CN116531021A - Detection control method and device for ultrasonic robot, electronic equipment and storage medium - Google Patents
Detection control method and device for ultrasonic robot, electronic equipment and storage medium Download PDFInfo
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Classifications
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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
- A61B8/54—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
- A61B8/58—Testing, adjusting or calibrating the diagnostic device
- A61B8/582—Remote testing of the device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/032—Automatic limiting or abutting means, e.g. for safety pressure limiting, e.g. hydrostatic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
Abstract
The disclosure provides a detection control method and device for an ultrasonic robot, electronic equipment and a storage medium, wherein a target inspection position is determined, and a preset protection threshold value and an reachable gesture range corresponding to the target inspection position are determined; responding to an ultrasonic inspection instruction, and controlling a probe of an ultrasonic robot to inspect based on a preset protection threshold and an reachable gesture range; acquiring a first contact force received by a probe; and determining whether to control the ultrasonic robot to stop/stop working according to a preset protection threshold value and a comparison result of the first contact force. The method and the device ensure that the gesture affecting safety of the mechanical arm can not occur by limiting the reachable gesture range of the ultrasonic robot; defining the magnitude of the force applied by the probe according to a preset protection threshold; by monitoring the magnitude of the first contact force, whether the ultrasonic robot is controlled to stop/stop working or not is judged. Therefore, the method provided by the disclosure can ensure that the ultrasonic robot does not cause injury to the patient, and avoid the occurrence of safety accidents.
Description
Technical Field
The disclosure relates to the technical field of protection devices, and in particular relates to a detection control method and device for an ultrasonic robot, electronic equipment and a storage medium.
Background
The remote ultrasonic robot can break the regional limitation and provide more specialized ultrasonic examination for a plurality of remote poor areas and basic medical institutions lacking specialized ultrasonic doctors. When the remote ultrasonic robot is used for examination, the mechanical arm at the patient end can collide with the patient due to misoperation or network delay and other reasons; particularly when examining weak parts of a patient, serious collisions may endanger the life of the patient.
Disclosure of Invention
The disclosure provides a detection control method and device of an ultrasonic robot, electronic equipment and a storage medium. The main purpose is to realize the protection of the patient during detection by using a remote ultrasonic robot.
According to a first aspect of the present disclosure, there is provided a detection control method of an ultrasonic robot, including:
determining a target checking position, and determining a preset protection threshold value and an reachable gesture range corresponding to the target checking position;
responding to an ultrasonic inspection instruction, and controlling a probe of an ultrasonic robot to inspect based on the preset protection threshold and the reachable gesture range;
acquiring a first contact force received by the probe;
and determining whether to control the ultrasonic robot to stop or stop working according to a comparison result of the preset protection threshold value and the first contact force.
Optionally, the method further comprises:
acquiring a second contact force received by a mechanical arm of the ultrasonic robot;
and determining whether to control the ultrasonic robot to stop/stop working or not based on a first preset threshold value and the second contact force.
Optionally, determining the target inspection position, and determining the preset protection threshold and the reachable gesture range corresponding to the target inspection position includes:
determining whether the target examination site is a first target examination site, wherein the first target examination site is an abdomen;
and determining a corresponding first preset protection threshold and a first reachable gesture range according to the first target checking position.
Optionally, determining the target inspection position, and determining the preset protection threshold and the reachable gesture range corresponding to the target inspection position further includes:
determining whether the target inspection site is a second target inspection site; wherein the second target examination site is a head and neck;
and determining a corresponding second preset protection threshold and a second reachable gesture range according to the second target checking position.
Optionally, the determining whether to control the ultrasonic robot to stop/pause according to the comparison result of the preset protection threshold and the first contact force includes:
judging whether the first horizontal component is larger than a first horizontal threshold or a second horizontal threshold; wherein the first horizontal component is a horizontal component of the first contact force;
and controlling the ultrasonic robot to stop/stop working under the condition that the first horizontal component is larger than the first horizontal threshold value or the first horizontal component is larger than the second horizontal threshold value.
