阅读说明：本技术 一种超声扫查装置 (Ultrasonic scanning device ) 是由 张朋 赵保亮 胡颖 雷隆 王子文 姚亮 何玉成 靳海洋 于 2021-09-26 设计创作，主要内容包括：本申请提供了一种超声扫查装置,包括：手持外壳,用于供医生进行握持,所述手持外壳具有开口；超声探头,固定设于所述手持外壳内,并且所述超声探头的前端部通过所述开口穿出至外部；定位靶点,固定设于所述手持外壳上,所述定位靶点用于供光学定位跟踪设备获取所述超声探头的位姿；测力传感器,用于测量在所述位姿下所述超声探头与患者皮肤接触点处的作用力。本申请提供的超声扫查装置能够采集医生超声扫查时的操作经验数据,从而能够建立医生操作经验的表征模型,为超声扫查机器人提供训练数据。(The application provides an supersound scanning device includes: a hand held housing for holding by a doctor, the hand held housing having an opening; the ultrasonic probe is fixedly arranged in the handheld shell, and the front end part of the ultrasonic probe penetrates out of the handheld shell through the opening; the positioning target point is fixedly arranged on the handheld shell and used for the optical positioning and tracking equipment to acquire the pose of the ultrasonic probe; and the force sensor is used for measuring the acting force at the contact point of the ultrasonic probe and the skin of the patient in the pose. The ultrasonic scanning device provided by the application can collect operation experience data of a doctor during ultrasonic scanning, so that a characterization model of the operation experience of the doctor can be established, and training data are provided for the ultrasonic scanning robot.)

1. An ultrasound scanning device, comprising:

a hand-held housing (10) for gripping by a doctor, said hand-held housing (10) having an opening (11);

the ultrasonic probe (20) is fixedly arranged in the handheld shell (10), and the front end part of the ultrasonic probe (20) penetrates out of the handheld shell through the opening (11);

the positioning target point (30) is fixedly arranged on the handheld shell (10), and the positioning target point (30) is used for an optical positioning and tracking device to acquire the pose of the ultrasonic probe (20);

and the force sensor (40) is used for measuring the acting force at the contact point of the ultrasonic probe (20) and the skin of the patient in the pose.

2. The ultrasonic scanning device according to claim 1, further comprising a mounting seat (50) fixedly sleeved on the periphery of the tail end of the ultrasonic probe (20), wherein the ultrasonic probe (20) is fixedly mounted in the hand-held housing (10) through the mounting seat (50).

3. The ultrasonic scanning device according to claim 2, characterized in that the load cell (40) is a force and moment sensor, the mounting seat (50) is fixed to the tail end of the hand-held housing (10) through the force and moment sensor, and a gap is provided between the ultrasonic probe (20) and the inner wall of the hand-held housing (10).

4. The ultrasound scanning device according to claim 3, wherein the mount (50) is connected to the force and moment sensor by a sensor mount (60), the force and moment sensor being connected to the hand held housing (10) by a housing connection (70).

5. The ultrasonic scanning device according to claim 3 or 4, wherein the hand-held housing (10) is formed by splicing two half shells (12) which are oppositely arranged, the ultrasonic scanning device further comprises an annular connecting piece (80) which is sleeved on the periphery of the mounting seat (50) and fixedly connected with the tail ends of the two half shells (12), and a gap is arranged between the annular connecting piece (80) and the mounting seat (50).

6. The ultrasonic scanning device according to any one of claims 2-4, wherein a mounting bracket (31) is arranged on the mounting seat (50), and a plurality of positioning target points (30) are fixedly mounted on the mounting bracket (31).

7. The ultrasound scanning device according to any one of claims 2-4, wherein a gap between the mount (50) and the ultrasound probe (20) is filled with silicone.

8. The ultrasonic scanning device according to any one of claims 2-4, wherein the mounting seat (50) is provided with a mounting groove (51) inside, and a fixing clamping block (90) for fixing and clamping the cable of the ultrasonic probe (20) is arranged in the mounting groove (51).

