CN111920452A - End execution device and method for neck ultrasonic scanning robot - Google Patents
End execution device and method for neck ultrasonic scanning robot Download PDFInfo
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- CN111920452A CN111920452A CN202010805664.0A CN202010805664A CN111920452A CN 111920452 A CN111920452 A CN 111920452A CN 202010805664 A CN202010805664 A CN 202010805664A CN 111920452 A CN111920452 A CN 111920452A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000523 sample Substances 0.000 claims abstract description 221
- 238000001514 detection method Methods 0.000 claims description 17
- 239000012636 effector Substances 0.000 claims description 14
- 238000002604 ultrasonography Methods 0.000 claims description 13
- 239000000126 substance Substances 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 description 5
- 238000003745 diagnosis Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 208000009453 Thyroid Nodule Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001575 pathological effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 210000001685 thyroid gland Anatomy 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 210000001715 carotid artery Anatomy 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
- A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/4461—Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
Abstract
The invention discloses a neck ultrasonic scanning robot tail end executing device and method, comprising the following steps: the device comprises a neck clamping module, a left probe module, a right probe module and a force position control module; the neck clamp module further comprises: a left plate, a right plate and a rotating shaft; the left plate is connected with the right plate through a rotating shaft; the left probe module is arranged on the left plate, is connected with the force position control module and is used for scanning the neck; the right probe module is arranged on the right plate, connected with the force position control module and used for scanning the neck; the force position control module is used for acquiring the contact condition and/or the contact force of the left probe module and/or the right probe module and the neck skin, so that the posture angle and/or the position of the left probe module and/or the right probe module are controlled according to the contact condition and/or the contact force of the left probe module and/or the right probe module and the neck skin. The invention has the function of force position control protection, and avoids the problem of patient safety caused by overlarge contact force between the probe and the patient.
Description
Technical Field
The invention relates to the technical field of neck scanning, in particular to a neck ultrasonic scanning robot tail end executing device and method.
Background
Thyroid nodules refer to lumps within the thyroid gland, and when they grow to some extent, they may cause cancer. Therefore, there is a need to scan the cervical thyroid nodules to prevent further expansion of the disease. The "carotid artery" is responsible for the vascular lifeline supplying the brain, and ultrasound examination of its health status is also of particular importance.
Through retrieval, the Chinese invention patent with the publication number of CN110755110A relates to a three-dimensional ultrasonic scanning device based on a mechanical arm unit. The scanning device comprises a mechanical arm unit, one end of the mechanical arm unit is installed on a movable base, the other end of the mechanical arm unit is connected with a connecting block through a pressure sensor, the connecting block is connected with an ultrasonic probe through the pressure sensor, a spatial information sensing unit is installed on the movable base, the problem that existing three-dimensional ultrasonic equipment can only acquire a small-range three-dimensional ultrasonic image is solved by the mechanical arm unit, the spatial information sensing unit, the pressure sensor, a display and the like, and the reconstruction result of the high-quality three-dimensional ultrasonic image is. However, the end effector of the present invention has only one scanning probe, is suitable for the part with gentle body curve change, and cannot be adjusted in a self-adaptive manner when scanning the neck.
In the prior art, the chinese patent publication CN110575203A provides an ultrasonic thyroid detection device and a detection method thereof, wherein the detection device comprises an ultrasonic host, the ultrasonic host is disposed adjacent to a detection bed, a supporting and moving device is fixedly mounted on the ultrasonic host, and a scanning device is disposed at an end of the supporting and moving device and suspended on the detection bed. However, the scanning device disclosed by the invention is used for attaching the pressure spring to the part to be detected of the patient and realizing the function of path guidance through a set of laser equipment, and has the problems of complex structure and certain comfort level. In addition, the scanning device is a self-developed device, the existing standard probe cannot be used, and the cost is high. And the scanning device is only provided with one probe, the scanning range is small, and the accuracy is low.