Optionally, the determining whether to control the ultrasonic robot to stop/pause according to the comparison result of the preset protection threshold and the first contact force includes:
judging whether the first vertical component is larger than a first vertical threshold or a second vertical threshold; wherein the first vertical component is a vertical component of the first contact force;
and controlling the ultrasonic robot to stop/stop working under the condition that the first vertical component is larger than the first vertical threshold or the first vertical component is larger than the second vertical threshold.
Optionally, after controlling the probe of the ultrasonic robot to perform inspection based on the preset protection threshold and the reachable gesture range in response to an ultrasonic inspection instruction, the method further includes:
and controlling the ultrasonic robot to stop/stop working in response to the emergency stop instruction.
According to a second aspect of the present disclosure, there is provided a detection control device of an ultrasonic robot, including:
the first determining unit is used for determining a target checking position and determining a preset protection threshold value and an reachable gesture range corresponding to the target checking position;
the first control unit is used for responding to an ultrasonic inspection instruction and controlling a probe of the ultrasonic robot to inspect based on the preset protection threshold and the reachable gesture range;
the first acquisition unit is used for acquiring a first contact force received by the probe;
and the second determining unit is used for determining whether to control the ultrasonic robot to stop/stop working according to the preset protection threshold value and the comparison result of the first contact force.
Optionally, the apparatus further includes:
a second acquisition unit for acquiring a second contact force received by the mechanical arm of the ultrasonic robot;
and a third determining unit for determining whether to control the ultrasonic robot to stop/stop working based on the first preset threshold and the second contact force.
Optionally, the first determining unit includes:
a first determining module configured to determine whether the target examination site is a first target examination site, wherein the first target examination site is an abdomen;
and the second determining module is used for determining a corresponding first preset protection threshold value and a first reachable gesture range according to the first target checking position.
Optionally, the first determining unit further includes:
a third determining module configured to determine whether the target inspection site is a second target inspection site; wherein the second target examination site is a head and neck;
and the fourth determining module is used for determining a corresponding second preset protection threshold value and a second reachable gesture range according to the second target checking position.
Optionally, the second determining unit includes:
the first judging module is used for judging whether the first horizontal component is larger than a first horizontal threshold value or a second horizontal threshold value; wherein the first horizontal component is a horizontal component of the first contact force;
and the first control module is used for controlling the ultrasonic robot to pause/stop working under the condition that the first horizontal component is larger than the first horizontal threshold value or the first horizontal component is larger than the second horizontal threshold value.
Optionally, the second determining unit further includes:
the second judging module is used for judging whether the first vertical component is larger than a first vertical threshold or a second vertical threshold; wherein the first vertical component is a vertical component of the first contact force;
and the second control module is used for controlling the ultrasonic robot to stop/stop working under the condition that the first vertical component is larger than the first vertical threshold value or the first vertical component is larger than the second vertical threshold value.
Optionally, the apparatus further includes:
and the second control unit is used for controlling the ultrasonic robot to stop/stop working in response to an emergency stop instruction after controlling the probe of the ultrasonic robot to perform inspection based on the preset protection threshold value and the reachable gesture range in response to an ultrasonic inspection instruction.
According to a third aspect of the present disclosure, there is provided an electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of the preceding first aspect.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of the first aspect described above.
The disclosure provides a detection control method and device for an ultrasonic robot, electronic equipment and a storage medium, wherein a target inspection position is determined, and a preset protection threshold value and an reachable gesture range corresponding to the target inspection position are determined; responding to an ultrasonic inspection instruction, and controlling a probe of an ultrasonic robot to inspect based on the preset protection threshold and the reachable gesture range; acquiring a first contact force received by the probe; and determining whether to control the ultrasonic robot to stop or stop working according to the preset protection threshold value and the comparison result of the first contact force. The method and the device ensure that the gesture affecting safety of the mechanical arm can not occur by limiting the reachable gesture range of the ultrasonic robot; when the probe performs inspection, limiting the force applied by the probe according to a preset protection threshold value; and judging whether to control the ultrasonic robot to stop/stop working by monitoring the first contact force. Therefore, the method provided by the disclosure can ensure that the ultrasonic robot does not cause injury to the patient, and avoid the occurrence of safety accidents.