9. The ultrasound scanning device according to any one of claims 1 to 4, further comprising a mounting module (100) fixedly arranged on the hand-held housing (10), the mounting module (100) being adapted to connect the ultrasound probe (20) to an ultrasound scanning robot.

10. The ultrasound scanning device according to any one of claims 1-4, wherein the load cell (40) measures the normal and tangential forces of the ultrasound probe (20) at the patient skin contact point.

Technical Field

The application belongs to the technical field of ultrasound, and particularly relates to an ultrasonic scanning device.

Background

Medical ultrasound examination is becoming the most commonly used medical imaging technique by virtue of its advantages of low cost, no radiation, real-time performance, etc. At present, the traditional manual detection mode easily causes repetitive labor injury to doctors, the imaging quality depends on the working experience and the operation technique of the doctors, in addition, the limitation of space is difficult to break through between the doctors and patients, and the problems can be effectively avoided by adopting an ultrasonic detection robot to replace manual detection.

However, the existing ultrasound inspection robot just performs a standardized scan of a patient at a constant speed, and cannot make an individualized judgment path based on the knowledge of the human anatomy and pathology as a doctor according to the information given by the current ultrasound image, so as to obtain a high-quality image and a full-coverage inspection result without missing points. In the related art, in order to improve the automation degree of the ultrasonic robot, a large amount of clinical ultrasonic scanning experience data of doctors are generally acquired to perform reinforcement learning training on the ultrasonic detection robot. However, the prior art lacks an ultrasonic scanning device for acquiring doctor ultrasonic scanning experience data.

Disclosure of Invention

The application provides an ultrasonic scanning device, can gather doctor's ultrasonic scanning experience data to can establish the representation model of doctor's operation experience, provide training data for ultrasonic scanning robot, be favorable to promoting ultrasonic scanning robot's autonomous control and safety control research progress.

In order to solve the above problems, the technical scheme provided by the application is as follows: an ultrasound scanning apparatus comprising: a hand held housing for holding by a doctor, the hand held housing having an opening; the ultrasonic probe is fixedly arranged in the handheld shell, and the front end part of the ultrasonic probe penetrates out of the handheld shell through the opening; the positioning target point is fixedly arranged on the handheld shell and used for the optical positioning and tracking equipment to acquire the pose of the ultrasonic probe; and the force sensor is used for measuring the acting force at the contact point of the ultrasonic probe and the skin of the patient in the pose.

In a possible design, the ultrasonic scanning device further comprises a mounting seat fixedly sleeved on the periphery of the tail end of the ultrasonic probe, and the ultrasonic probe is fixedly mounted in the handheld shell through the mounting seat.

In one possible design, the force sensor is a force and moment sensor, the mounting base is fixed to the tail end of the handheld housing through the force and moment sensor, and a gap is formed between the ultrasonic probe and the inner wall of the handheld housing.

In one possible design, the mounting base is connected to the force and torque sensor via a sensor base, and the force and torque sensor is connected to the hand-held housing via a housing connection.

In a possible design, handheld shell is formed by the concatenation of two relative half shells that set up, the supersound is swept and is looked into the device and still is located including the cover the periphery of mount pad and fixed connection are two the annular connecting piece of half shell tail end, annular connecting piece with be equipped with the clearance between the mount pad.

In one possible design, a mounting bracket is arranged on the mounting seat, and a plurality of positioning target points are fixedly mounted on the mounting bracket.

In one possible design, the gap between the mount and the ultrasound probe is filled with silicone.

In a possible design, a mounting groove is formed in the mounting seat, and a fixing clamping block for fixedly clamping the ultrasonic probe cable is arranged in the mounting groove.

In a possible design, the ultrasound scanning device further includes a mounting module fixedly disposed on the hand-held housing, and the mounting module is configured to connect the ultrasound probe to an ultrasound scanning robot.

In one possible design, the load cells measure the normal and tangential forces of the ultrasound probe at the patient skin contact point.