The chinese patent publication No. CN110974307A provides a rotational locking device and an ultrasonic device, the rotational locking device is suitable for a carotid scanning ultrasonic device, the carotid scanning ultrasonic device comprises a head cover and a probe scanning device, and the rotational locking device comprises a first locking part and a second locking part which can be locked with each other. In the power-on state, the first locking part and the second locking part are locked with each other, so that the probe scanning device is locked on the side wall; and in the power-off state, the probe scanning device rotates relative to the side wall. The device can overcome the problems that the rotary locking device in the existing carotid scanning device is inconvenient to operate and the doctor is easy to miss the operation. However, the device has a complex structure, no force feedback exists, the angle of the locking device cannot be adjusted in a self-adaptive manner, and a patient cannot obtain a good diagnosis experience.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the device and the method for executing the tail end of the neck ultrasonic scanning robot, which have the function of force position control and protection, avoid the problem of patient safety caused by overlarge contact force between a probe and a patient, and have the advantages of simple and reliable mechanical structure, convenient maintenance, flexibility and accuracy.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides a neck ultrasonic scanning robot tail end execution device, which comprises: the device comprises a neck clamping module, a left probe module, a right probe module and a force position control module; wherein the content of the first and second substances,
the neck clamp module further comprises: a left plate, a right plate and a rotating shaft; wherein the content of the first and second substances,
the left plate and the right plate are connected through the rotating shaft, and the rotating shaft is used for fixing the left plate and the right plate after the angle between the left plate and the right plate is adjusted;
the left probe module is arranged on the left plate; the left probe module is used for scanning the neck;
the right probe module is arranged on the right plate; the right ultrasonic probe module is used for scanning the neck;
the force position control module is used for acquiring the contact condition and/or the contact force of the left probe module and/or the right probe module and the neck skin, so that the posture angle and/or the position of the left probe module and/or the right probe module are controlled according to the contact condition and/or the contact force of the left probe module and/or the right probe module and the neck skin.
Preferably, the force position control module further comprises: the device comprises a contact acquisition unit, a mounting unit and a fixing unit;
the contact collection unit further includes: a camera and/or a force sensor; wherein the content of the first and second substances,
the camera is used for observing the contact condition of the left probe module and the right probe module with the neck, so that the posture angles of the ultrasonic probes of the left probe module and the right probe module are adjusted according to the contact condition, and the ultrasonic probes are better contacted with the neck;
the force sensor is respectively connected with the left plate and the mounting unit or respectively connected with the right plate and the mounting unit and is used for acquiring contact forces of the ultrasonic probes of the left probe module, the right probe module, the left probe module and the right probe module and neck skin so as to control the position of the ultrasonic probe according to the contact forces and conveniently carry out safety protection on the neck;
the mounting unit is used for being connected with a robot arm;
the fixing unit is arranged on the mounting unit and used for fixing the mounting unit and the robot arm.
Preferably, the detection accuracy of the force sensor is 100g or more.
Preferably, the maximum detection value of the force sensor is 91 kg.
Preferably, the left probe module further comprises: the ultrasonic probe comprises a left ultrasonic probe, a left ultrasonic adjusting plate and a left ultrasonic adjusting shaft; wherein the content of the first and second substances,
the left ultrasonic probe is connected with the left ultrasonic adjusting plate;
the left ultrasonic adjusting plate is arranged on the left plate;
the left ultrasonic adjusting plate is connected with the left ultrasonic adjusting shaft;
the left ultrasonic adjusting shaft is used for adjusting the posture angle of the left ultrasonic adjusting plate according to the contact condition acquired by the force position control module, and then adjusting the posture angle of the left ultrasonic probe.
Preferably, the left ultrasonic adjusting plate is arranged on one side of the left plate far away from the neck;
the left ultrasonic probe penetrates through the left ultrasonic adjusting plate and the left plate and is used for enabling the left ultrasonic probe to be in contact with the neck.
Preferably, the right probe module further comprises: the ultrasonic probe comprises a right ultrasonic probe, a right ultrasonic adjusting plate and a right ultrasonic adjusting shaft; wherein the content of the first and second substances,
the right ultrasonic probe is arranged on the right ultrasonic adjusting plate;
the right ultrasonic adjusting plate is connected with the right ultrasonic adjusting shaft;
the right ultrasonic adjusting shaft is used for adjusting the posture angle of the right ultrasonic adjusting plate according to the contact condition acquired by the force position control module, and then adjusting the posture angle of the right ultrasonic probe.