It should be understood that the description of this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic view of an ultrasonic robot;
fig. 2 is a schematic flow chart of a detection control method of an ultrasonic robot according to an embodiment of the disclosure;
fig. 3 is a flow chart of another method for controlling detection of an ultrasonic robot according to an embodiment of the disclosure;
FIG. 4 is a schematic view of an ultrasound robot's achievable pose range;
fig. 5 is a flow chart of another method for controlling detection of an ultrasonic robot according to an embodiment of the disclosure;
fig. 6 is a schematic structural diagram of a detection control device of an ultrasonic robot according to an embodiment of the disclosure;
fig. 7 is a schematic structural diagram of a detection control device of another ultrasonic robot according to an embodiment of the disclosure;
fig. 8 is a schematic block diagram of an example electronic device provided by an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The remote ultrasonic scanning can break the limit caused by unbalanced regional development, so as to improve the current situation of medical resource shortage and maldistribution. The ultrasonic doctor in the region with rich medical resources can carry out ultrasonic scanning and diagnosis on patients in the basic level and remote region which are separated by thousands of kilometers in real time in the urban hospital, so that the overall medical expense in the basic level and remote region can be effectively reduced, the medical efficiency is improved, and the medical accessibility and medical quality are improved.
The robot remote ultrasonic diagnostic system comprises two subsystems of a doctor end and a patient end, and the patient end ultrasonic robot is shown in figure 1. A professional sonographer may remotely control a patient-side ultrasound robot to perform ultrasound examinations on a patient by operating a physician-side device, and may also perform automated ultrasound examinations by targeting specific sites. By simulating doctor's manipulation or performing standardized ultrasound examination, the examination can be automatically completed without the presence of a professional ultrasound doctor, and the doctor only needs to complete subsequent diagnosis, thereby reducing the burden of the doctor. If no reasonable measures are taken, the patient collides with the ultrasonic robot, and the safety of the patient can be influenced.
The detection control method and apparatus, the electronic device, and the storage medium of the ultrasonic robot according to the embodiments of the present disclosure are described below with reference to the accompanying drawings.
Fig. 2 is a flow chart of a detection control method of an ultrasonic robot according to an embodiment of the disclosure.
As shown in fig. 2, the method comprises the steps of:
step 101, determining a target checking position, and determining a preset protection threshold value and an reachable gesture range corresponding to the target checking position.
In the embodiment of the present disclosure, the target examination site is a site for performing an ultrasonic examination using an ultrasonic robot, for example, examination of an abdominal organ or the like. The preset protection threshold may be understood as a maximum value of pressure that the ultrasonic probe is allowed to apply to the surface of the human body when controlling the ultrasonic robot to perform detection. The reachable gesture range is that the gesture angle of the mechanical arm is limited according to the shape of the human organ in order to ensure the safety of the patient when the ultrasonic examination is carried out; for example, when performing thyroid and carotid examinations, the robot arm is located above the neck of the patient, so the range of motion of the robot arm needs to be limited, and collision between the robot arm and the head and neck is avoided.
For different target inspection positions, the corresponding preset protection threshold and the reachable gesture range are also different, and the embodiment of the disclosure does not limit the preset protection threshold and the reachable gesture range.
And step 102, responding to an ultrasonic inspection instruction, and controlling a probe of the ultrasonic robot to inspect based on the preset protection threshold and the reachable gesture range.
