Remote ultrasonic scanning control device and method

Abstract

The invention provides a remote ultrasonic scanning control device and method, and the device comprises a simulation ultrasonic probe which is used for simulating the movement of an actual ultrasonicprobe, rotating the posture of the simulation ultrasonic probe in simulation, and transmitting the positive pressure between the simulation ultrasonic probe and a simulation skin platform to an information interaction module; a simulated skin platform which is used for simulating the movement of the actual ultrasonic probe on the skin and sending the two-dimensional coordinates of the simulated ultrasonic probe on the surface of the simulated skin platform to the information interaction module; an information interaction module which is used for receiving information sent by the simulated ultrasonic probe and the simulated skin platform and transmitting the information to the field execution mechanism; and a field execution mechanism which is used for fusing the control signal with the pressure applied to the actual ultrasonic probe in the scanning process to obtain a final control signal of the actual ultrasonic probe, and controlling the actual ultrasonic probe according to the finalcontrol signal. According to the invention, the sense of immediacy of an operator is greatly increased, so the operator can carry out remote scanning more conveniently.

Description

technical field [0001] The present invention relates to the field of robot human-machine cooperation and compliance control technology, in particular, to a remote ultrasonic scanning manipulation device and method. Background technique [0002] Medical ultrasound imaging technology obtains different reflection signals through different acoustic impedances of tissue structures to ultrasound beams, so as to judge the internal structure information of biological tissues. As one of the four major medical imaging technologies, ultrasonic imaging not only does not cause radiation pollution to the human body, but also has small cumulative error in measurement and fast imaging speed, which is far lower than the other three medical imaging technologies in terms of addition. It has become a widely used method of disease inspection, and has universal application and broad prospects in human organs and structures such as the thyroid gland, abdominal cavity, and bladder. [0003] Howeve...

AI Technical Summary

Problems solved by technology

However, the current remote ultrasound scanning technology has a low sense of presence, and it cannot vividly reflect the control of the ultrasound probe into the hands of the remote operator, and it is also difficult to well reflect the pressure sense of the probe on the patient's skin.

[0005] After retrieval, the Chinese invention patents with publication numbers CN108577886A, CN108994861A, CN109288540A, and CN109998590A are respectively involved; in the first patent CN108577886A, the operator controls the robot at the remote end to allow the on-site robot to reproduce its scanning action, which makes the operator have a poor sense of presence. Inconvenient operation; in the second patent CN108994861A, the touch screen is used to collect position information, which makes the analog scanning medium hard, the operator has a poor sense of presence, and there is no live audio and video feedback; in the third patent CN109288540A, the operator uses a circular handle to perform analog scanning operations , the operator's hand feeling cannot be reflected in the actual scanning in real time, and the sense of presence is not high; in the fourth patent CN109998590A, the phantom that can be reconfigured in 3D is used to increase the sense of presence of the operator, but the 3D scanning before operation is time-consuming Large size, high hardware cost, and real-time reconstruction requires too high real-time data transmission. In addition, there is no force sensor installed on the robotic arm, so it is difficult to accurately reproduce the operator's hand feeling during the actual scanning.

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