The ultrasonic scanning device provided by the embodiment of the application is provided with the positioning target point and the force transducer, the ultrasonic scanning device can obtain the poses of the ultrasonic probe when a doctor carries out ultrasonic scanning through the positioning target point and the optical positioning and tracking system, and can obtain the acting force of the ultrasonic probe operated by the doctor under each pose through the force transducer, so that operation experience data can be collected in the process of carrying out ultrasonic scanning on a patient by the doctor, a characterization model of the operation experience of the doctor can be established, training data are provided for the ultrasonic scanning robot, the ultrasonic robot can realize autonomous ultrasonic scanning through the characterization model, and the development of autonomous control and safety control research of the ultrasonic scanning robot can be promoted. In addition, the ultrasonic scanning device provided by the embodiment of the application has the advantages of simple structure and convenience in operation, and cannot influence the daily work of an ultrasonic examination doctor.

Drawings

Fig. 1 is a schematic overall structure diagram of an ultrasonic scanning apparatus provided in an embodiment of the present application;

FIG. 2 is a side view of an ultrasound scanning apparatus provided in an embodiment of the present application;

fig. 3 is an exploded schematic view of an ultrasound scanning apparatus according to an embodiment of the present application;

FIG. 4 is a schematic cross-sectional view of an ultrasound scanning apparatus provided in an embodiment of the present application;

FIG. 5 is a schematic diagram of a load cell of an ultrasonic scanning device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an ultrasound scanning apparatus according to another embodiment of the present application;

fig. 7 is a schematic flowchart of an ultrasound scanning apparatus provided in an embodiment of the present application for acquiring an operation force.

Reference numerals: 10. a hand-held housing; 11. an opening; 12. a half shell; 20. an ultrasonic probe; 30. positioning a target point; 31. mounting a bracket; 32. mounting a disc; 33. a bolt; 40. a force sensor; 41. a cable end; 50. a mounting seat; 51. mounting grooves; 60. a sensor base; 70. a housing connector; 80. an annular connector; 90. fixing the clamping block; 100. and (5) installing the module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the embodiments of the present application, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description of the present application, it is to be understood that the terms "inner," "outer," "upper," "bottom," "front," "back," and the like, when used in the orientation or positional relationship indicated in FIG. 1, are used solely for the purpose of facilitating a description of the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Medical ultrasound examination is a technique for determining internal structural information of biological tissue by acquiring different reflected signals using different acoustic impedances of tissue structures to ultrasound beams. The ultrasonic examination has the advantages of low cost, no radiation, real-time property and the like, becomes the most extensive image diagnosis mode in the current clinical application, and is increasingly widely applied to the aspects of health examination, medical diagnosis and navigation.

However, the traditional medical ultrasound scanning is mainly performed by a doctor holding an ultrasound probe to scan the corresponding body part of a patient so as to acquire the three-dimensional structural features of the examined part of the patient. Therefore, the problems that imaging quality is influenced by the fact that a doctor holds the ultrasonic probe for a long time to check are difficult to avoid the situations of fatigue, hand trembling, unstable pressure and the like, and on the other hand, urban and rural medical resource distribution is uneven, high-quality images and full-coverage scanning without leak points depend on the operation experience of the doctor to a great extent, and ultrasonic checking is obviously limited in regions. In order to avoid the problem of traditional ultrasonic scanning, the robot-assisted ultrasonic scanning system has profound significance and is a development trend of the future ultrasonic scanning robot.

With the development of technologies such as robot technology, artificial intelligence, 5G and the like, the robot-assisted ultrasonic scanning technology is rapidly developed. Ultrasonic robotics can be classified into two categories, semi-autonomous ultrasound and fully-autonomous ultrasound, according to the degree of automation.

The semi-autonomous ultrasound mainly focuses on the research of a semi-autonomous algorithm for cooperative control between the robot and the human, and the master hand end of the remote control ultrasound scanning robot controls the slave hand end beside the person to be detected in multiple degrees of freedom, so that the remote scanning work of the person to be detected is completed. However, the current remote ultrasound scanning technology has low telepresence, can not reflect the control of the ultrasound probe to the hands of a remote operating doctor vividly, and is difficult to reflect the pressure of the doctor to the probe to the skin of a patient well.