Preferably, the right ultrasonic adjusting plate is arranged on one side of the right plate far away from the neck;
the right ultrasonic probe penetrates through the right ultrasonic adjusting plate and the right plate and is used for enabling the right ultrasonic probe to be in contact with the neck.
The invention also provides a method for executing the tail end of the neck ultrasonic scanning robot, which is used for the method for executing the tail end device of the neck ultrasonic scanning robot and comprises the following steps:
s101: adjusting the angle between the left plate and the right plate to adapt to the radian of the neck, and locking the rotating shaft after the angle is adjusted;
s102: observing the contact condition of the ultrasonic module of the left probe module and/or the right probe module and the neck through the force position control module to control the posture angle of the ultrasonic probe according to the contact condition of the ultrasonic probe of the left probe module and/or the right probe module and the neck so as to enable the ultrasonic probe to be in better contact with the neck;
s103: the contact force between the ultrasonic module of the left probe module and/or the ultrasonic module of the right probe module and the neck is acquired through the force position control module, so that the position of the ultrasonic probe is controlled according to the contact force between the ultrasonic probe of the left probe module and/or the ultrasonic probe of the right probe module and the neck, and the neck is protected safely.
Compared with the prior art, the embodiment of the invention has at least one of the following advantages:
(1) according to the device and the method for executing the tail end of the neck ultrasonic scanning robot, the contact positions of the left ultrasonic probe and the neck ultrasonic probe and the contact positions of the neck ultrasonic probe and the neck ultrasonic probe are observed through the force position control module, the posture angles of the left ultrasonic probe and the right ultrasonic probe are controlled, the former uncontrollable state is changed into a controllable state, the ultrasonic probe can be better contacted with the neck, and a doctor is assisted to accurately position the ultrasonic probe on the surface of the neck;
(2) according to the neck ultrasonic scanning robot tail end execution device and method, the contact force between the left ultrasonic probe and the neck and the contact force between the right ultrasonic probe and the neck are detected through the force position control module, the positions of the ultrasonic probes are controlled, and the past uncontrollable state is changed into a controllable state, so that the safety protection of a patient is realized, and the humanization and the comfort degree of a treatment process are greatly improved;
(3) according to the neck ultrasonic scanning robot tail end execution device and method provided by the invention, richer neck tissue information can be collected in a scanning mode of the left ultrasonic probe module and the right ultrasonic probe module, and effective diagnosis of neck pathological information of a patient is facilitated; in addition, the geometric information between the left ultrasonic probe module and the right ultrasonic probe module and the pose information of the robot are known, so that the three-dimensional reconstruction and the accurate diagnosis of the neck tissue are very facilitated to be carried out subsequently;
(4) according to the device and the method for executing the tail end of the neck ultrasonic scanning robot, provided by the invention, through setting the detection precision of the force sensor, the misjudgment generated when acceleration force is generated by accelerated motion can be avoided;
(5) according to the device and the method for executing the tail end of the neck ultrasonic scanning robot, the maximum detection value is set for the force sensor, if the maximum detection value exceeds the upper limit, the force sensor can be damaged, and the force sensor can be always in a safe working state due to limited contact force with a patient, so that the protection force is larger.
Drawings
Embodiments of the invention are further described below with reference to the accompanying drawings:
FIG. 1 is a three-dimensional view of a neck ultrasound scanning robot end effector in accordance with an embodiment of the present invention;
FIG. 2 is a plan view of a neck ultrasound scanning robot end effector in accordance with one embodiment of the present invention;
fig. 3 is a sectional view taken along the line a-a of fig. 2.
