CN215458144U - Full-automatic B-ultrasonic inspection robot system - Google Patents
Full-automatic B-ultrasonic inspection robot system Download PDFInfo
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- CN215458144U CN215458144U CN202120775236.8U CN202120775236U CN215458144U CN 215458144 U CN215458144 U CN 215458144U CN 202120775236 U CN202120775236 U CN 202120775236U CN 215458144 U CN215458144 U CN 215458144U
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- 238000007689 inspection Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 239000012636 effector Substances 0.000 claims abstract description 20
- 210000000056 organ Anatomy 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 230000036544 posture Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
The utility model provides a full-automatic B-ultrasonic inspection robot system which comprises a platform, a robot, a depth camera and a control host, wherein the depth camera is connected with the input end of the control host, the robot is connected with the output end of the control host, the robot has six or more degrees of freedom, an end effector of the robot is connected with an ultrasonic detection device and a force detection device, and the ultrasonic detection device and the force detection device are both connected with the input end of the control host. The present invention can be performed without a professional technician or a doctor for B-ultrasonic examination. The B-ultrasonic robot system provided by the utility model has the characteristics of intelligence, easiness in operation and high efficiency.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a full-automatic B-ultrasonic inspection robot system.
Background
B-ultrasonic detection is an important technical means for acquiring the health condition of human organs, however, the existing B-ultrasonic detection equipment needs personnel with professional knowledge to operate, so that the B-ultrasonic detection efficiency is greatly reduced; moreover, when epidemic outbreaks or other high-contagious diseases occur, it is necessary to ensure the health and safety of detection personnel, and in recent years, the robot industry is rapidly developed and widely applied in the medical field, so that the robot is beneficial and possible to complete the task.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a full-automatic B-ultrasonic inspection robot system which has the characteristics of easiness in operation and high efficiency.
The technical scheme adopted by the utility model is as follows:
the utility model provides a full-automatic B ultrasonic inspection robot system, includes platform, robot, degree of depth camera and main control system, the degree of depth camera is connected with main control system's input, the robot is connected with main control system's output, the robot has six or above degrees of freedom, the end effector of robot is connected with ultrasonic detection device and power detection device, ultrasonic detection device and power detection device all are connected with main control system's input.
Furthermore, marks are arranged on the platform and used for positioning the patient by the depth camera and establishing a coordinate system for posture change by the robot.
Furthermore, the platform is also provided with a fixing device for fixing the position of the patient so as to ensure that the position of the patient cannot change in the operation process of the system.
Furthermore, the depth camera is used for obtaining the body image information and the distance information of the patient, the distance from any pixel point in the visual field to the depth camera can be obtained, and after the patient lies on the platform flatly and shoots the patient, the data are sent to the control host in a unified mode.
Further, the control host calculates the approximate positions of the organs to be detected according to the actual body types of the patients, generates the moving tracks and postures of the robot end effector on the patients, converts the data into a series of arm joint angle data and sends the arm joint angle data to the robot.
Further, the robot end effector sends contact force information collected by the force detection device to the control host computer when moving on a human body according to a track sent by the control host computer, and the control host computer corrects the track position according to the actual force and the expected force.
Furthermore, the robot movement is simultaneously carried out by acquiring the human organ information in real time by the ultrasonic detection device, and sending the information to the control host for recording.
Further, the system is provided with an emergency stop button for moving the robot away from the body in the z-axis direction when pressed.
Compared with the prior art, the utility model has the following advantages and beneficial effects:
1) the full-automatic operation of the utility model does not need to increase the learning cost of personnel, only needs the first installation and debugging, and then only needs the self-operation of the patient, and the B-ultrasonic robot can automatically complete the B-ultrasonic examination.
2) The utility model can effectively reduce the risk of spreading infectious diseases caused by doctor-patient contact, and doctors can remotely see the doctor without contacting the patient.
3) The utility model has stronger safety performance, can not only detect the magnitude of the pressing force and automatically stop working when the force is large, but also can be added with an emergency brake button, so that the patient can automatically stop the working of the B-ultrasonic robot when feeling uncomfortable, thereby ensuring the personal safety of the patient.
Drawings
FIG. 1 is an overall configuration diagram of a B-ultrasonic inspection robot system according to the present invention;
FIG. 2 is a diagram of a working scenario of the system of the present invention;
FIG. 3 is a diagram of the complete operation process of the B-ultrasonic inspection robot system of the present invention.
The system comprises a robot 1, an ultrasonic detection device 2, a depth camera 3, a platform 4, a marker 5 and a control host 6.
