CN116236227A - Robot ultrasonic probe control method, system, equipment and storage medium - Google Patents

Robot ultrasonic probe control method, system, equipment and storage medium Download PDF

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Publication number
CN116236227A
CN116236227A CN202310387655.8A CN202310387655A CN116236227A CN 116236227 A CN116236227 A CN 116236227A CN 202310387655 A CN202310387655 A CN 202310387655A CN 116236227 A CN116236227 A CN 116236227A
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ultrasonic probe
information
target position
current
probe
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闫琳
韩冬
付中涛
张少华
王能
黄雄杰
张武
张宁
金晟中
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Wuhan Cobot Technology Co ltd
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Wuhan Cobot Technology Co ltd
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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
    • 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
    • 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
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/56—Details of data transmission or power supply
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The invention relates to the technical field of ultrasonic scanning, in particular to a method, a system, equipment and a storage medium for controlling an ultrasonic probe of a robot, wherein the method comprises the following steps: acquiring position information, posture information and stress information of the current position of an ultrasonic probe, and position information and posture information of a target position, analyzing according to posture change between the current position of the ultrasonic probe and the target position, and/or analyzing according to the stress information of the current position, judging whether the position of a rotating shaft of the ultrasonic probe needs to be adjusted, and if the rotating shaft of the ultrasonic probe needs to be adjusted, adjusting the rotating shaft of the ultrasonic probe according to the position information and the posture information of the current position of the ultrasonic probe and the target position and probe moving operation input by a user. According to the invention, whether the rotation axis of the ultrasonic probe needs to be adjusted is judged according to the posture information between the current position and the target position of the ultrasonic probe and the stress information of the current position, so that the ultrasonic probe can be ensured to be in stable contact with the surface of the skin.

Description

Robot ultrasonic probe control method, system, equipment and storage medium
Technical Field
The invention relates to the technical field of ultrasonic scanning, in particular to a method, a system, equipment and a storage medium for controlling an ultrasonic probe of a robot.
Background
The existing remote ultrasonic scanning robot adopts a mode that a profiling probe at a doctor end moves on a touch screen to control an ultrasonic probe at a patient end to correspondingly move on a focus of a patient, so that scanning of a focus area is realized. Specifically, when the doctor operates the profiling probe, the position of the force application point and/or the rotation axis of the profiling probe are changed according to the position and the shape of the focus, so that the ultrasonic probe at the patient end can keep stable contact with the skin of the human body when moving, and a clear and stable ultrasonic image is obtained.
However, the existing teleoperation mode cannot completely and accurately transmit the ultrasonic scanning operation of a doctor to the robot, which is particularly reflected in neck artery scanning, because the cross section of the neck is similar to a circle, in order to enable the ultrasonic probe to be in stable contact with the skin of the neck, an ultrasonic doctor usually changes the rotating shaft of the doctor-side profiling probe (not the axis of the profiling probe anymore), and if the patient-side ultrasonic probe still swings according to the axis of the ultrasonic probe at this time, the condition that one side of the ultrasonic probe is suspended can be caused, so that the effect of remote ultrasonic diagnosis is affected.
Disclosure of Invention
The invention aims to provide a control method, a control system, a control device and a storage medium for an ultrasonic probe of a robot, which correspondingly change the rotation of the ultrasonic probe at a patient end according to the change of a rotating shaft of a profiling probe at a doctor end and ensure the stable contact between the ultrasonic probe and the focus position.
To achieve the above object, in a first aspect, an embodiment of the present invention provides a method for controlling an ultrasonic probe of a robot, including:
acquiring the position information, the gesture information and the stress information of the current position of the ultrasonic probe and the position information and the gesture information of the target position,
judging whether the position of the ultrasonic probe rotating shaft needs to be adjusted according to the analysis of the gesture change between the current position of the ultrasonic probe and the target position and/or according to the analysis of the stress information of the current position, and if so, adjusting the ultrasonic probe rotating shaft according to the position information and gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user.