In the embodiment of the disclosure, the ultrasonic examination instruction is an instruction for performing ultrasonic examination sent by a doctor end or an automatic examination program; the probe is an ultrasonic probe of an ultrasonic robot for ultrasonic inspection. After the ultrasonic robot receives the ultrasonic inspection instruction, controlling a mechanical arm and a probe of the ultrasonic robot to move so as to carry out ultrasonic inspection; and when the mechanical arm moves, the control force of the mechanical arm does not exceed the preset protection threshold value. And limiting the operation postures of the mechanical arm and the probe of the ultrasonic robot according to the reachable posture range.
According to the embodiment of the disclosure, the control force for controlling the operation of the mechanical arm when the ultrasonic robot performs inspection is limited, so that the damage to a patient caused by overlarge control force can be prevented; by limiting the operation postures of the mechanical arm and the probe, the ultrasonic robot can be ensured to operate in a safe posture, and the safety of a patient is further ensured.
Step 103, obtaining a first contact force applied by the probe.
In the embodiment of the disclosure, a force sensor is arranged at the joint of the probe and the mechanical arm, and the force sensor is used for monitoring the contact force of the probe when the probe is subjected to ultrasonic inspection; it should be noted that the embodiments of the present disclosure are not limited as to what type of force sensor is used to monitor the first contact force.
In performing an ultrasound examination, the force applied to the patient's body by the probe is a pair of forces of equal magnitude and opposite direction to the force applied to the probe by the patient; the first contact force is a force applied by the patient to the probe.
And 104, determining whether to control the ultrasonic robot to stop or stop working according to the preset protection threshold value and the comparison result of the first contact force.
In the embodiment of the disclosure, a force sensor is utilized to monitor a first contact force received by the probe in real time, the first contact force is compared with the preset protection threshold value, whether danger occurs or not is determined according to a comparison result, and whether the ultrasonic robot is controlled to stop/stop working is determined.
In summary, the present disclosure realizes the redundant design of the protection measures by limiting the operation posture of the ultrasonic robot, limiting the magnitude of the control force when the ultrasonic robot operates, and monitoring the first contact force in real time, so that the safety of the patient can be ensured to the greatest extent.
The disclosure provides a detection control method of an ultrasonic robot, which comprises the steps of determining a target checking position, and determining a preset protection threshold value and an reachable gesture range corresponding to the target checking position; responding to an ultrasonic inspection instruction, and controlling a probe of an ultrasonic robot to inspect based on the preset protection threshold and the reachable gesture range; acquiring a first contact force received by the probe; and determining whether to control the ultrasonic robot to stop or stop working according to the preset protection threshold value and the comparison result of the first contact force. The method and the device ensure that the gesture affecting safety of the mechanical arm can not occur by limiting the reachable gesture range of the ultrasonic robot; when the probe performs inspection, limiting the force applied by the probe according to a preset protection threshold value; and judging whether to control the ultrasonic robot to stop/stop working by monitoring the first contact force. Therefore, the method provided by the disclosure can ensure that the ultrasonic robot does not cause injury to the patient, and avoid the occurrence of safety accidents.
In order to clearly illustrate the embodiments of the present disclosure, the present embodiment provides a flow diagram of a detection control method of an ultrasonic robot.
As shown in fig. 3, the method comprises the steps of:
step 201, determining whether the target examination site is a first target examination site, wherein the first target examination site is an abdomen.
Collision of a patient with an ultrasound robot can be divided into two cases: collision at abdominal examination and collision at head and neck examination.
In particular, in an embodiment of the present disclosure, the first target examination site is an abdomen; when the ultrasonic robot receives an inspection instruction, acquiring a target inspection part of ultrasonic inspection; upon determining that the target examination site is the first target examination site (abdomen), parameter settings related to the abdomen examination are acquired.
Step 202, determining a corresponding first preset protection threshold and a first reachable gesture range according to the first target inspection position.
