CN114748101A - Ultrasonic scanning control method, system and computer readable storage medium - Google Patents
Ultrasonic scanning control method, system and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses an ultrasonic scanning control method, an ultrasonic scanning control system and a computer readable storage medium, wherein the method comprises the following steps: acquiring actual scanning pressure and expected scanning pressure of an ultrasonic probe; when the expected scanning pressure is not equal to the actual scanning pressure, determining component coordinates and component angles according to the difference value of the expected scanning pressure and the actual scanning pressure; obtaining a historical terminal coordinate and a historical terminal angle; determining a target end point coordinate according to the component coordinate and the historical end point coordinate, and determining a target end point angle according to the component angle and the historical end point angle; and controlling the ultrasonic scanning control system according to the target end point coordinate and the target end point angle. The invention improves the safety of ultrasonic scanning and the stability of the quality of ultrasonic images.
Description
Technical Field
The invention relates to the technical field of ultrasonic scanning, in particular to an ultrasonic scanning control method, an ultrasonic scanning control system and a computer readable storage medium.
Background
In the robot-assisted ultrasound scanning, for example, breast scanning is taken as an example, the flexibility of the breasts of different people at different positions of the same person is different, even the difference is very large, the existing technical means is usually scanning based on preset control parameters, the adaptability of scanning pressure is weak according to the different flexibility of the breasts, the body of a detected person is easily damaged by the large pressure, the security of the ultrasound scanning is reduced, and the unstable quality of ultrasound images can be caused due to the unstable scanning pressure.
Disclosure of Invention
The embodiment of the invention provides an ultrasonic scanning control method, an ultrasonic scanning control system and a computer readable storage medium, and aims to solve the technical problems of how to improve the safety of ultrasonic scanning and unstable quality of an ultrasonic image.
The embodiment of the invention provides an ultrasonic scanning control method, which is applied to an ultrasonic scanning control system and comprises the following steps:
acquiring actual scanning pressure and expected scanning pressure of an ultrasonic probe;
when the expected scanning pressure is not equal to the actual scanning pressure, determining component coordinates and component angles according to the difference value of the expected scanning pressure and the actual scanning pressure;
acquiring a historical endpoint coordinate and a historical endpoint angle;
determining a target end point coordinate according to the component coordinate and the historical end point coordinate, and determining a target end point angle according to the component angle and the historical end point angle;
and controlling an ultrasonic scanning control system according to the target end point coordinate and the target end point angle.
In an embodiment, the step of determining component coordinates and component angles according to the difference between the desired scanning pressure and the actual scanning pressure when the desired scanning pressure is not equal to the actual scanning pressure comprises:
When the expected scanning pressure is not equal to the actual scanning pressure, acquiring a difference value between the expected scanning pressure and the actual scanning pressure;
carrying out error amplitude limiting on the difference value to obtain an amplitude limiting difference value;
determining a PID output value according to the amplitude limiting difference value;
carrying out output amplitude limiting on the PID output value to obtain a PID amplitude limiting output value;
and performing displacement component calculation according to the PID amplitude limiting output value to obtain the component coordinate and the component angle.
In an embodiment, the step of performing a displacement component calculation according to the PID clipping output value to obtain the component coordinate and the component angle includes:
acquiring a current angle of the ultrasonic probe;
acquiring a normal vector corresponding to the current angle;
and decomposing the PID amplitude limiting output value to the x, y and z axes of a Cartesian coordinate system according to the normal vector to obtain the component coordinate, and setting the component angle to be (0, 0, 0).
In one embodiment, the step of determining a PID output value according to the clipping difference value includes:
and determining the PID output value according to a preset PID parameter and the amplitude limiting difference value.
In one embodiment, the step of acquiring the actual scanning pressure and the desired scanning pressure of the ultrasound probe comprises:
Detecting the contact force of the ultrasonic probe and acquiring a gravity compensation value;
and taking the sum of the contact force and the gravity as the actual scanning pressure, and acquiring the preset expected scanning pressure.