In one embodiment, the pose information comprises a pose matrix,
judging whether the position of the rotating shaft of the ultrasonic probe needs to be adjusted according to the gesture change analysis between the current position of the ultrasonic probe and the target position, comprising the following steps:
judging the current position and posture matrix R of the ultrasonic probe c Corresponding ZYX Euler angle θ c Component θ of Z axis of (2) zc And the ultrasonic probe target position and posture matrix R t Corresponding ZYX Euler angle θ C Is a Z-axis component theta of (2) zt Whether the absolute value of the difference is greater than or equal to the threshold value theta z0 If yes, the rotation shaft is not adjusted;
and/or
Judging the target position and posture matrix R of the ultrasonic probe t Corresponding ZYX Euler angle θ t Component θ of the X-axis of (2) xt Whether the absolute value of (2) is less than or equal to the threshold value theta x0 If so, the rotation axis is not adjusted.
In one embodiment, the force information includes a contact force of the ultrasound probe,
judging whether the position of the rotating shaft of the ultrasonic probe needs to be adjusted according to the stress information analysis of the current position, comprising the following steps:
judging the contact force F z Whether or not it is less than or equal to threshold F 0 If so, the rotation axis is not adjusted.
In one embodiment, the pose information comprises a pose matrix,
according to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user, adjusting the rotating shaft of the ultrasonic probe comprises:
according to the attitude matrix R c Corresponding ZYX Euler angle θ c Component θ of the X-axis of (2) xc Obtaining an adjustment parameter L offset ，
According to the adjustment parameter L offset Obtaining the position P of the rotation axis in the tool coordinate system after adjustment offset 。
In one embodiment, the obtained adjustment parameter L offset The formula of (2) is: l (L) offset ＝PID(θ xc -θ x0 )，
The position P of the rotation axis after adjustment is obtained offset The formula of (2) is: p (P) offset ＝(0，L offset ，0)。
In one embodiment, the location information comprises a location vector,
according to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user, adjusting the rotating shaft of the ultrasonic probe further comprises:
according to the position P of the rotation shaft after adjustment offset For the attitude matrix R of the current position c Adjust and match the result with the position vector P of the current position c Calculating to obtain a position vector P of the rotation axis after adjustment nc 。
In one embodiment, the location information comprises a location vector and the target location comprises a last destinationTarget position and current target position, wherein the position vector of the last target position is P t1 And the gesture matrix is R t1 The gesture matrix of the current target position is R t2 The adjusting the rotation axis of the ultrasonic probe further comprises:
according to the position P of the rotation shaft after adjustment offset For the posture matrix R of the last target position t1 Adjust and combine the result with P t1 Calculating to obtain a position vector P of the rotation axis after adjustment nt ，
Obtaining the displacement D between the last target position and the current target position of the ultrasonic probe t ，
The displacement D t And the position vector P nt Calculating to obtain a position vector P of the rotation axis of the target position n ′ t ，
According to the position P of the rotation shaft after adjustment offset The pose matrix of the current target position is R t2 Adjust and combine the result with P n ′ t Calculating to obtain a position vector P of the central point of the ultrasonic probe at the current target position t ′ 。
In a second aspect, an embodiment of the present invention provides a control system for a robotic ultrasound probe, including:
the information acquisition module is used for acquiring the position information, the posture information and the stress information of the current position of the ultrasonic probe, and the position information and the posture information of the target position;
the information analysis module is used for judging whether the rotation axis position of the ultrasonic probe needs to be adjusted according to the gesture transformation analysis between the current position and the target position of the ultrasonic probe and/or the stress information analysis of the current position;
and the adjusting module is used for adjusting the rotating shaft of the ultrasonic probe according to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the robotic ultrasound probe control method as described above.
In a fourth aspect, embodiments of the present invention provide a storage medium containing computer executable instructions for performing a robotic ultrasound probe control method as described above when executed by a computer processor.
Compared with the prior art, the embodiment of the invention has at least the following beneficial effects: according to the gesture information between the current position and the target position of the ultrasonic probe and the stress information of the current position, whether the rotation axis of the ultrasonic probe needs to be adjusted is judged, so that the ultrasonic probe can be ensured to be in stable contact with the surface of the skin.
