US 12,138,127 B2
Portable remote ultrasound scanning systems and compliance control methods for safe ultrasound scanning
Dongliang Cheng, Hefei (CN); and Zhen Liu, Hefei (CN)
Assigned to HEFEI HEBIN INTELLIGENT ROBOTS CO., LTD., Hefei (CN)
Filed by HEFEI HEBIN INTELLIGENT ROBOTS CO., LTD., Anhui (CN)
Filed on Jan. 29, 2024, as Appl. No. 18/425,261.
Application 18/425,261 is a continuation in part of application No. PCT/CN2022/117694, filed on Sep. 8, 2022.
Claims priority of application No. 202111199054.1 (CN), filed on Oct. 14, 2021.
Prior Publication US 2024/0164759 A1, May 23, 2024
Int. Cl. A61B 8/00 (2006.01); A61B 90/00 (2016.01); B25J 3/04 (2006.01); B25J 9/16 (2006.01); B25J 13/02 (2006.01); B25J 13/08 (2006.01); G16H 40/67 (2018.01)
CPC A61B 8/54 (2013.01) [A61B 8/4218 (2013.01); A61B 8/4254 (2013.01); A61B 8/429 (2013.01); A61B 8/4416 (2013.01); A61B 8/4427 (2013.01); A61B 8/461 (2013.01); A61B 8/56 (2013.01); B25J 3/04 (2013.01); B25J 9/1666 (2013.01); B25J 13/025 (2013.01); B25J 13/085 (2013.01); G16H 40/67 (2018.01); A61B 2090/065 (2016.02); A61B 2090/066 (2016.02)] 8 Claims
OG exemplary drawing
 
1. A portable remote ultrasound scanning system, comprising a master device and a slave device, wherein
the master device includes a handheld device (1) and a master computer (2) connected to the handheld device (1), wherein the handheld device (1) is a mimetic ultrasound probe;
the slave device includes a slave scanning robot, a slave ultrasound device, and a data transceiver unit (8) connected to the slave scanning robot and the slave ultrasound device respectively, wherein the data transceiver unit (8) includes a robot data interface for data transmission with the slave scanning robot and an ultrasound data interface for data transmission with the slave ultrasound device;
when a physician holds the handheld device (1) to move on a working plane which refers to a surface of an object with which the handheld device contacts, the handheld device (1) is configured to send trajectory information of the handheld device (1) to the master computer (2), the handheld device (1) is configured further to send a pressing force, which refers to a force between the handheld device and the working plane, exerted on the handheld device (1) to the master computer (2), the trajectory information of the handheld device (1) including velocity information of the handheld device (1) moving on the working plane and angular velocity information of a rotation of the handheld device in space, the velocity information of the handheld device (1) moving on the working plane being obtained through a photoelectric velocity sensor, and the angular velocity information of the rotation of the handheld device in space being obtained through an orientation and angular velocity sensor;
the master computer (2) communicates with the data transceiver unit (8), and the master computer (2) is configured to send the trajectory information of the handheld device (1) and the pressing force exerted on the handheld device (1) to the data transceiver unit (8);
the slave ultrasound device is configured to perform an ultrasound scanning, collect an ultrasound image, and send the ultrasound image to the data transceiver unit (8), and the data transceiver unit (8) is configured to send the ultrasound image to the master computer (2);
the slave ultrasound device includes an ultrasound probe (4);
the slave scanning robot includes a robotic arm (31) and a controller (32) configured to control a movement of the robotic arm (31);
the ultrasound probe (4) is provided at an end of the robotic arm (31);
the data transceiver unit (8) is configured to send the trajectory information of the handheld device (1) and the pressing force exerted on the handheld device (1) to the controller (32);
the controller (32) is configured to control a movement of an end effector of the robotic arm (31) in a horizontal plane based on the velocity information of the handheld device (1) moving on the working plane such that a movement velocity of the ultrasound probe (4) at the end of the robotic arm (31) in the horizontal plane is the same as a movement velocity of the handheld device (1) on the working plane;
the controller (32) is configured to control an orientation movement of the end effector of the robotic arm (31) in space based on the angular velocity information of the rotation of the handheld device (1) in space such that a rotational angular velocity of the ultrasound probe (4) at the end of the robotic arm (31) in space is the same as a rotational angular velocity of the handheld device (1) in space;