In one embodiment, the step of detecting the contact force of the ultrasonic probe and obtaining the gravity compensation value includes:
detecting the contact force of the ultrasonic probe and acquiring a direction vector of the ultrasonic probe;
and determining the gravity compensation value according to the direction vector of the ultrasonic probe and a preset gravity acceleration.
In one embodiment, the step of controlling the ultrasonic scanning control system according to the target end point coordinates and the target end point angle comprises:
and determining a mechanical arm joint value according to the target end point coordinate and the target end point angle, and controlling the ultrasonic scanning control system through the mechanical arm joint value so as to adjust the pressure of an ultrasonic probe of the ultrasonic scanning control system.
In one embodiment, the step of determining a robot joint value according to the target end point coordinate and the target end point angle, and controlling the ultrasonic scanning control system through the robot joint value comprises:
Acquiring the current coordinate and the current angle of an ultrasonic probe of the ultrasonic scanning control system;
determining a scanning track according to the current coordinate, the current angle, the target end point coordinate and the target end point angle;
performing inverse kinematics calculation according to the scanning coordinates and the scanning angles on the scanning track to obtain the joint value of the mechanical arm corresponding to the scanning track;
and controlling the ultrasonic scanning control system according to the joint value of the mechanical arm so as to adjust the pressure of an ultrasonic probe of the ultrasonic scanning control system.
The embodiment of the present invention further provides an ultrasound scanning control system, which includes: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the ultrasound scanning control method as described above when executing the computer program.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the steps of the ultrasound scanning control method described above.
In the technical scheme of the embodiment, the actual scanning pressure and the expected scanning pressure of the ultrasonic probe are obtained; when the expected scanning pressure is not equal to the actual scanning pressure, determining component coordinates and component angles according to the difference value of the expected scanning pressure and the actual scanning pressure; acquiring a historical endpoint coordinate and a historical endpoint angle; determining a target end point coordinate according to the component coordinate and the historical end point coordinate, and determining a target end point angle according to the component angle and the historical end point angle; and controlling an ultrasonic scanning control system according to the target end point coordinate and the target end point angle. The ultrasonic scanning control system can acquire and judge the actual scanning pressure and the expected scanning pressure of the ultrasonic probe, and when the judgment result shows that the expected scanning pressure is not equal to the actual scanning pressure, the component coordinates and the component angles can be determined according to the difference value of the expected scanning pressure and the actual scanning pressure. And finally, changing the terminal point coordinate and the terminal point angle of the mechanical arm according to the component coordinate and the angle. The mechanical arm of the ultrasonic scanning control system is controlled based on the changed coordinates and angles, so that the actual scanning pressure of the ultrasonic probe corresponds to the expected scanning pressure, and the safety of ultrasonic scanning and the stability of the quality of an ultrasonic image are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a hardware architecture diagram of an ultrasound scanning control system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the ultrasonic scanning control method according to the present invention;
FIG. 3 is a reference diagram of a first embodiment of the ultrasonic scanning control method of the present invention;
FIG. 4 is a schematic flow chart of a second embodiment of the ultrasonic scanning control method of the present invention;
FIG. 5 is a reference diagram of a second embodiment of the ultrasonic scanning control method of the present invention;
fig. 6 is a reference diagram of an ultrasound scanning control method according to a second embodiment of the present invention.
Detailed Description
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The main solution of the invention is: acquiring actual scanning pressure and expected scanning pressure of an ultrasonic probe; when the expected scanning pressure is not equal to the actual scanning pressure, determining component coordinates and component angles according to the difference value of the expected scanning pressure and the actual scanning pressure; obtaining a historical terminal coordinate and a historical terminal angle; determining a target end point coordinate according to the component coordinate and the historical end point coordinate, and determining a target end point angle according to the component angle and the historical end point angle; and controlling an ultrasonic scanning control system according to the target end point coordinate and the target end point angle.