Drawings
Fig. 1 is a schematic diagram of a remote ultrasound scanning robot physician's end.
Figure 2 is a schematic view of the patient end of a remote ultrasound scanning robot.
Figure 3 is a schematic illustration of the swinging of the patient-side ultrasound probe rotation shaft without modification (still on its own axis).
Fig. 4 is a schematic diagram of the current and target positions of the patient-side ultrasound probe.
Fig. 5 is a schematic diagram of a process of adjusting the rotational axis of the patient-side ultrasound probe.
Fig. 6 is a schematic diagram of an ultrasonic probe control method according to an embodiment of the present invention after adjusting a rotation axis of an ultrasonic probe.
Fig. 7 is a flowchart of an ultrasonic probe control method according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples.
The tele-ultrasound scanning robot has a physician's end and a patient's end, fig. 1 shows a schematic view of the tele-ultrasound scanning robot physician's end, see fig. 1, the physician's end comprising a profiling probe 11 and a touch screen 12, fig. 2 shows a schematic view of the tele-ultrasound scanning robot's patient's end, see fig. 2, the patient's end comprising a robotic arm 13 and an ultrasound probe 14. When in use, a doctor operates the profiling probe 11 to move on the touch screen 12, so that the mechanical arm 13 correspondingly controls the ultrasonic probe 14 to move. The translational motion of the profiling probe 11 on the surface of the touch screen 12 can be accurately transferred to the ultrasonic probe 14, but the rotational motion (sometimes also called swinging) of the profiling probe 11 cannot be accurately transferred to the ultrasonic probe 14, specifically, when the rotation axis of the profiling probe 11 at the doctor end is no longer the own axis, the ultrasonic probe 14 still rotates according to the own axis, and further, the end of the ultrasonic probe 14 cannot accurately reflect the action of the doctor, so that the probe 14 is partially suspended (see fig. 3) and is not contacted with the skin surface of the patient, and the result of ultrasonic detection is affected.
Example 1
An embodiment of the present invention provides a method for controlling an ultrasonic probe of a robot, which adjusts a position of a rotation axis of the ultrasonic probe to ensure that the ultrasonic probe can be stably contacted with a skin surface (see fig. 6), as shown in fig. 4, 5 and 7, the method includes:
s1: obtaining a position vector P of the current position of the ultrasonic probe c Gesture matrix R c And contact force F z Acquiring a position vector P of the target position of the ultrasonic probe t And a posture matrix R t The position vector of the present embodiment may be a coordinate of a center point of an end portion of the ultrasonic probe in a base coordinate system of the mechanical arm 13, the gesture matrix may be a gesture of a tool coordinate system established by using a center of gravity of the ultrasonic probe as an origin in the base coordinate system of the mechanical arm 13, and the contact force refers to a force generated by contact between the end portion of the ultrasonic probe and a skin surface of a patient, and may be measured by a six-dimensional force sensor between the ultrasonic probe 14 and the mechanical arm 13.
It should be noted that, although the state of the current position and the target position of the ultrasonic probe is described in terms of the position vector, the gesture matrix, and the contact force in the present embodiment, other parameters may be adopted as the position information, the gesture information, and the stress information of the ultrasonic probe.
S2: according to the current position and posture matrix R of the ultrasonic probe c And the ultrasonic probe target position and posture matrix R t Performing an analysis and/or based on the contact force F z Analyzing the size of the ultrasonic probe to judge whether the position of the rotating shaft of the ultrasonic probe needs to be adjusted,
in the present embodiment, according to the posture matrix R c And the gesture matrix R t Analyzing, judging whether the position of the rotating shaft of the ultrasonic probe needs to be adjusted includes:
s21: judging the current position and posture matrix R of the ultrasonic probe c Corresponding ZYX Euler angle θ c Component θ of Z axis of (2) zc And the ultrasonic probe target position and posture matrix R t Corresponding ZYX Euler angle θ C Is a Z-axis component theta of (2) zt Whether the absolute value of the difference is greater than or equal to the threshold value theta z0 If so, the rotation axis is not adjusted, and the rotation axis is not changed because the scanning operation is mainly performed around the axis of the ultrasonic probe, and the rotation axis is not greatly offset.