Description of reference numerals: 1-left plate, 2-right plate, 3-rotation axis, 4-installation unit, 5-camera, 6-fixation unit, 7-left ultrasonic probe, 8-right ultrasonic probe, 9-left ultrasonic adjustment plate, 10-right ultrasonic adjustment plate, 11-left ultrasonic adjustment axis, 12-right ultrasonic adjustment axis, 13-force sensor, 14-neck.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Fig. 1 is a three-dimensional view of a neck ultrasonic scanning robot end effector according to an embodiment of the present invention, and fig. 2 is a plan view of the neck ultrasonic scanning robot end effector according to an embodiment of the present invention; fig. 3 is a sectional view taken along the line a-a of fig. 2.
Referring to fig. 1 to 3, the device for performing a neck ultrasound scanning robot end of the present embodiment includes: neck centre gripping module, left probe module, right probe module and power position control module. Wherein, neck centre gripping module further includes: a left plate 1, a right plate 2, and a rotation shaft 3; wherein, left board 1 links to each other through rotation axis 3 with right board 2, and the angle between left board 1 and the right board 2 can be adjusted to the radian of adaptation neck (neck) 14, rotation axis 3 is used for fixing it after the angle adjustment between left board 1 and the right board 2. The left probe module is arranged on the left plate 1; the left probe module is used for scanning the neck. The right probe module is arranged on the right plate 2; the right ultrasonic probe module is used for scanning the neck. The force position control module is used for acquiring the contact condition and/or the contact force of the left probe module and/or the right probe module and the neck skin, so that the posture angle and/or the position of the left probe module and/or the right probe module are controlled according to the contact condition and/or the contact force of the left probe module and/or the right probe module and the neck skin.
In this embodiment, the force position control module further includes: a contact acquisition unit, a mounting unit 4 and a fixing unit 6; the contact collection unit further includes: camera 5 and/or force sensor 13. Wherein, camera 5 is used for observing left probe module and the contact condition of right probe module and neck to it is right according to the contact condition the attitude angle of the ultrasonic probe of left side probe module and right probe module adjusts, so that makes ultrasonic probe and neck contact better, and then assists the doctor to carry out the accurate positioning to ultrasonic probe on the neck surface. In this embodiment, the camera 5 is disposed on the right plate, but in different embodiments, it may be disposed at other suitable positions. The force sensor 13 is respectively connected with the right plate 2 and the mounting unit 14, and is used for acquiring contact force between the ultrasonic probes of the left probe module and the right probe module and the skin of the neck, so that the position of the ultrasonic probes is controlled according to the contact force, and the neck is protected safely. When the contact force is smaller than the preset contact force, the ultrasonic probe can be controlled to move downwards to be closer to the neck part 14, and when the contact force is larger than the preset contact force, the ultrasonic probe can be controlled to move upwards to be farther away from the neck part 14, so that the safety protection control of a patient is realized. The mounting unit 4 is adapted to be connected to a robot arm, and in one embodiment, a mounting flange may be used. The fixing unit 6 is disposed on the mounting unit 4, and is used for fixing the mounting unit 4 and the robot arm, and in an embodiment, a fixing bolt may be used.
In different embodiments, the force sensor 13 may also be connected to the left plate 1 and the mounting unit 14, respectively, and the specific implementation principle is the same as that of the above-mentioned embodiments.
In this embodiment, the left probe module further includes: a left ultrasonic probe 7, a left ultrasonic adjusting plate 9 and a left ultrasonic adjusting shaft 11. Wherein, left supersound regulating plate 9 sets up in left board 1, and left supersound regulating plate 9 sets up in the one side of keeping away from the neck of left board. The left ultrasonic probe 7 passes through the left ultrasonic adjustment plate 9 and the left plate 1 for bringing the left ultrasonic probe 7 into contact with the neck 14. The left ultrasonic adjusting plate 9 is connected with a left ultrasonic adjusting shaft 11; the left ultrasonic adjusting shaft 11 is used for adjusting the posture angle of the left ultrasonic adjusting plate 9 and further adjusting the posture angle of the left ultrasonic probe 7, so that the neck 14 can be better contacted, and further a doctor is assisted to accurately position the left ultrasonic probe 7 on the surface of the neck. The adjustment of the left ultrasonic adjustment shaft 11 can be adjusted by manual adjustment or other mechanical means. The contact force of the left ultrasonic probe and the neck of the patient can be transmitted to the force sensor through the left ultrasonic adjusting plate and the left plate, the data of the force sensor is transmitted to the robot, and the robot can automatically adjust the position and the posture of the tail end of the robot according to the target contact force because the mounting unit 4 is connected with the tail end of the robot through the fixing unit 6, so that the contact force of the left ultrasonic probe and the neck of the patient is controlled within a required safety range.