The ultrasonic scanning control system can acquire and judge the actual scanning pressure and the expected scanning pressure of the ultrasonic probe, and when the judgment result shows that the expected scanning pressure is not equal to the actual scanning pressure, the component coordinates and the component angles can be determined according to the difference value of the expected scanning pressure and the actual scanning pressure. And finally, changing the terminal point coordinate and the terminal point angle of the mechanical arm according to the component coordinate and the angle. The mechanical arm of the ultrasonic scanning control system is controlled based on the changed coordinates and angles, so that the actual scanning pressure of the ultrasonic probe corresponds to the expected scanning pressure, and the safety of ultrasonic scanning and the stability of the quality of an ultrasonic image are improved.
As an implementation, the ultrasound scanning control system may be as in fig. 1.
The embodiment of the invention relates to an ultrasonic scanning control system, which comprises: a processor 101, e.g. a CPU, a memory 102, a communication bus 103. Wherein a communication bus 103 is used for enabling the connection communication between these components.
The memory 102 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). As in fig. 1, a detection program may be included in the memory 103 as a computer-readable storage medium; and the processor 101 may be configured to call the detection program stored in the memory 102 and perform the following operations:
acquiring actual scanning pressure and expected scanning pressure of an ultrasonic probe;
when the expected scanning pressure is not equal to the actual scanning pressure, determining component coordinates and component angles according to the difference value of the expected scanning pressure and the actual scanning pressure;
acquiring a historical endpoint coordinate and a historical endpoint angle;
determining a target end point coordinate according to the component coordinate and the historical end point coordinate, and determining a target end point angle according to the component angle and the historical end point angle;
And controlling an ultrasonic scanning control system according to the target end point coordinates and the target end point angle.
In one embodiment, the processor 101 may be configured to call a detection program stored in the memory 102 and perform the following operations:
when the expected scanning pressure is not equal to the actual scanning pressure, acquiring a difference value between the expected scanning pressure and the actual scanning pressure;
carrying out error amplitude limiting on the difference value to obtain an amplitude limiting difference value;
determining a PID output value according to the amplitude limiting difference value;
carrying out output amplitude limiting on the PID output value to obtain a PID amplitude limiting output value;
and performing displacement component calculation according to the PID amplitude limiting output value to obtain the component coordinate and the component angle.
In one embodiment, the processor 101 may be configured to call a detection program stored in the memory 102 and perform the following operations:
acquiring a current angle of the ultrasonic probe;
acquiring a normal vector corresponding to the current angle;
and decomposing the PID amplitude limiting output value to the x, y and z axes of a Cartesian coordinate system according to the normal vector to obtain the component coordinate, and setting the component angle to be (0, 0, 0).
In one embodiment, the processor 101 may be configured to call a detection program stored in the memory 102 and perform the following operations:
And determining the PID output value according to a preset PID parameter and the amplitude limiting difference value.
In one embodiment, the processor 101 may be configured to call a detection program stored in the memory 102 and perform the following operations:
detecting the contact force of the ultrasonic probe and acquiring a gravity compensation value;
and taking the sum of the contact force and the gravity as the actual scanning pressure, and acquiring the preset expected scanning pressure.
In one embodiment, the processor 101 may be configured to call a detection program stored in the memory 102 and perform the following operations:
detecting the contact force of the ultrasonic probe and acquiring a direction vector of the ultrasonic probe;
and determining the gravity compensation value according to the direction vector of the ultrasonic probe and a preset gravity acceleration.
In one embodiment, the processor 101 may be configured to call a detection program stored in the memory 102 and perform the following operations:
and determining a mechanical arm joint value according to the target end point coordinate and the target end point angle, and controlling the ultrasonic scanning control system through the mechanical arm joint value so as to adjust the pressure of an ultrasonic probe of the ultrasonic scanning control system.