In particular, in the embodiment of the present disclosure, the first preset protection threshold may be understood as a maximum pressure value that the ultrasonic robot can apply to the abdomen of the human body when performing the abdominal examination; the first preset protection threshold includes a first horizontal threshold, which may be understood as a maximum component of the contact force in the direction of the ultrasonic probe, and a first vertical threshold, which may be understood as a maximum component of the contact force in the direction perpendicular to the ultrasonic probe. For example, in performing an ultrasound examination of the abdomen, the first horizontal protection threshold may be set to 20N and the first vertical threshold may be set to 40N.
The first reachable posture range can be understood as a posture angle range which can be adjusted by a mechanical arm of the ultrasonic robot when performing an abdominal ultrasonic examination. Referring to fig. 4, the first reachable gesture range is understood, where the gesture range is a projection of the maximum gesture range reachable by the probe of the ultrasonic robot on a horizontal plane; the range of achievable poses also varies for different target examination sites.
In some optional embodiments of the present disclosure, the pose information of the mechanical arm and the probe of the ultrasonic robot is obtained through the camera of the ultrasonic robot, and the reachable pose range of the ultrasonic robot is calculated in real time through a preset algorithm model.
Step 203, obtaining a first contact force applied by the probe.
In particular, in embodiments of the present disclosure, when performing an ultrasound examination, the force applied by the probe to the patient is a pair of forces of equal magnitude and opposite direction to the force applied by the patient to the probe; the first contact force is a force applied by the patient to the probe. The first contact force is not limited to whether to perform ultrasonic inspection of the first target portion or ultrasonic inspection of the second target portion. The first horizontal component is the force applied by the probe in the plane vertical to the probe, and the first vertical component is the force applied by the probe in the vertical direction of the probe.
Step 204, judging whether the first horizontal component is greater than a first horizontal threshold; wherein the first horizontal component is a horizontal component of the first contact force.
And step 205, controlling the ultrasonic robot to pause/stop working under the condition that the first horizontal component is larger than the first horizontal threshold value.
In particular, in the embodiment of the disclosure, a force sensor arranged between the probe and the mechanical arm is used for monitoring the first contact force applied to the probe in real time, and the ultrasonic robot is controlled to stop/stop working under the condition that the first horizontal component is monitored to be larger than a first horizontal threshold value.
The method comprises the steps that a first contact force applied to a probe is monitored in real time through a force sensor arranged at the upper part of the ultrasonic probe; it is ensured that the ultrasonic robot can be controlled to pause/stop operation at a first time when the first horizontal component is larger than the first horizontal threshold. And further, the personal safety of the patient can be ensured, and accidents are reduced.
Step 206, judging whether the first vertical component is greater than a first vertical threshold; wherein the first vertical component is a vertical component of the first contact force.
Step 207, controlling the ultrasonic robot to pause/stop working under the condition that the first vertical component is larger than the first vertical threshold.
Specifically, in the embodiment of the disclosure, a force sensor arranged between the probe and the mechanical arm is used for monitoring a first contact force applied to the probe in real time, and the ultrasonic robot is controlled to stop/stop working under the condition that the first vertical component is monitored to be larger than a first vertical threshold value.
The method comprises the steps that a first contact force applied to a probe is monitored in real time through a force sensor arranged at the upper part of the ultrasonic probe; it is ensured that the ultrasonic robot can be controlled to pause/stop operation at a first time when the first vertical component is greater than the first vertical threshold. And further, the personal safety of the patient can be ensured, and accidents are reduced.
In order to clearly illustrate the embodiments of the present disclosure, the present embodiment provides a flow diagram of a detection control method of an ultrasonic robot.
As shown in fig. 5, the method comprises the steps of:
step 301, determining whether the target inspection site is a second target inspection site; wherein the second target inspection site is a head and neck.
Step 302, determining a corresponding second preset protection threshold and a second reachable gesture range according to the second target inspection position.
Step 303, obtaining a first contact force applied by the probe.
Step 304, determining whether the first horizontal component is greater than a second horizontal threshold; wherein the first horizontal component is a horizontal component of the first contact force.