Detailed Description
In order to make the technical problem and the technical solution to be solved by the present invention clearer, a fully automatic B-ultrasonic inspection robot system provided by the present invention is described in detail below with reference to the accompanying drawings and embodiments, and the detailed description is for explanation and not limitation of the present invention.
Referring to fig. 1-3, a full-automatic B-ultrasonic inspection robot system, the overall structure of which is shown in fig. 1, uses a six-degree-of-freedom universal robot arm to perform full-automatic ultrasonic inspection on a patient, and includes a platform 4, a robot 1, a depth camera 3 and a control host 6. The robot 1 is used for carrying out full-automatic ultrasonic examination on the patient, and the B-ultrasonic examination can be carried out on the patient in a full-automatic manner without the intervention of doctors or other professionals in the whole process. An ultrasonic detection device 2 and a force detection device are simultaneously connected to an end effector of the robot 1. The system uses the depth camera 3 to position the body position of the patient, analyzes the approximate positions of the organs to be detected according to the body type of the patient, and then sorts and sends depth information to the control host 6 to control the position and the posture of the mechanical arm of the robot 1. The flexible contact between the mechanical arm and the skin of the patient is achieved by adopting an impedance control algorithm. In order to provide a perfect reliability of the detected information, the end-effector of the mechanical arm will remain perpendicular to the patient's skin throughout the entire operation and exert a constant and appropriate force on the latter.
The patient should lie on a specific platform 4 when carrying out B ultrasonic examination, should have special mark 5 simultaneously by this platform 4 can make things convenient for depth camera 3 to fix a position the patient, still need have the position of device fixed patient in order to guarantee that its position can not change in addition, and the arm will also utilize these mark 5 to establish the coordinate system and carry out the gesture change.
The robotic arm used for surgery should have six or more degrees of freedom because six degrees of freedom are free to flexibly reach various positions in space and make a specified pose. For the purpose of detection, the end effector is provided with an ultrasonic detection device 2, and for the purpose of detection accuracy and patient comfort, the end effector is also provided with a force sensor or other sensors, so that the ultrasonic detection device 2 is always perpendicular to the contact surface of the ultrasonic detection device and a human body in the operation process of the mechanical arm, and a constant force with a proper magnitude is applied.
The contour of the human body is acquired by the depth camera 3, and the distance value from any pixel point in the visual field to the depth camera 3 can be acquired. The depth camera 3 obtains corresponding data by taking a picture of a patient lying on the platform 4, and the data is uniformly sent to the control host 6 to perform the desired control on the mechanical arm.
After obtaining the image information and the distance information of the patient body, the control host 6 analyzes the outline of the upper half of the patient body according to some characteristics of the human body surface by using an image recognition technology, and simulates a three-dimensional human body surface by combining the distance information.
According to the obtained human body surface data and the positioning marks 5, the control host 6 calculates the approximate positions of the organs to be detected according to the actual body type data of the patient, generates the moving track and posture of the robot end effector on the patient, converts the Cartesian space coordinate track data into a series of mechanical arm joint angle data and sends the mechanical arm joint angle data to the robot 1.
The robot end effector simultaneously sends contact force information collected by the force sensor to the control host 6 when the robot end effector moves on a human body according to a track sent by the control host 6, and the control host 6 corrects the track position according to actual force and expected force, so that the effect of inputting expected vertical force is achieved.
While the robot end effector moves according to the trajectory, the position of the end effector in the z-axis (i.e., perpendicular to the platform surface) needs to be changed in order to ensure that the force is constant. In order to ensure that the ultrasonic detection device 2 is perpendicular to the surface of the human body, the control host 6 calculates the normal of the contact surface of the current end effector and the human body in real time according to the z-axis coordinates output twice before and after, takes the normal as the attitude of the end effector, calculates inverse kinematics, and sends the joint angle to the robot 1. The robot 1 will move to the designated position and repeat the whole process until it reaches the end of the trajectory and leaves the body surface.
The robot 1 moves and simultaneously the ultrasonic detection device 2 acquires the human organ information in real time, and the information is sent to the control host 6 and recorded. If the measured organ image is not available, the robot 1 can be moved from the beginning until it meets the observation requirements; it may also be required to re-acquire an image of an organ separately.
The robot 1 should be guaranteed to output a constant and appropriate amount of force during the movement, and if the robot 1 for some reason outputs a force exceeding a threshold value or the detected patient feels uncomfortable to select to stop actively, the control host 6 will automatically move the robot 1 away from the human body along the z-axis direction. The system will set an emergency stop button to ensure patient safety.
The complete working process of the system is shown in fig. 3, and the specific implementation mode is as follows:
step 1, when starting, a patient lies on a special platform 4 and is fixed by a fixing device, so that the position of the patient is prevented from changing in the operation process of the robot 1.