In this embodiment, the right probe module further includes: a right ultrasonic probe 8, a right ultrasonic adjusting plate 10 and a right ultrasonic adjusting shaft 12. The right ultrasonic adjusting plate 10 is arranged on one side of the right plate 2 far away from the neck. The right ultrasonic probe 8 passes through the right ultrasonic adjustment plate 10 and the right plate 2 for contacting the right ultrasonic probe 8 with the neck 14. The right ultrasonic adjusting plate 10 is connected with a right ultrasonic adjusting shaft 12. The right ultrasonic adjusting shaft 12 is used for adjusting the posture angle of the right ultrasonic adjusting plate 10, and then adjusting the posture angle of the right ultrasonic probe 8, so that the neck 14 can be better contacted, and then a doctor is assisted in accurately positioning the right ultrasonic probe 8 on the surface of the neck. Adjustment of the right ultrasonic adjustment shaft 12 may be adjusted using manual adjustment or other mechanical means. The contact force of the right ultrasonic probe and the neck of the patient can be transmitted to the force sensor through the right ultrasonic adjusting plate and the right plate, the data of the force sensor is transmitted to the robot, and the robot can automatically adjust the position and the posture of the tail end of the robot according to the target contact force because the mounting unit 4 is connected with the tail end of the robot through the fixing unit 6, so that the contact force of the right ultrasonic probe and the neck of the patient is controlled within a required safety range.
In this embodiment, the force sensor 13 includes only one, and the acquisition of the contact force between the left ultrasonic probe and the neck and the acquisition of the contact force between the right ultrasonic probe and the neck are simultaneously realized through one force sensor, and the contact force between the left ultrasonic probe and the neck is transmitted through the left ultrasonic adjusting plate, the right ultrasonic adjusting plate, the left plate and the right plate to generate a resultant force vector to act on the force sensor 13. The force sensor 13 is a six-dimensional force sensor. According to the six-dimensional force vector change detected by the force sensor and the geometric positions of the left ultrasonic probe and the right ultrasonic probe, the contact force of the left ultrasonic probe and the right ultrasonic probe can be estimated, so that the detection of two different contact forces can be realized simultaneously by one force sensor, the corresponding installation of one force sensor on one probe is avoided, the cost is reduced, the reliability is improved, and the installation and the engineering realization are facilitated. Of course, in different embodiments, two force sensors may be used to collect the contact force between the left ultrasonic probe and the neck and the contact force between the right ultrasonic probe and the neck.
In the preferred embodiment, the detection accuracy of the force sensor can be set to avoid erroneous determination when the acceleration force is generated by the acceleration motion. The detection accuracy of the force sensor can reach 100g, and it is recommended not to set the value less than the detection accuracy, and if the value is too small, misjudgment can be caused when acceleration force is generated by acceleration movement.
In a preferred embodiment, in order to increase the protection force, the maximum detection value of the force sensor can be set, the theoretical limit safety protection force of the force sensor 13 is set to be 91kg at most, and if the theoretical limit safety protection force exceeds the upper limit, the force sensor 13 will be damaged. The force sensor 13 can always be in a safe working state due to the limited contact force with the patient.
The technical features of the above-described preferred embodiments may be used alone, or may be used in any combination without conflict.