And/or
S22: judging the target position and posture matrix R of the ultrasonic probe t Corresponding ZYX Euler angle θ t Component θ of the X-axis of (2) xt Whether the absolute value of (2) is less than or equal to the threshold value theta x0 If so, the rotating shaft is not adjusted, and the rotating shaft does not need to be adjusted because the swing gesture of the ultrasonic probe is smaller at the moment, the end part of the ultrasonic probe does not obviously move and the suspension of the ultrasonic probe is avoided.
In the present embodiment, according to the contact force F z Analyzing the size of the ultrasonic probe, determining whether Xu Tao adjusts the ultrasonic probe rotation axis position includes:
s23: judging the contact force F z Whether or not it is less than or equal to threshold F 0 If so, the rotating shaft is not adjusted, and the rotating shaft is not required to be changed because the ultrasonic probe is slightly contacted with the skin of the human body at the moment and is not completely contacted.
S3: and if the rotation axis of the ultrasonic probe needs to be adjusted, adjusting the rotation axis of the ultrasonic probe according to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user.
In this embodiment, if the rotation axis of the ultrasonic probe needs to be adjusted, adjusting the rotation axis of the ultrasonic probe according to the position information and the posture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by the user includes:
s31: according to the current position and posture matrix R of the ultrasonic probe c Corresponding ZYX Euler angle θ c Component θ of the X-axis of (2) xc Obtaining an adjustment parameter L offset Wherein L is offset ＝PID(θ xc -θ x0 )，
S32: according to the adjustment parameter L offset Obtaining the position P of the rotation axis in the tool coordinate system after adjustment offset Wherein P is offset ＝(0，L offset 0) indicating the position of the adjusted rotation on the Y-axis in the tool coordinate system, and converting the euler angle around the X-axis into the position coordinate of the rotation axis on the Y-axis in the tool coordinate system by PID, the rotation axis can be gradually changed, and the experience of the scanning operation of the sonographer can be increased.
In this embodiment, adjusting the rotation axis of the ultrasonic probe according to the position information and the posture information of the current position and the target position of the ultrasonic probe and the probe movement operation input by the user further includes:
s33: according to the position P of the rotation shaft after adjustment offset For the attitude matrix R of the current position c Adjust and match the result with the position vector P of the current position c Calculating to obtain a position vector P of the rotation axis after adjustment nc . The specific calculation formula is as follows: p (P) nc ＝P c +R c *P offset 。
In this embodiment, the target positions include a last target position and a current target position, where the position vector of the last target position is P t1 And the gesture matrix is R t1 The gesture matrix of the current target position is R t2 Adjusting the rotation axis of the ultrasonic probe according to the position information and the posture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user further comprises:
s34: according to the position P of the rotation shaft after adjustment offset For the posture matrix R of the last target position t1 Adjust and combine the result with P t1 Calculating to obtain a position vector P of the rotation axis after adjustment nt The specific calculation formula is as follows: p (P) nt ＝P t1 +R t1 *P offset 。
S35: obtaining the displacement D between the last target position and the current target position of the ultrasonic probe t ，
S36: the displacement D t And the position vector P nt Calculating to obtain a position vector P of the rotation axis of the target position n ′ t The specific calculation formula is as follows: p'. nt ＝P nt +Dt。
S37: according to the position P of the rotation shaft after adjustment offset The pose matrix of the current target position is R t2 Adjust and combine the result with P n ′ t Calculating to obtain a position vector P of the central point of the ultrasonic probe at the current target position t ′ . The specific calculation formula is as follows: p'. t ＝P′ nt -R t2 *P offset 。
From the analysis, the change of the position of the rotating shaft is finally reflected to the change of the position of the central point of the ultrasonic probe, so that the purpose of self-adaptive control is achieved.