And step 305, controlling the ultrasonic robot to pause/stop working under the condition that the first horizontal component is larger than the second horizontal threshold value.
Step 306, determining whether the first vertical component is greater than a second vertical threshold; wherein the first vertical component is a vertical component of the first contact force.
Step 307, controlling the ultrasonic robot to pause/stop working under the condition that the first vertical component is larger than the second vertical threshold.
The second target examination site of the embodiment of the present disclosure is a head and neck, the head and neck is more likely to collide than the abdomen examination, and a part of the head and neck is more fragile than the abdomen. Therefore, the setting of the second preset protection threshold is different from the first preset protection threshold, and the second reachable gesture range is also different from the first reachable gesture range. For other descriptions of the embodiments of the present disclosure, please refer to the above embodiments, and the embodiments of the present disclosure are not repeated.
As one implementation of the present disclosure, after controlling the probe of the ultrasonic robot to perform inspection based on the preset protection threshold and the reachable pose range in response to an ultrasonic inspection instruction, the method further includes:
and controlling the ultrasonic robot to stop/stop working in response to the emergency stop instruction.
Specifically, an emergency button is arranged in the ultrasonic robot to ensure personal safety of a patient. When the emergency stop button is pressed, the movement of the robot will be stopped by immediately cutting off the power supply to the robot.
As one implementation of the present disclosure, when the ultrasonic robot performs an ultrasonic inspection, stress conditions of the mechanical arm are monitored by a sensor disposed in the mechanical arm, so as to prevent serious collision accidents, and the method further includes:
acquiring a second contact force received by a mechanical arm of the ultrasonic robot;
and determining whether to control the ultrasonic robot to stop/stop working or not based on a first preset threshold value and the second contact force.
In the embodiment of the disclosure, the stress condition of the mechanical arm is monitored through a preset sensor arranged inside the mechanical arm, and if the second contact force applied to the mechanical arm exceeds a first preset threshold value, the ultrasonic robot is controlled to stop or stop working.
In summary, the present disclosure implements a redundancy protection design by defining a magnitude of a control force when the ultrasonic robot is operating, a first contact force received by the monitoring probe, defining an achievable gesture range when the ultrasonic robot is operating, a magnitude of a second contact force received by the monitoring mechanical arm, and setting a plurality of safety protection methods of emergency instructions; the personal safety of the patient can be ensured when the ultrasonic robot is used for examination.
Corresponding to the detection control method of the ultrasonic robot, the invention also provides a detection control device of the ultrasonic robot. Since the device embodiment of the present invention corresponds to the above-mentioned method embodiment, details not disclosed in the device embodiment may refer to the above-mentioned method embodiment, and details are not described in detail in the present invention.
Fig. 6 is a schematic structural diagram of a detection control device of an ultrasonic robot according to an embodiment of the present disclosure, as shown in fig. 6, including:
a first determining unit 41, configured to determine a target inspection location, and determine a preset protection threshold and an achievable pose range corresponding to the target inspection location;
a first control unit 42, configured to control, in response to an ultrasonic inspection instruction, a probe of the ultrasonic robot to perform inspection based on the preset protection threshold and the reachable gesture range;
a first acquiring unit 43, configured to acquire a first contact force received by the probe;
and a second determining unit 44, configured to determine whether to control the ultrasonic robot to stop suspending/stopping according to the preset protection threshold and the comparison result of the first contact force.
The disclosure provides a detection control device of an ultrasonic robot, which is used for determining a target checking position and determining a preset protection threshold value and an reachable gesture range corresponding to the target checking position; responding to an ultrasonic inspection instruction, and controlling a probe of an ultrasonic robot to inspect based on the preset protection threshold and the reachable gesture range; acquiring a first contact force received by the probe; and determining whether to control the ultrasonic robot to stop or stop working according to the preset protection threshold value and the comparison result of the first contact force. The method and the device ensure that the gesture affecting safety of the mechanical arm can not occur by limiting the reachable gesture range of the ultrasonic robot; when the probe performs inspection, limiting the force applied by the probe according to a preset protection threshold value; and judging whether to control the ultrasonic robot to stop/stop working by monitoring the first contact force. Therefore, the method provided by the disclosure can ensure that the ultrasonic robot does not cause injury to the patient, and avoid the occurrence of safety accidents.