"fully autonomous ultrasound" is still in the initial development stage, aiming to replace the work of ultrasound scanning doctors to some extent with robots and computer-aided systems. However, the existing ultrasonic scanning robot adopts an industrial part processing idea, can only carry out standardized scanning on one or more specific organs of a human body, and has a single scanning path track.

However, when a clinical ultrasound scanning doctor scans a patient with ultrasound, the patient is not scanned at a constant speed in a standardized manner like an ultrasound robot, but a personalized judgment path is made by combining information given by a current ultrasound image based on the knowledge of human anatomy and pathology, so that a high-quality image and a full-coverage examination result without missing points are obtained. At present, an artificial intelligence algorithm brings the ultrasound scanning robot to a further step in the scanning intelligence aspect, and the ultrasound scanning robot is mainly subjected to reinforcement learning training by acquiring a large amount of doctor clinical ultrasound scanning experience data, and then realizes autonomous ultrasound scanning through a scanning thought decision maker and a video auxiliary analysis system. However, the prior art does not provide an ultrasonic scanning device for acquiring doctor ultrasonic scanning experience data.

The embodiment of the application provides an ultrasonic scanning device, and the traditional ultrasonic scanning device is provided with a positioning target point and a force measuring sensor, so that the ultrasonic scanning device can collect operation experience data of doctors during ultrasonic scanning, and training data are provided for an ultrasonic scanning robot.

Fig. 1 is a schematic overall structure diagram of an ultrasound scanning apparatus according to an embodiment of the present application. Fig. 2 is a side view of an ultrasound scanning apparatus provided in an embodiment of the present application. Fig. 3 is an exploded schematic view of an ultrasound scanning apparatus according to an embodiment of the present application. Fig. 4 is a schematic cross-sectional view of an ultrasound scanning apparatus according to an embodiment of the present application. Fig. 5 is a schematic structural diagram of a load cell of an ultrasonic scanning device according to an embodiment of the present application. As shown in fig. 1 to 5, the ultrasound scanning apparatus provided in the embodiment of the present application includes a handheld housing 10, an ultrasound probe 20, a target location point 30, and a load cell 40.

Wherein, handheld shell 10 is inside to be the cavity structure and has opening 11, and ultrasonic probe 20 is installed in this cavity to the tip passes through opening 11 and wears out to the external environment from handheld shell 10 in, the doctor just can make the tip of ultrasonic probe 20 and the position contact that waits to be swept of patient through holding handheld shell 10, and then can acquire the ultrasonic image of this position through ultrasonic probe 20.

The handheld shell 10 is fixedly provided with a positioning target 30, the positioning target 30 and the ultrasonic probe 20 are relatively fixed in position, the positioning target 30 can be positioned through an optical positioning and tracking device (such as a binocular camera and an NDI), and then the pose of the ultrasonic probe 20 during the ultrasonic scanning of a doctor can be indirectly acquired according to the acquired positioning and an internal algorithm.

The ultrasonic scanning device is also provided with a load cell 40, and the acting force of the ultrasonic probe 20 acting on the skin contact point of the patient in the current pose can be obtained through the load cell 40.

Because a doctor can make an individualized judgment path by combining information given by a current ultrasonic image based on the understanding of human anatomy and pathology and carry out ultrasonic examination along a planned motion track, when a lesion point is met, the lesion or tissue can be scanned at various angles by rotating the ultrasonic probe 20, and the definition of the ultrasonic image during ultrasonic scanning is closely related to the acting force of the ultrasonic probe 20 on the part to be scanned of a patient. Therefore, the present application provides the positioning target 30 and the load cell 40 on the conventional ultrasound scanning apparatus to obtain the pose (i.e., position and posture) and the acting force in the current pose of the ultrasound probe 20 when the doctor performs the ultrasound scanning. And, by continuously acquiring a plurality of poses of the ultrasonic probe 20 at different time points, the motion trajectory of the ultrasonic probe 20 can be further determined.