In one embodiment, the processor 101 may be configured to call a detection program stored in the memory 102 and perform the following operations:
Acquiring the current coordinate and the current angle of an ultrasonic probe of the ultrasonic scanning control system;
determining a scanning track according to the current coordinate, the current angle, the target end point coordinate and the target end point angle;
performing inverse kinematics calculation according to the scanning coordinate and the scanning angle on the scanning track to obtain the mechanical arm joint value corresponding to the scanning track;
and controlling the ultrasonic scanning control system according to the joint value of the mechanical arm so as to adjust the pressure of an ultrasonic probe of the ultrasonic scanning control system.
In the technical scheme of the embodiment, the actual scanning pressure and the expected scanning pressure of the ultrasonic probe are obtained; when the expected scanning pressure is not equal to the actual scanning pressure, determining component coordinates and component angles according to the difference value of the expected scanning pressure and the actual scanning pressure; acquiring a historical endpoint coordinate and a historical endpoint angle; determining a target end point coordinate according to the component coordinate and the historical end point coordinate, and determining a target end point angle according to the component angle and the historical end point angle; and controlling an ultrasonic scanning control system according to the target end point coordinate and the target end point angle. The ultrasonic scanning control system can acquire and judge the actual scanning pressure and the expected scanning pressure of the ultrasonic probe, and when the judgment result shows that the expected scanning pressure is not equal to the actual scanning pressure, the component coordinates and the component angles can be determined according to the difference value of the expected scanning pressure and the actual scanning pressure. And finally, changing the terminal point coordinate and the terminal point angle of the mechanical arm according to the component coordinate and the angle. The mechanical arm of the ultrasonic scanning control system is controlled based on the changed coordinates and angles, so that the actual scanning pressure of the ultrasonic probe corresponds to the expected scanning pressure, and the safety of ultrasonic scanning and the stability of the quality of an ultrasonic image are improved.
In order to better understand the technical scheme, the technical scheme is described in detail in the following with reference to the attached drawings of the specification and specific embodiments.
Referring to fig. 2, fig. 2 is a first embodiment of the ultrasonic scanning control method of the present invention, and the method includes the following steps:
and step S10, acquiring the actual scanning pressure and the expected scanning pressure of the ultrasonic probe.
Robot-assisted breast scanning has become a research hotspot, and two important goals in robot-assisted breast scanning are to acquire high-quality ultrasound images and to ensure scanning safety. The key to obtain high-quality ultrasonic images and ensure safety is to realize the attachment of the ultrasonic probe to the skin and maintain stable contact pressure (constant pressure). The chest of the same person has different softness degrees or even very different softness degrees at different parts.
The path mathematical form is: each of the swept track paths { Pi, 0<=i<N is composed of N closely spaced points Pi of 5mm, wherein,
these 6 quantities represent the coordinates and angle, respectively, of the probe at position Pi.
The path source is as follows: the point cloud of the human body surface is acquired through the structured light sensor, and the point cloud generates a scanning path through automatic segmentation and path planning algorithms.
As shown in fig. 3, fig. 3 is a path of right chest ultrasound scanning, the path of ultrasound scanning can be divided into four stages, and the AB stage is a probe downward detection stage, and starts to contact human skin at point B; the BC section is an ultrasonic scanning stage, and ultrasonic image acquisition is carried out in the BC section; the CD section is a probe uplifting stage, and the probe is uplifted by a certain height and is away from the skin of a human body; the DE section is a transition section, and the probe moves to the position above the FG section to be scanned to perform a new section of scanning. What needs to be subjected to constant voltage control is the ultrasonic recording segment BC, FG … ….
In this embodiment, the actual scanning pressure is obtained according to a preset device in the ultrasonic scanning control system. The expected scanning pressure can be a preset numerical value and is used for comparison when actual scanning pressure is collected and matched.
Optionally, detecting a contact force of the ultrasonic probe, and obtaining a gravity compensation value;
and taking the sum of the contact force and the gravity as the actual scanning pressure, and acquiring the preset expected scanning pressure. Specifically, detecting the contact force of the ultrasonic probe, and acquiring a direction vector of the ultrasonic probe; and determining the gravity compensation value according to the direction vector of the ultrasonic probe and a preset gravity acceleration.