Further, in a possible implementation manner of this embodiment, as shown in fig. 7, the apparatus further includes:
a second acquiring unit 45, configured to acquire a second contact force received by a mechanical arm of the ultrasonic robot;
and a third determining unit 46 for determining whether to control the ultrasonic robot to stop/halt operation based on the first preset threshold and the second contact force.
Further, in one possible implementation manner of the present embodiment, as shown in fig. 7, the first determining unit 41 includes:
a first determining module 411, configured to determine whether the target examination location is a first target examination location, where the first target examination location is an abdomen;
the second determining module 412 is configured to determine, according to the first target inspection location, a corresponding first preset protection threshold and a first reachable pose range.
Further, in a possible implementation manner of this embodiment, as shown in fig. 7, the first determining unit 41 further includes:
a third determining module 413, configured to determine whether the target examination location is a second target examination location; wherein the second target examination site is a head and neck;
a fourth determining module 414, configured to determine a corresponding second preset protection threshold and a second reachable pose range according to the second target examination location.
Further, in one possible implementation manner of the present embodiment, as shown in fig. 7, the second determining unit 44 includes:
a first determining module 441, configured to determine whether the first horizontal component is greater than a first horizontal threshold or a second horizontal threshold; wherein the first horizontal component is a horizontal component of the first contact force;
a first control module 442, configured to control the ultrasonic robot to suspend/stop working if the first horizontal component is greater than the first horizontal threshold or the first horizontal component is greater than the second horizontal threshold.
Further, in a possible implementation manner of this embodiment, as shown in fig. 7, the second determining unit 42 further includes:
a second judging module 443 for judging whether the first vertical component is greater than a first vertical threshold or a second vertical threshold; wherein the first vertical component is a vertical component of the first contact force;
and a second control module 444, configured to control the ultrasonic robot to suspend/stop working if the first vertical component is greater than the first vertical threshold or the first vertical component is greater than the second vertical threshold.
Further, in a possible implementation manner of this embodiment, as shown in fig. 7, the apparatus further includes:
the second control unit 47 is configured to control the ultrasonic robot to stop/halt operation in response to an emergency stop instruction after controlling the probe of the ultrasonic robot to perform inspection based on the preset protection threshold and the reachable gesture range in response to an ultrasonic inspection instruction.
The foregoing explanation of the method embodiment is also applicable to the apparatus of this embodiment, and the principle is the same, and this embodiment is not limited thereto.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 8 illustrates a schematic block diagram of an example electronic device 500 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 8, the apparatus 500 includes a computing unit 501 that can perform various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 502 or a computer program loaded from a storage unit 508 into a RAM (Random Access Memory ) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, ROM 502, and RAM 503 are connected to each other by a bus 504. An I/O (Input/Output) interface 505 is also connected to bus 504.
Various components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, etc.; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508 such as a magnetic disk, an optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 501 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 501 include, but are not limited to, a CPU (Central Processing Unit ), a GPU (Graphic Processing Units, graphics processing unit), various dedicated AI (Artificial Intelligence ) computing chips, various computing units running machine learning model algorithms, a DSP (Digital Signal Processor ), and any suitable processor, controller, microcontroller, etc. The calculation unit 501 performs the respective methods and processes described above, for example, a detection control method of an ultrasonic robot. For example, in some embodiments, the detection control method of the ultrasound robot may be implemented as a computer software program, which is tangibly embodied on a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into RAM 503 and executed by computing unit 501, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the detection control method of the aforementioned ultrasound robot by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit System, FPGA (Field Programmable Gate Array ), ASIC (Application-Specific Integrated Circuit, application-specific integrated circuit), ASSP (Application Specific Standard Product, special-purpose standard product), SOC (System On Chip ), CPLD (Complex Programmable Logic Device, complex programmable logic device), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory, erasable programmable read-Only Memory) or flash Memory, an optical fiber, a CD-ROM (Compact Disc Read-Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display ) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network ), WAN (Wide Area Network, wide area network), internet and blockchain networks.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service ("Virtual Private Server" or simply "VPS") are overcome. The server may also be a server of a distributed system or a server that incorporates a blockchain.