When a doctor uses the ultrasonic scanning device provided by the application to perform ultrasonic scanning on a patient, the ultrasonic scanning device can acquire the pose of the ultrasonic probe 20 through the positioning target 30 and the optical positioning tracking equipment matched with the positioning target, then measure the acting force of the ultrasonic probe 20 at the contact point with the skin of the patient under the current pose through the force sensor 40, and then establish a characterization model of the operation experience of the doctor according to the data of the pose (motion track) of the ultrasonic probe 20 and the acting force under each pose in the whole scanning process of the doctor, which is acquired by the ultrasonic scanning device, namely the ultrasonic scanning operation experience data of the doctor, and the ultrasonic robot can realize autonomous ultrasonic scanning through the characterization model.

The ultrasonic scanning device provided by the embodiment of the application is provided with the positioning target 30 and the force sensor 40, the ultrasonic scanning device can obtain the poses of the ultrasonic probe 20 when a doctor performs ultrasonic scanning through the positioning target 30 and the optical positioning and tracking system, and can obtain the acting force of the ultrasonic probe 20 operated by the doctor at each pose through the force sensor 40, so that operation experience data can be collected in the process of performing ultrasonic scanning on a patient by the doctor, a characterization model of the operation experience of the doctor can be established, training data are provided for the ultrasonic scanning robot, the ultrasonic robot can realize autonomous ultrasonic scanning through the characterization model, and the autonomous control and safety control research progress of the ultrasonic scanning robot can be promoted. In addition, the ultrasonic scanning device provided by the embodiment of the application has the advantages of simple structure and convenience in operation, and cannot influence the daily work of an ultrasonic examination doctor.

As shown in fig. 1 to 5, in the embodiment of the present application, a mounting seat 50 is further disposed on the ultrasonic probe 20, the mounting seat 50 has a through mounting groove 51, a tail end of the ultrasonic probe 20 passes through the mounting groove 51 to be fixedly connected with the mounting seat 50, and the ultrasonic probe 20 is fixedly mounted in the handheld housing 10 through the mounting seat 50.

Further, the installation groove 51 in the installation seat 50 has an opening, and a fixing clamp block 90 for fixedly clamping the cable of the ultrasonic probe 20 is provided in the installation groove 51. The mounting groove 51 is a closed groove and has a uniform caliber along the height direction, and the cable at the tail end of the ultrasonic probe 20 is tapered, so that the cable cannot move randomly by arranging the fixing clamping block 90, thereby preventing the cable from interfering with the positioning target point 30 on the handheld shell 10.

As shown in fig. 1-5, in the embodiment of the present application, one end of the load cell 40 is connected to the outer side wall of the mounting seat 50 through the cell base 60, and the other end is connected to the hand-held housing 10 through the housing connector 70, that is, the hand-held housing 10 is connected to the mounting seat 50 through the housing connector 70, and the mounting seat 50 is fixedly connected to the rear end of the hand-held housing 10 through the load cell 40.

It is worth mentioning that there is a gap between the mounting seat 50 and the hand held housing 10, and there is also a gap between the hand held housing 10 and the ultrasonic probe 20. The gap between the mounting seat 50 and the handheld shell 10 and between the handheld shell 10 and the ultrasonic probe 20 can ensure that the force transducer 40 can more accurately receive the acting force transmitted by the ultrasonic probe 20 through the mounting seat 50 on the basis of ensuring the stable connection between the three, and can effectively avoid the interference of the handheld shell 10 on the transmission of the acting force. In addition, the gap between the inner side wall of the mounting seat 50 and the ultrasonic probe 20 is filled with silica gel, so that the connection between the mounting seat 50 and the ultrasonic probe 20 is firmer, and the accurate transmission of acting force can be ensured.

Specifically, the load cell 40 may be a Force/Torque sensor (F/T Sensors), or a multi-axis Force and Torque sensor (e.g., a three-axis Force and Torque sensor or a six-axis Force and Torque sensor, etc.), and when the load cell 40 is a multi-axis Force and Torque sensor, it is required that one axial direction of the load cell 40 is parallel to the central axis of the ultrasonic probe 20, and the other axial direction is perpendicular to the central axis of the ultrasonic probe 20 and perpendicular to the connecting surface of the mounting seat 50 and the load cell 40, so that it can measure forces and torques in multiple axial directions. In addition, as shown in fig. 5, a cable end 41 is provided on the outer side wall of the load cell 40.