And step S20, when the expected scanning pressure is not equal to the actual scanning pressure, determining component coordinates and component angles according to the difference value of the expected scanning pressure and the actual scanning pressure.
In this embodiment, when the ultrasound scanning control system determines that the desired scanning pressure is not equal to the actual scanning pressure, the difference between the desired scanning pressure and the actual scanning pressure is calculated, and based on the difference, a single scanning pressure is calculated
I.e. the component coordinates and component angles mentioned above.
Optionally, a current angle of the ultrasound probe is obtained; acquiring a normal vector corresponding to the current angle; and decomposing the PID amplitude limiting output value to the x, y and z axes of a Cartesian coordinate system according to the normal vector to obtain the component coordinate, and setting the component angle to be (0, 0, 0). Wherein, through this embodiment, can change probe pressure through the coordinate of adjusting the arm.
Optionally, when the expected scanning pressure is not equal to the actual scanning pressure, obtaining a difference between the expected scanning pressure and the actual scanning pressure; carrying out error amplitude limiting on the difference value to obtain an amplitude limiting difference value; determining a PID output value according to the amplitude limiting difference value; carrying out output amplitude limiting on the PID output value to obtain a PID amplitude limiting output value; and performing displacement component calculation according to the PID amplitude limiting output value to obtain the component coordinate and the component angle. Further, the PID output value is determined according to a preset PID parameter and the amplitude limiting difference value.
In step S30, the history end point coordinates and the history end point angle are acquired.
In this embodiment, when the component coordinates and component angles are determined, one is obtained
As the historical end coordinates and the historical end angles. And the historical end point coordinate and the historical end point angle are historical end point poses of the probe before pressure adjustment is carried out.
Step S40, determining a target end point coordinate according to the component coordinate and the historical end point coordinate, and determining a target end point angle according to the component angle and the historical end point angle.
In this embodiment, when the component coordinates, the component angles, the historical end point coordinates, and the historical end point angles are acquired, the above data pairs are added to obtain the target end point coordinates and the target end point angles
。
And step S50, controlling an ultrasonic scanning control system according to the target end point coordinates and the target end point angle.
In this embodiment, the control parameters of the ultrasonic scanning control system are adjusted according to the obtained target end point coordinates and the target end point angle, so as to perform control.
In the technical scheme of this embodiment, since the ultrasonic scanning control system can acquire and determine the actual scanning pressure and the expected scanning pressure of the ultrasonic probe, when the determination result is that the expected scanning pressure is not equal to the actual scanning pressure, the component coordinates and the component angles can be determined according to the difference between the expected scanning pressure and the actual scanning pressure. And finally, changing the terminal point coordinate and the terminal point angle of the mechanical arm according to the component coordinate and the angle. The mechanical arm of the ultrasonic scanning control system is controlled based on the changed coordinates and angles, so that the actual scanning pressure of the ultrasonic probe corresponds to the expected scanning pressure, and the safety of ultrasonic scanning and the stability of the quality of an ultrasonic image are improved.
Referring to fig. 4, fig. 4 is a second embodiment of the ultrasonic scanning control method of the present invention, and based on the first embodiment, step S50 includes:
and step S51, determining a mechanical arm joint value according to the target end point coordinate and the target end point angle, and controlling the ultrasonic scanning control system through the mechanical arm joint value so as to adjust the pressure of an ultrasonic probe of the ultrasonic scanning control system.
In this embodiment, the joint value of the mechanical arm is used to control the mechanical arm, wherein the mechanical arm can change the position of the probe by several angles, and when the target endpoint coordinate and the target endpoint angle are determined, the control parameters of the mechanical arm at each point in the remaining scanning track can be calculated by an inverse kinematics algorithm.