And 2, starting an image acquisition program of the depth camera 3 at the control host 6, and sending the image information and the depth information to the control host 6 after the depth camera 3 finishes collecting the image information and the depth information.
And 3, combining the image information and the depth information by the control host 6 and processing the combined image information and the depth information into a three-dimensional human body upper body surface model.
And 4, deducing the distribution of each organ according to the body type of the patient by the control host 6 on the basis of the model, and planning the motion track of the robot 1.
And 5, according to the formed motion track, the control host 6 sends a control instruction to the robot 1, and the robot 1 moves to an initial position and starts to contact the surface of the human body.
And 6, after the movement starts, the robot 1 feeds back actual contact force information to the control host 6 in real time, the control host 6 adjusts the track obtained in the step 4 by using the impedance controller according to the error between the expected contact force and the actual contact force, and sends a control command to the robot 1.
And 7, simultaneously with the step 6, the control host 6 also adjusts the posture of the robot 1 in real time according to the position of the robot end effector on the surface of the human body, so that the robot is always vertical to the surface of the human body.
And 8, continuously returning the images to the control host 6 by the ultrasonic detection device 2 for recording in the running process of the robot 1.
And 9, after the robot 1 reaches the tail end of the track under the instruction of the control host 6, the robot is far away from the human body in the z-axis direction and then returns to the initial position. One duty cycle is completed.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the utility model.
Claims (8)
1. A full-automatic B-ultrasonic inspection robot system is characterized in that: including platform, robot, degree of depth camera and main control system, the degree of depth camera is connected with the input of main control system, the robot is connected with the output of main control system, the robot has six or above degrees of freedom, the end effector of robot is connected with ultrasonic detection device and power detection device, ultrasonic detection device and power detection device all are connected with the input of main control system.
2. The fully automatic B-ultrasonic inspection robot system according to claim 1, wherein: the platform is provided with a mark for positioning a patient by the depth camera and for establishing a coordinate system for posture change by the robot.
3. The fully automatic B-ultrasonic inspection robot system according to claim 1, wherein: the platform is also provided with a fixing device for fixing the position of a patient so as to ensure that the position of the patient cannot change in the operation process of the system.
4. The fully automatic B-ultrasonic inspection robot system according to claim 1, wherein: the depth camera is used for obtaining image information and distance information of a patient body, the distance from any pixel point in a visual field to the depth camera can be obtained, and after the patient lies on the platform flatly and shoots, the data are sent to the control host in a unified mode.
5. The fully automatic B-ultrasonic inspection robot system according to claim 4, wherein: the control host calculates the approximate positions of the organs to be detected according to the actual body types of the patients, generates the moving tracks and postures of the robot end effector on the patients, converts the data into a series of mechanical arm joint angle data and sends the data to the robot.
6. The fully automatic B-ultrasonic inspection robot system according to claim 5, wherein: the robot end effector simultaneously sends contact force information collected by the force detection device to the control host when the robot end effector moves on a human body according to a track sent by the control host, and the control host corrects the track position according to actual force and expected force.
7. The fully automatic B-ultrasonic inspection robot system according to claim 6, wherein: and the robot moves, and simultaneously, the ultrasonic detection device acquires the information of the human organs in real time and sends the information to the control host for recording.
8. A fully automatic B-ultrasonic inspection robot system according to any one of claims 1 to 7, characterized in that: the system is also provided with an emergency stop button for moving the robot away from the body in the z-axis direction when pressed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120775236.8U CN215458144U (en) | 2021-04-15 | 2021-04-15 | Full-automatic B-ultrasonic inspection robot system |
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| CN202120775236.8U CN215458144U (en) | 2021-04-15 | 2021-04-15 | Full-automatic B-ultrasonic inspection robot system |
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| CN215458144U true CN215458144U (en) | 2022-01-11 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114848019A (en) * | 2022-04-19 | 2022-08-05 | 山东大学 | Automatic heart ultrasonic detection system and method based on flexible cooperative robot |
| CN117731324A (en) * | 2024-02-21 | 2024-03-22 | 北京智源人工智能研究院 | Method and device for real-time force interaction control of an ultrasound probe on a contact surface |
-
2021
- 2021-04-15 CN CN202120775236.8U patent/CN215458144U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114848019A (en) * | 2022-04-19 | 2022-08-05 | 山东大学 | Automatic heart ultrasonic detection system and method based on flexible cooperative robot |
| CN117731324A (en) * | 2024-02-21 | 2024-03-22 | 北京智源人工智能研究院 | Method and device for real-time force interaction control of an ultrasound probe on a contact surface |
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