In the present embodiment, load cell 40 is capable of measuring the normal force and the tangential force of ultrasound probe 20 at the point of contact with the patient's skin, where the normal force is a positive pressure of ultrasound probe 20 against the patient's tissue perpendicularly and the tangential force is a resistive force applied perpendicular to the normal force and directed along the surface of ultrasound probe 20 in the direction of motion of ultrasound probe 20.

In the process of carrying out ultrasonic scanning on body tissues of a patient by a doctor, the quality of an ultrasonic image is closely related to the normal force of the ultrasonic probe 20, the tangential force of the ultrasonic probe 20 is correlated with different positions and normal forces of the tissues, and due to the difference of the body tissues, when the ultrasonic probe 20 passes through glandular tissues or nodular tissues, the normal force and the tangential force of the ultrasonic probe 20 are changed or fluctuated, so that the normal force and the tangential force of the ultrasonic probe 20 need to be measured simultaneously.

As shown in fig. 1 to 5, in the embodiment of the present application, a mounting bracket 31 is disposed on an upper end surface of the mounting base 50, and a plurality of positioning target points 30 are fixedly and alternately mounted on the mounting bracket 31.

Alternatively, the plurality of positioning targets 30 is three or more, for example, 4 or five, so that the optical positioning and tracking system can more accurately determine the pose of the positioning targets 30 on the mount 50.

Specifically, the mounting bracket 31 includes an "L" shaped bracket and a mounting plate 32, the bottom end of the "L" shaped bracket is detachably fixed on the upper end surface of the mounting base 50 through a bolt 33, a plurality of positioning target points 30 are arranged on the plate surface of the mounting plate 32, and the other end of the plate surface is fixedly connected with the "L" shaped bracket.

When a doctor scans a patient with ultrasound, the ultrasound scanning device provided by the embodiment of the application can identify the position and the posture of the positioning target 30 mounted on the mounting seat 50 according to the triangle formed by the optical positioning tracking device and the positioning target 30 through the optical positioning tracking device, such as a binocular camera, an NDI and other tracking devices, because the posture of the positioning target 30 relative to the ultrasound probe 20 is known, the position and the posture of the ultrasound probe 20 can be obtained, and the doctor ultrasound scanning operation experience data can be obtained through the collected point cloud of the position and the posture of the ultrasound probe 20 by combining the acting force in each posture state, so that a representation model of the doctor operation experience is established.

Further, as shown in fig. 1 to 5, the handheld housing 10 is formed by splicing two half shells 12 which are arranged oppositely, the tail ends of the two half shells 12 are fixedly connected by an annular connecting member 80, and the annular connecting member 80 is sleeved on the periphery of the mounting seat 50 and has a gap with the mounting seat 50. By leaving a gap between the annular connector 80 and the mounting seat 50, the load cell 40 can more accurately measure the force on the ultrasonic probe 20.

Optionally, the two half-shells 12 are fixedly connected to the annular connecting piece 80 by means of bolts 33.

Specifically, as shown in fig. 3, the cross section of the half shell 12 is a "U" shaped structure, the shape of the inner wall of the half shell 12 is matched with the shape of the outer side wall of the ultrasonic probe 20, the two half shells 12 are butted with each other, and are sleeved on the ultrasonic probe 20 through an annular connector 80, and a gap is formed between the two half shells and the ultrasonic probe 20.

Fig. 6 is a schematic overall structure diagram of an ultrasound scanning apparatus according to another embodiment of the present application. As shown in fig. 6, the ultrasound scanning apparatus provided in the embodiment of the present application further includes a mounting module 100, and the mounting module 100 is fixedly disposed on the hand-held housing 10 through the annular connector 80.