Optionally, the current coordinate and the current angle of the ultrasonic probe of the ultrasonic scanning control system are obtained; determining a scanning track according to the current coordinate, the current angle, the target end point coordinate and the target end point angle; performing inverse kinematics calculation according to the scanning coordinate and the scanning angle on the scanning track to obtain the mechanical arm joint value corresponding to the scanning track; and controlling the ultrasonic scanning control system according to the joint value of the mechanical arm so as to adjust the pressure of an ultrasonic probe of the ultrasonic scanning control system.
Alternatively, this embodiment implements a block diagram referring to fig. 5,
scanning pressure for expectation; is composed of
Actual scanning pressure of the probe on the skin;
is the measured value of the pressure sensor;
the difference between the desired scan pressure and the actual pressure of the probe and skin;
an output after the error clipping function;
is the output of the PID controller;
is the output after the output amplitude limiting;
is composed of
The components (component coordinates and component angles) in the cartesian coordinate space in the x, y, z directions;
interpolation points (historical end point coordinates and historical end point angles) for the scanned path in the period are searched.
And (3) error amplitude limiting: the error amplitude limiting is to improve the adaptability of the controller and avoid the impact of output caused by overlarge input error, and is calculated according to the following formula:
wherein
Is the set limit value.
A PID controller: the PID controller is a core link of constant-pressure control, and the control law is as follows:
wherein is
And (4) carrying out PID parameter setting on constants of a proportional link, an integral link and a differential link according to an actual robot debugging result.
And (3) output amplitude limiting: the output amplitude limiting is used for improving the adaptability and safety of constant voltage control and avoiding the vibration of the robot caused by the output of overlarge control quantity.
And (3) displacement component calculation: and calculating the axial normal vector of the probe according to the current attitude angle of the probe, and decomposing the output displacement of the PID constant voltage controller into the x, y and z axes of a Cartesian coordinate system.
The attitude matrix of the robot is:
wherein S and C are preset values.
The third column is the normal vector of the probe, and the calculation of the displacement component is done as follows:
position adjustment: output of the constant voltage controller
Interpolated output from reference path
Overlapping to obtain the actual position output of the tail end probe
(target end point coordinates and target end point angles), i.e.
。
Inverse kinematics calculation: and calculating each joint quantity of the robot according to the pose of the ultrasonic probe by inverse kinematics calculation. It should be noted that the constant-voltage control method is applicable to different robots, and only the inverse kinematics calculation is different for different robots, and is not limited herein.
Gravity compensation: the ultrasonic probe of the present embodiment holds a preset device, which is realized as shown in fig. 6, and all the physical quantities areDescribed under the robot base coordinate system, the Z axis of the base coordinate system and the gravity direction are collinear and opposite,
for the contact force, G is the gravity,
in order for the force to be measured by the sensor,
is the direction vector of the probe
Let the Z-axis direction vector be
，
Is composed of
And
the included angle of (a). The control aim is to keep the contact force consistent with the expected force, the gravity compensation is to consider the influence of gravity on the contact force, and the specific relation is as follows:
The input to the feedback force is superimposed with a component of gravity as the feedback input to the force controller. Setting the feedback input of the force controller to
。
Interrupt processing of the timer: the above calculation and control processes require an MCU with timer interrupt function, the above control processes are all completed in an interrupt service function, and the interrupt period is less than 5ms for stability and accuracy of control.
In the technical scheme of the embodiment, through inverse kinematics calculation, the control parameters of the mechanical arm at each moment in the remaining scanning process can be determined as long as the target end point coordinate and the target end point angle of the mechanical arm are determined, so that when the component coordinate and the component angle are determined based on the actual scanning pressure and the expected scanning pressure, the probe pressure can be controlled based on the historical end point coordinate and the historical end point angle.
In order to achieve the above object, an embodiment of the present invention further provides an ultrasound scanning control system, where the ultrasound scanning control system includes: the ultrasonic scanning control system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the ultrasonic scanning control method.
To achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the ultrasound scanning control method as described above.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program embodied on one or more computer-usable computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An ultrasonic scanning control method is characterized by being applied to an ultrasonic scanning control system, and the method comprises the following steps:
acquiring actual scanning pressure and expected scanning pressure of an ultrasonic probe;
when the expected scanning pressure is not equal to the actual scanning pressure, determining component coordinates and component angles according to the difference value of the expected scanning pressure and the actual scanning pressure;
acquiring a historical endpoint coordinate and a historical endpoint angle;
determining a target end point coordinate according to the component coordinate and the historical end point coordinate, and determining a target end point angle according to the component angle and the historical end point angle;
And controlling an ultrasonic scanning control system according to the target end point coordinates and the target end point angle.
2. The ultrasonic scanning control method of claim 1, wherein the step of determining component coordinates and component angles from the difference between the desired scanning pressure and the actual scanning pressure when the desired scanning pressure is not equal to the actual scanning pressure comprises:
when the expected scanning pressure is not equal to the actual scanning pressure, acquiring a difference value between the expected scanning pressure and the actual scanning pressure;
carrying out error amplitude limiting on the difference to obtain an amplitude limiting difference;
determining a PID output value according to the amplitude limiting difference value;
carrying out output amplitude limiting on the PID output value to obtain a PID amplitude limiting output value;
and performing displacement component calculation according to the PID amplitude limiting output value to obtain the component coordinate and the component angle.
3. The ultrasonic scanning control method of claim 2, wherein the step of performing a displacement component calculation according to the PID clipping output value to obtain the component coordinates and the component angles comprises:
acquiring a current angle of the ultrasonic probe;
acquiring a normal vector corresponding to the current angle;
And decomposing the PID amplitude limiting output value into x, y and z axes of a Cartesian coordinate system according to the normal vector to obtain the component coordinate, and setting the component angle to be (0, 0, 0).
4. The ultrasound scanning control method of claim 2, wherein the step of determining a PID output value from the clipping difference value comprises:
and determining the PID output value according to a preset PID parameter and the amplitude limiting difference value.
5. The ultrasound scanning control method of claim 1, wherein the step of acquiring an actual scanning pressure and a desired scanning pressure of an ultrasound probe comprises:
detecting the contact force of the ultrasonic probe and acquiring a gravity compensation value;
and taking the sum of the contact force and the gravity as the actual scanning pressure, and acquiring the preset expected scanning pressure.
6. The ultrasonic scanning control method of claim 5, wherein the step of detecting the contact force of the ultrasonic probe and obtaining the gravity compensation value comprises:
detecting the contact force of the ultrasonic probe and acquiring a direction vector of the ultrasonic probe;
and determining the gravity compensation value according to the direction vector of the ultrasonic probe and a preset gravity acceleration.
7. The ultrasonic scanning control method of claim 1, wherein the step of controlling the ultrasonic scanning control system according to the target end point coordinates and the target end point angle comprises:
and determining a mechanical arm joint value according to the target end point coordinate and the target end point angle, and controlling the ultrasonic scanning control system through the mechanical arm joint value so as to adjust the pressure of an ultrasonic probe of the ultrasonic scanning control system.
8. The ultrasonic scanning control method of claim 7, wherein the step of determining a robot joint value according to the target end point coordinates and the target end point angle, and controlling the ultrasonic scanning control system through the robot joint value comprises:
acquiring the current coordinate and the current angle of an ultrasonic probe of the ultrasonic scanning control system;
determining a scanning track according to the current coordinate, the current angle, the target end point coordinate and the target end point angle;
performing inverse kinematics calculation according to the scanning coordinate and the scanning angle on the scanning track to obtain the mechanical arm joint value corresponding to the scanning track;
and controlling the ultrasonic scanning control system according to the joint value of the mechanical arm so as to adjust the pressure of an ultrasonic probe of the ultrasonic scanning control system.
9. An ultrasound scanning control system, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the ultrasound scanning control method according to any one of claims 1 to 8 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the ultrasound scanning control method according to any one of claims 1 to 8.
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