward controller; the feedforward controller controls the ultrasonic detection probe to move to the starting point of the path according to the set path and slowly moves along the direction of a preset contact force in the contact direction of the ultrasonic detection probe and the skin until the ultrasonic detection probe and the skin reach the preset contact force;
step 2: after the preset contact force is reached, keeping the pressure of the ultrasonic detection probe in the contact direction with the skin constant and the friction force in the movement direction within a set range by a force position mixing controller; meanwhile, the feedforward controller controls the ultrasonic detection probe to move in a non-contact direction, namely a moving direction according to a set speed according to a set path;
and step 3: according to the set contact force, the force and position hybrid controller controls the held ultrasonic detection probe to keep constant force motion in the appointed direction corresponding to the contact direction, and according to the reference friction force corresponding to the current contact force, the force and position hybrid controller controls the held ultrasonic detection probe to change the attitude inclination angle in the attitude swing direction, namely the cross product direction of the motion direction and the contact force direction;
and 4, step 4: after the ultrasonic detection probe moves for a preset distance along a path, further correcting the posture of the ultrasonic detection probe through a posture corrector, and driving the normal direction of the ultrasonic detection probe to be parallel to the normal direction of the skin outer contour;
and 5: and the constant force control and the attitude control output by the force-position hybrid controller and the motion displacement respectively output by the feedforward controller are simultaneously input into the position controller, and the position controller reversely solves the space coordinates of the joint according to the structural parameters of the mechanical arm to control the ultrasonic detection probe held by the mechanical arm of the robot body to keep constant contact force, constant friction force and attitude adaptive to the motion of the skin outline.
9. The method for controlling an automatic ultrasonic human body scanning robot according to claim 8, wherein after step 5, the method further comprises: the joint angle sensor of the robot body acquires the actual joint space coordinate of the robot body, the space coordinate of the ultrasonic detection tail end clamp is obtained through positive motion solution, the posture corrector fits a target posture inclination angle of the ultrasonic detection probe according to the space coordinate of the tail end clamp in a plurality of continuous periods, and the posture inclination angle is compared with the actual posture inclination angle of the ultrasonic detection probe, so that the reference friction force of the force position hybrid controller is adjusted; the robot body is characterized in that the force sensor collects an actual contact force and an actual friction force in a scanning process, the actual contact force is compared with the preset contact force to adjust the displacement of the ultrasonic detection probe in the contact direction, and the actual friction force is compared with the reference friction force to adjust the attitude inclination angle of the ultrasonic detection probe.
10. The control method of the automatic ultrasonic scanning robot for the human body according to claim 9, further comprising a safety monitoring part, wherein the safety monitoring part comprises one or more of joint current monitoring, terminal force monitoring and singular point proximity monitoring; wherein the content of the first and second substances,
monitoring the joint current, wherein a finger joint current sensor collects the actual joint current of the robot body, the collected actual joint current is compared with a reference joint current, and when the absolute value of the difference value between any actual joint current and the reference joint current is greater than a preset value, the ultrasonic detection probe is emergently stopped to move;
the tail end force monitoring means that the force sensor acquires an actual six-dimensional force signal, and the ultrasonic detection probe is emergently stopped to move when any force and moment exceed a preset limit value by comparing the actual force and moment with the preset force and moment limit value;
and monitoring the proximity of the singular point, namely acquiring the actual joint space coordinate of the robot body by the joint angle sensor, comparing the acquired actual joint space coordinate with the joint space coordinate corresponding to the mechanical arm singular point of the robot body, and emergently stopping the motion of the ultrasonic detection probe when any component in the absolute values of the difference values of the actual joint space coordinate and the joint space coordinate corresponding to the singular point is less than a preset lower limit value.
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