In another embodiment of the present invention, there is also provided a method for executing a neck ultrasonic scanning robot tip, which is used for the method for executing the neck ultrasonic scanning robot tip apparatus of the above embodiments, and includes the following steps:
s101: adjusting the angle between the left plate and the right plate to adapt to the radian of the neck, and locking the rotating shaft after the angle is adjusted; the angle between the left plate and the right plate can be adjusted manually or by other mechanical devices;
s102: observing the contact condition of the ultrasonic module of the left probe module and/or the right probe module and the neck through the force position control module to control the posture angle of the ultrasonic probe according to the contact condition of the ultrasonic probe of the left probe module and/or the right probe module and the neck, so that the ultrasonic probe can be better contacted with the neck;
s103: the contact force between the ultrasonic module of the left probe module and/or the ultrasonic module of the right probe module and the neck is acquired through the force position control module, so that the position of the ultrasonic probe is controlled according to the contact force between the ultrasonic probe of the left probe module and/or the ultrasonic probe of the right probe module and the neck, and the neck is protected safely.
By the scanning mode of the left ultrasonic probe module and the right ultrasonic probe module, richer neck tissue information can be acquired, and effective diagnosis of neck pathological information of a patient is facilitated; in addition, the geometric information between the left ultrasonic probe module and the right ultrasonic probe module and the pose information of the robot are known, so that the three-dimensional reconstruction and the accurate diagnosis of the neck tissue are very facilitated to be carried out subsequently.
The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and not to limit the invention. Any modifications and variations within the scope of the description, which may occur to those skilled in the art, are intended to be within the scope of the invention.
Claims (10)
1. An end effector of a neck ultrasonic scanning robot, comprising: the device comprises a neck clamping module, a left probe module, a right probe module and a force position control module; wherein the content of the first and second substances,
the neck clamp module further comprises: a left plate, a right plate and a rotating shaft; wherein the content of the first and second substances,
the left plate and the right plate are connected through the rotating shaft, and the rotating shaft is used for fixing the left plate and the right plate after the angle between the left plate and the right plate is adjusted;
the left probe module is arranged on the left plate; the left probe module is used for scanning the neck;
the right probe module is arranged on the right plate; the right ultrasonic probe module is used for scanning the neck;
the force position control module is used for acquiring the contact condition and/or the contact force of the left probe module and/or the right probe module and the neck skin, so that the posture angle and/or the position of the left probe module and/or the right probe module are controlled according to the contact condition and/or the contact force of the left probe module and/or the right probe module and the neck skin.
2. The cervical ultrasound scanning robot end effector of claim 1, wherein the force position control module further comprises: the device comprises a contact acquisition unit, a mounting unit and a fixing unit;
the contact collection unit further includes: a camera and/or a force sensor; wherein the content of the first and second substances,
the camera is used for observing the contact condition of the left probe module and the right probe module with the neck, so that the posture angles of the ultrasonic probes of the left probe module and the right probe module are adjusted according to the contact condition, and the ultrasonic probes are better contacted with the neck;
the force sensor is respectively connected with the left plate and the mounting unit or respectively connected with the right plate and the mounting unit and is used for acquiring contact force between the ultrasonic probes of the left probe module and the right probe module and neck skin so as to control the positions of the ultrasonic probes according to the contact force and conveniently carry out safety protection on the neck;
the mounting unit is used for being connected with a robot arm;
the fixing unit is arranged on the mounting unit and used for fixing the mounting unit and the robot arm.
3. The cervical ultrasound scanning robot end effector of claim 2, wherein the force sensor has a detection accuracy of 100g or more.
4. The cervical ultrasound scanning robot end effector of claim 2, wherein the force sensor has a maximum detection value of 91 kg.
5. The cervical ultrasound scanning robot end effector of any of claims 1 to 4, wherein the left probe module further comprises: the ultrasonic probe comprises a left ultrasonic probe, a left ultrasonic adjusting plate and a left ultrasonic adjusting shaft; wherein the content of the first and second substances,
the left ultrasonic probe is connected with the left ultrasonic adjusting plate;
the left ultrasonic adjusting plate is arranged on the left plate;
the left ultrasonic adjusting plate is connected with the left ultrasonic adjusting shaft;
the left ultrasonic adjusting shaft is used for adjusting the posture angle of the left ultrasonic adjusting plate according to the contact condition acquired by the force position control module, and then adjusting the posture angle of the left ultrasonic probe.