the controller (32) is configured to control, based on the pressing force exerted on the handheld device (1), the end effector of the robotic arm (31) to move along a normal direction of a scanning surface such that a contact force between the ultrasound probe (4) at the end of the robotic arm (31) and a scanned region of a human body is the same as the pressing force exerted on the handheld device (1), wherein the contact force refers to an actual contact force of the ultrasound probe (4);
an entire movement process of the robotic arm (31) is performed through a compliance control, wherein the compliance control refers to actively controlling the robotic arm (31) using a control strategy such that the robotic arm (31) is compliant to an external force when contacting an external environment;
during a non-ultrasound scanning process, the movement of the robotic arm (31) adopts an impedance control, wherein the movement of the end effector of the robotic arm (31) in the horizontal plane and a movement of the end effector of the robotic arm (31) along the normal direction of the scanning surface are performed through the impedance control;
during an ultrasound scanning process, the movement of the robotic arm (31) adopts a hybrid control of the impedance control and a constant force control, wherein the movement of the end effector of the robotic arm (31) in the horizontal plane is performed through the impedance control, and the movement of the end effector of the robotic arm (31) along the normal direction of the scanning surface is performed through the constant force control;
during the ultrasound scanning process, the pressing force exerted on the handheld device (1) is converted to a desired force value for the constant force control through a variable force segmental mapping or variable force continuous mapping, and the contact force between the ultrasound probe (4) and the scanned region of the human body follows the desired force value, the desired force value is an expected value of actual contact force when pressing force is applied; wherein
the variable force segmental mapping refers to a process where the pressing force exerted on the handheld device (1) is divided into different segments and each segment is mapped to the controller (32), and the controller (32) controls the movement of the robotic arm (31) to drive the ultrasound probe (4) to perform the ultrasound scanning on the scanned region of the human body, wherein when the pressing force exerted on the handheld device (1) falls within a certain segment, the desired force value for the constant force control remains unchanged and the desired force value is a certain value within the segment; and when the pressing force exerted on the handheld device (1) switches to a different segment, the desired force value for the constant force control changes accordingly to a certain value within the different segment; and
the variable force continuous mapping refers to a process where the pressing force exerted on the handheld device (1) is continuously mapped to the controller (32) in proportion, and the controller (32) controls the movement of the robotic arm (31) to drive the ultrasound probe (4) to perform the ultrasound scanning on the scanned region of the human body, wherein the desired force value for the constant force control changes continuously following continuous changes of the pressing force exerted on the handheld device (1);
the end of the robotic arm (31) is provided with a depth camera (34) configured to capture a depth image; and the depth camera (34) is connected to the controller (32) and configured to send the depth image to the controller (32), and the controller (32) is configured to send the depth image to the master computer (2) through the data transceiver unit (8);
the depth camera (34) is configured to capture the depth image of a surface of the human body; the master computer (2) is configured to perform a three-dimensional modeling of the human body based on the depth image of the surface of the human body to obtain a three-dimensional model of the human body; the master computer (2) is configured to identify the scanned region of the human body based on the three-dimensional model of the human body, set an initial position for ultrasound scanning of the scanned region of the human body, generate a collision-free path for the robotic arm from a current position to the initial scanning position based on the three-dimensional model and a path planning algorithm, wherein the collision-free path refers to a movement path of the robotic arm that avoids collisions with human body or other obstacles, and send the collision-free path to the controller (32) through the data transceiver unit (8); and the controller (32) is configured to control the end effector of the robotic arm (31) to move along the collision-free path such that the ultrasound probe (4) at the end of the robotic arm (31) automatically reaches the initial position for ultrasound scanning.