Example two
The embodiment of the invention provides a control system of a robot ultrasonic probe, which comprises the following components:
the information acquisition module is used for acquiring the position information, the posture information and the stress information of the current position of the ultrasonic probe, and the position information and the posture information of the target position; specifically, the information acquisition module in this embodiment is configured to acquire a position vector P of a current position of the ultrasound probe c Gesture matrix R c And contact force F z And acquiring a position vector P of the target position of the ultrasonic probe t And a posture matrix R t ；
The information analysis module is used for judging whether the rotating shaft of the ultrasonic probe needs to be adjusted according to the gesture transformation analysis between the current position and the target position of the ultrasonic probe and/or the stress information analysis of the current position;
and the adjusting module is used for adjusting the rotating shaft of the ultrasonic probe according to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user.
Further, the information analysis module includes:
the Z-axis component analysis module is used for analyzing the Z component of the ZYX Euler angle corresponding to the gesture matrix and judging the Z component threshold value theta z0 A relationship between;
the X-axis component analysis module is used for analyzing the X component of the ZYX Euler angle corresponding to the gesture matrix and judging the threshold value theta of the X component x0 A relationship between;
a contact force analysis module for analyzing the contact force F z Analyzing, judging and contacting the force threshold F 0 Relationship between them.
Further, the adjustment module includes:
the adjusting parameter calculation module is used for calculating an X-axis component theta of a ZYX Euler angle corresponding to the gesture matrix of the current position of the ultrasonic probe xc Calculate the adjustment parameter L offset ；
A rotation axis calculation module for calculating a rotation axis according to the adjustment parameter L offset Determining the position P of the Y-axis of the rotation axis under the coordinate system of the tool after adjustment offset ；
A rotation axis position determining module for determining the position P of the rotation axis according to the adjustment offset Gesture matrix R of current position of ultrasonic probe c Adjust and combine the result with the position information P of the current position c Calculating to obtain a position vector P of the rotation axis after adjustment nc ；
A displacement acquisition module for acquiring the displacement D between a target position and the current target position on the ultrasonic probe t ；
A displacement calculation module for calculating a displacement vector D and a rotation axis position vector according to the previous target position of the ultrasonic probe t Calculating a rotation axis position vector P of the current target position n ′ t ；
A center point determining module for determining the position P of the rotation axis according to the adjustment offset The pose matrix of the current target position is R t2 Adjust and combine the result with P n ′ t Calculating to obtain a position vector P of the central point of the ultrasonic probe at the current target position t ′ 。
Example III
An embodiment of the present invention provides an electronic device, including:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the robotic ultrasound probe control method as described above.
Example IV
Embodiments of the present invention provide a storage medium containing computer executable instructions, which when executed by a computer processor, are for performing a robotic ultrasound probe control method as described above.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art. The generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method for controlling an ultrasonic probe of a robot, comprising:
acquiring the position information, the gesture information and the stress information of the current position of the ultrasonic probe and the position information and the gesture information of the target position,
judging whether the position of the rotating shaft of the ultrasonic probe needs to be adjusted according to the analysis of the gesture change between the current position of the ultrasonic probe and the target position and/or the analysis of stress information of the current position,
and if the rotation axis of the ultrasonic probe needs to be adjusted, adjusting the rotation axis of the ultrasonic probe according to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user.
2. The method for controlling an ultrasonic probe of a robot according to claim 1, wherein the posture information includes a posture matrix,
judging whether the position of the rotating shaft of the ultrasonic probe needs to be adjusted according to the gesture change analysis between the current position of the ultrasonic probe and the target position, comprising the following steps:
judging the current position and posture matrix R of the ultrasonic probe c Corresponding ZYX Euler angle θ c Component θ of Z axis of (2) zc And the ultrasonic probe target position and posture matrix R t Corresponding ZYX Euler angle θ c Is a Z-axis component theta of (2) zt Whether the absolute value of the difference is greater than or equal to the threshold value theta z0 If yes, the rotation shaft is not adjusted;
such as/or
Judging the target position and posture matrix R of the ultrasonic probe t Corresponding ZYX Euler angle θ t Component θ of the X-axis of (2) xt Whether the absolute value of (2) is less than or equal to the threshold value theta x0 If so, the rotation axis is not adjusted.