Specifically, the installation module 100 is a cylindrical structure and is connected to the end of the mechanical arm of the ultrasonic scanning robot. Through the arrangement, the position and the posture of the ultrasonic probe 20 during the autonomous scanning of the ultrasonic scanning robot and the acting force of the ultrasonic probe 20 under the current position and posture can be obtained through the positioning target point 30 and the force measuring sensor 40, so that possible problems can be avoided in time, and the autonomous scanning process of the ultrasonic robot is optimized.

Fig. 7 is a schematic flowchart of an ultrasound scanning apparatus provided in an embodiment of the present application for acquiring an operation force. Hereinafter, a method for acquiring the operation force of the doctor provided by the embodiment of the application is described with reference to fig. 7.

As shown in fig. 7, in step 400, when a doctor performs an ultrasonic scanning on a patient through an ultrasonic scanning device provided in an embodiment of the present application, the doctor firstly operates the ultrasonic probe 20 to make a front end portion of the ultrasonic probe 20 contact with a portion of the patient to be scanned.

In step 410, acquiring an ultrasonic image of a part to be scanned of a patient through the ultrasonic probe 20;

in step 420, the quality of the ultrasound image is evaluated;

in step 430, it is determined whether the image quality meets the requirement, and when it is determined that the image quality meets the requirement, that is, the acquired ultrasound image of the portion to be scanned is deemed to be clear and available, the process proceeds to step 440. And when the image quality is confirmed not to meet the requirement, namely the acquired ultrasound image cannot be used, the step 450 is executed.

Specifically, if it is determined that the acquired image quality does not meet the requirement, the process proceeds to step 450, in step 450, the normal force is increased (by a certain value on the current basis) to acquire an ultrasound image again through the ultrasound probe 20, then steps 420 and 430 are performed again, that is, the image quality is evaluated again, if the image quality still does not meet the requirement, the normal force is increased again, and then steps 410, 420, 430 and 450 are executed in a loop until the acquired ultrasound image meets the requirement, and the loop is stopped.

When the quality of the acquired image is confirmed to meet the requirement, the process proceeds to step 440. In step 440, the normal force and the tangential force of the ultrasonic probe 20 in the current pose are continuously acquired through the load cell 40, and then the process goes to step 460 and goes to step 460.

In step 460, it is determined whether the current normal and tangential forces are within a safe force threshold range. The safety force threshold value comprises a normal force threshold value and a tangential force threshold value, is mainly determined through an experimental method, the quality of an ultrasonic image and the movement of the ultrasonic probe 20 are comprehensively considered, the strength of human body pain feeling is taken as the highest safety threshold value, the range of the safety threshold values of different tissue parts is slightly changed, and the ultrasonic examination safety threshold value curves of different parts of human tissue can be obtained through experiments.

When it is determined that the current normal and tangential forces are within the safe force threshold, the measurement of the current position point is completed, and step 480 is entered. In step 480, the acquisition of the next location point is performed, and the physician moves the ultrasound probe 20 to the next location point of the site to be scanned to continue the scanning.

When it is determined that the normal force and the tangential force exceed the safety force threshold, although the quality of the acquired image meets the requirement, the patient may have pain due to the large force between the probe and the skin of the patient, which may cause discomfort to the patient, and step 470 is performed. In step 470, the normal force between the probe and the patient's skin is reduced, and then step 410 is repeated, and steps 410, 420, 430 and 450 are executed in a loop.

It is worth mentioning that there are many ultrasound image quality evaluation methods, and the present application mainly collects data of the operation experience of the professional ultrasound examination doctor, so that the quality evaluation method mainly judges through the operation experience of the doctor, and allows the individual differences of the doctor to exist.

Because a doctor can perform ultrasonic inspection on a part to be scanned along a certain motion track according to experience and human physiological structure characteristics, through the steps, the ultrasonic scanning device provided by the embodiment of the application can acquire normal force and tangential force of the ultrasonic probe 20 at all position points on the motion track through the force sensor 40, and can establish a characterization model of the ultrasonic scanning operation experience of the doctor by combining the poses of the ultrasonic probe 20 at all the position points, so that training data is provided for the ultrasonic scanning robot, and the development of autonomous control and safety control research of the ultrasonic scanning robot is promoted.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.