6. The neck ultrasound scanning robot end effector of claim 5, wherein the left ultrasound adjustment plate is disposed on a side of the left plate distal from the neck;
the left ultrasonic probe penetrates through the left ultrasonic adjusting plate and the left plate and is used for enabling the left ultrasonic probe to be in contact with the neck.
7. The cervical ultrasound scanning robot end effector of any of claims 1 to 4, wherein the right probe module further comprises: the ultrasonic probe comprises a right ultrasonic probe, a right ultrasonic adjusting plate and a right ultrasonic adjusting shaft; wherein the content of the first and second substances,
the right ultrasonic probe is arranged on the right ultrasonic adjusting plate;
the right ultrasonic adjusting plate is connected with the right ultrasonic adjusting shaft;
the right ultrasonic adjusting shaft is used for adjusting the posture angle of the right ultrasonic adjusting plate according to the contact condition acquired by the force position control module, so that the posture angle of the right ultrasonic probe is adjusted; further, the air conditioner is provided with a fan,
the right ultrasonic adjusting plate is arranged on one side of the right plate far away from the neck;
the right ultrasonic probe penetrates through the right ultrasonic adjusting plate and the right plate and is used for enabling the right ultrasonic probe to be in contact with the neck.
8. The cervical ultrasound scanning robot end effector of claim 5, wherein the right probe module further comprises: the ultrasonic probe comprises a right ultrasonic probe, a right ultrasonic adjusting plate and a right ultrasonic adjusting shaft; wherein the content of the first and second substances,
the right ultrasonic probe is arranged on the right ultrasonic adjusting plate;
the right ultrasonic adjusting plate is connected with the right ultrasonic adjusting shaft;
the right ultrasonic adjusting shaft is used for adjusting the posture angle of the right ultrasonic adjusting plate according to the contact condition acquired by the force position control module, so that the posture angle of the right ultrasonic probe is adjusted; further, the air conditioner is provided with a fan,
the right ultrasonic adjusting plate is arranged on one side of the right plate far away from the neck;
the right ultrasonic probe penetrates through the right ultrasonic adjusting plate and the right plate and is used for enabling the right ultrasonic probe to be in contact with the neck.
9. The cervical ultrasound scanning robot end effector of claim 6, wherein the right probe module further comprises: the ultrasonic probe comprises a right ultrasonic probe, a right ultrasonic adjusting plate and a right ultrasonic adjusting shaft; wherein the content of the first and second substances,
the right ultrasonic probe is arranged on the right ultrasonic adjusting plate;
the right ultrasonic adjusting plate is connected with the right ultrasonic adjusting shaft;
the right ultrasonic adjusting shaft is used for adjusting the posture angle of the right ultrasonic adjusting plate according to the contact condition acquired by the force position control module, so that the posture angle of the right ultrasonic probe is adjusted; further, the air conditioner is provided with a fan,
the right ultrasonic adjusting plate is arranged on one side of the right plate far away from the neck;
the right ultrasonic probe penetrates through the right ultrasonic adjusting plate and the right plate and is used for enabling the right ultrasonic probe to be in contact with the neck.
10. A neck ultrasonic scanning robot tip execution method, characterized by being used for the neck ultrasonic scanning robot tip device according to any one of claims 1 to 9, and comprising the following steps:
s101: adjusting the angle between the left plate and the right plate to adapt to the radian of the neck, and locking the rotating shaft after the angle is adjusted;
s102: observing the contact condition of the ultrasonic module of the left probe module and/or the right probe module and the neck through the force position control module to control the posture angle of the ultrasonic probe according to the contact condition of the ultrasonic probe of the left probe module and/or the right probe module and the neck so as to enable the ultrasonic probe to be in better contact with the neck;
s103: the contact force between the ultrasonic module of the left probe module and/or the ultrasonic module of the right probe module and the neck is acquired through the force position control module, so that the position of the ultrasonic probe is controlled according to the contact force between the ultrasonic probe of the left probe module and/or the ultrasonic probe of the right probe module and the neck, and the neck is protected safely.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112773395A (en) * | 2020-12-30 | 2021-05-11 | 无锡祥生医疗科技股份有限公司 | Neck ultrasonic imaging device based on mechanical arm |
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