3. The method for controlling an ultrasonic probe of a robot according to claim 1, wherein the stress information includes a contact force of the ultrasonic probe,
judging whether the position of the rotating shaft of the ultrasonic probe needs to be adjusted according to the stress information analysis of the current position, comprising the following steps:
judging the contact force F z Whether or not it is less than or equal to threshold F 0 If so, the rotation axis is not adjusted.
4. The method for controlling an ultrasonic probe of a robot according to claim 1, wherein the posture information includes a posture matrix,
according to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user, adjusting the rotating shaft of the ultrasonic probe comprises:
according to the current position and posture matrix R of the ultrasonic probe c Corresponding ZYX Euler angle θ c Component θ of the X-axis of (2) xc Obtaining an adjustment parameter L offset ，
According to the adjustment parameter L offset Obtaining the position P of the rotation axis in the tool coordinate system after adjustment offset 。
5. The method according to claim 4, wherein the obtaining the adjustment parameter L offset The formula of (2) is: l (L) offset ＝PID(θ xc -θ x0 )，
The position P of the rotation axis after adjustment is obtained offset The formula of (2) is: p (P) offset ＝(0，L offset ，0)。
6. The method for controlling an ultrasonic probe of a robot of claim 4, wherein the positional information comprises a positional vector,
according to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user, adjusting the rotating shaft of the ultrasonic probe further comprises:
according to the position P of the rotation shaft after adjustment offset For the saidGesture matrix R of current position c Adjust and match the result with the position vector P of the current position c Calculating to obtain a position vector P of the rotation axis after adjustment nc 。
7. The method for controlling an ultrasonic probe of a robot of claim 4, wherein the positional information comprises a positional vector,
the target position comprises a last target position and a current target position, wherein the position vector of the last target position is P t1 And the gesture matrix is R t1 The gesture matrix of the current target position is R t2 ，
According to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user, adjusting the rotating shaft of the ultrasonic probe further comprises:
according to the position P of the rotation shaft after adjustment offset For the posture matrix R of the last target position t1 Adjust and combine the result with P t1 Calculating to obtain a position vector P of the rotation axis after adjustment nt ，
Obtaining the displacement D between the last target position and the current target position of the ultrasonic probe t ，
The displacement D t And the position vector P nt Calculating to obtain a position vector P 'of the rotation axis of the target position' nt ，
According to the position P of the rotation shaft after adjustment offset The pose matrix of the current target position is R t2 Adjust and combine the results with P' nt Calculating to obtain the position vector P 'of the central point of the ultrasonic probe at the current target position' t 。
8. A robotic ultrasound probe control system, comprising:
the information acquisition module is used for acquiring the position information, the posture information and the stress information of the current position of the ultrasonic probe, and the position information and the posture information of the target position;
the information analysis module is used for judging whether the rotation axis position of the ultrasonic probe needs to be adjusted according to the gesture transformation analysis between the current position and the target position of the ultrasonic probe and/or the stress information analysis of the current position;
and the adjusting module is used for adjusting the rotating shaft of the ultrasonic probe according to the position information and the gesture information of the current position and the target position of the ultrasonic probe and the probe moving operation input by a user.
9. An electronic device, the electronic device comprising:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the robotic ultrasound probe control method of any of claims 1-7.
10. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the robotic ultrasound probe control method of any one of claims 1-7.
CN202310387655.8A 2023-04-07 2023-04-07 Robot ultrasonic probe control method, system, equipment and storage medium Pending CN116236227A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116687452A (en) * 2023-07-28 2023-09-05 首都医科大学附属北京妇产医院 Early pregnancy fetus ultrasonic autonomous scanning method, system and equipment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116687452A (en) * 2023-07-28 2023-09-05 首都医科大学附属北京妇产医院 Early pregnancy fetus ultrasonic autonomous scanning method, system and equipment
CN116687452B (en) * 2023-07-28 2023-11-03 首都医科大学附属北京妇产医院 Early pregnancy fetus ultrasonic autonomous scanning method, system and equipment

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