It should be noted that, artificial intelligence is a subject of studying a certain thought process and intelligent behavior (such as learning, reasoning, thinking, planning, etc.) of a computer to simulate a person, and has a technology at both hardware and software level. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge graph technology and the like.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (11)
1. The detection control method of the ultrasonic robot is characterized by comprising the following steps of:
determining a target checking position, and determining a preset protection threshold value and an reachable gesture range corresponding to the target checking position;
responding to an ultrasonic inspection instruction, and controlling a probe of an ultrasonic robot to inspect based on the preset protection threshold and the reachable gesture range;
acquiring a first contact force received by the probe;
and determining whether to control the ultrasonic robot to stop or stop working according to a comparison result of the preset protection threshold value and the first contact force.
2. The method according to claim 1, wherein the method further comprises:
acquiring a second contact force received by a mechanical arm of the ultrasonic robot;
and determining whether to control the ultrasonic robot to stop/stop working or not based on a first preset threshold value and the second contact force.
3. The method of claim 1, wherein the determining a target inspection site and determining a preset protection threshold and an achievable pose range corresponding to the target inspection site comprises:
determining whether the target examination site is a first target examination site, wherein the first target examination site is an abdomen;
and determining a corresponding first preset protection threshold and a first reachable gesture range according to the first target checking position.
4. The method of claim 1, wherein the determining a target examination location and determining a preset protection threshold and an achievable pose range corresponding to the target examination location further comprises:
determining whether the target inspection site is a second target inspection site; wherein the second target examination site is a head and neck;
and determining a corresponding second preset protection threshold and a second reachable gesture range according to the second target checking position.
5. The method according to claim 1, wherein the determining whether to control the ultrasonic robot to suspend/stop operation according to the comparison result of the preset protection threshold and the first contact force comprises:
judging whether the first horizontal component is larger than a first horizontal threshold or a second horizontal threshold; wherein the first horizontal component is a horizontal component of the first contact force;
and controlling the ultrasonic robot to stop/stop working under the condition that the first horizontal component is larger than the first horizontal threshold value or the first horizontal component is larger than the second horizontal threshold value.
6. The method according to claim 1, wherein the determining whether to control the ultrasonic robot to suspend/stop operation according to the comparison result of the preset protection threshold and the first contact force comprises:
judging whether the first vertical component is larger than a first vertical threshold or a second vertical threshold; wherein the first vertical component is a vertical component of the first contact force;
and controlling the ultrasonic robot to stop/stop working under the condition that the first vertical component is larger than the first vertical threshold or the first vertical component is larger than the second vertical threshold.
7. The method of claim 1, wherein after controlling the probe to inspect based on the protection threshold in response to an ultrasonic inspection instruction, the method further comprises:
and responding to the emergency stop instruction, and controlling the ultrasonic robot to stop working.
8. A detection control device of an ultrasonic robot, characterized by comprising:
the first determining unit is used for determining a target checking position and determining a preset protection threshold value and an reachable gesture range corresponding to the target checking position;
the first control unit is used for responding to an ultrasonic inspection instruction and controlling a probe of the ultrasonic robot to inspect based on the preset protection threshold and the reachable gesture range;
the first acquisition unit is used for acquiring a first contact force received by the probe;
and the second determining unit is used for determining whether to control the ultrasonic robot to stop/stop working according to the comparison result of the preset protection threshold value and the first contact force.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
11. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.
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