阅读说明：本技术 一种超声探头压力检测装置及压力检测方法 (Ultrasonic probe pressure detection device and pressure detection method ) 是由 苗肇基 熊飞 杨潇文 刘俞辰 朱文敏 周明 王筱毅 李明 梁志成 任冠清 于 2020-12-22 设计创作，主要内容包括：本发明公开了一种超声探头压力检测装置及压力检测方法,所述装置包括：超声探头以及设置在所述超声探头外部的柔性面力学传感器；其中,所述柔性面力学传感器将所述超声探头的边角部位包覆；所述柔性面力学传感器设置有镂空部,所述镂空部对应所述超声探头的超声发射部,以使得所述超声发射部外露。本发明通过采用柔性面力学传感器套设在超声探头周围,能够全面的实时获取探头与组织的接触情况反馈,解决了现有技术当中,超声探头压力检测装置只使用了两个或三个力学传感器,不能够全面反应探头的受力情况,从而在后续处理过程中,能够对探头位置进行更加精确的全方面调整,提高成像质量与患者舒适度。(The invention discloses an ultrasonic probe pressure detection device and a pressure detection method, wherein the device comprises: the ultrasonic probe comprises an ultrasonic probe and a flexible surface mechanical sensor arranged outside the ultrasonic probe; the flexible surface mechanical sensor wraps the corner part of the ultrasonic probe; the flexible surface mechanical sensor is provided with a hollow-out part, and the hollow-out part corresponds to the ultrasonic emission part of the ultrasonic probe, so that the ultrasonic emission part is exposed. According to the invention, the flexible surface mechanical sensor is sleeved around the ultrasonic probe, so that the contact condition feedback of the probe and the tissue can be comprehensively obtained in real time, and the problem that in the prior art, the stress condition of the probe cannot be comprehensively reflected only by using two or three mechanical sensors of the ultrasonic probe pressure detection device is solved, so that the position of the probe can be more accurately and comprehensively adjusted in the subsequent treatment process, and the imaging quality and the comfort level of a patient are improved.)

1. An ultrasonic probe pressure detection apparatus, the apparatus comprising: the ultrasonic probe comprises an ultrasonic probe and a flexible surface mechanical sensor arranged outside the ultrasonic probe; the flexible surface mechanical sensor wraps the corner part of the ultrasonic probe; the flexible surface mechanical sensor is provided with a hollow-out part, and the hollow-out part corresponds to the ultrasonic emission part of the ultrasonic probe, so that the ultrasonic emission part is exposed.

2. The ultrasound probe pressure detection apparatus of claim 1, further comprising an analog-to-digital converter connected to the flexible surface mechanics sensor for converting analog signals collected by the flexible surface mechanics sensor into digital signals.

3. The apparatus according to claim 2, further comprising an image processing module, connected to the analog-to-digital converter, for processing the digital signal outputted from the analog-to-digital converter.

4. The ultrasonic probe pressure detecting device according to claim 1, wherein the flexible surface mechanical sensor is provided in a cap shape, and the cap-shaped flexible surface mechanical sensor is sleeved on the ultrasonic probe.

5. The ultrasonic probe pressure detection device of claim 4, wherein the flexible surface mechanical sensor inner surface is attached to the outer surface of the ultrasonic probe.

6. The ultrasonic probe pressure detecting device according to claim 1, wherein the hollowed-out portion is provided in a long strip shape.

7. A pressure detection method based on the ultrasonic probe pressure detection device of any one of claims 1 to 6, the method comprising:

acquiring a pressure signal according to a flexible surface mechanical sensor coated outside the ultrasonic probe;

converting the pressure signal into a digital signal through an analog-to-digital converter to obtain pressure information of each acquisition point on the ultrasonic probe;

and adjusting the ultrasonic probe according to the pressure information.

8. The pressure detecting method of the ultrasonic probe pressure detecting device according to claim 7, wherein the adjusting the ultrasonic probe according to the pressure information includes:

obtaining the pressure map according to the pressure information;

and outputting the pressure map to a mechanical arm mechanical feedback device connected with the ultrasonic probe so as to adjust the ultrasonic probe according to the pressure map.

9. The pressure detection method of the ultrasonic probe pressure detection device according to claim 8, wherein the obtaining the pressure map based on the pressure information includes:

acquiring three-dimensional coordinates of each acquisition point on the ultrasonic probe in a preset right-hand coordinate system;

and obtaining the pressure map according to the pressure information of each acquisition point and the corresponding three-dimensional coordinate thereof, wherein the pressure map is used for displaying the stress conditions of all the acquisition points on the ultrasonic probe.

10. The pressure detection method of the ultrasonic probe pressure detection apparatus according to claim 9, wherein the obtaining the pressure map based on the pressure information further includes:

and after the pressure map is obtained, smoothing the pressure map by using a least square moving algorithm.

Technical Field

The invention relates to the technical field of ultrasonic probes, in particular to an ultrasonic probe pressure detection device and a pressure detection method.

Background

For a robotic-arm-based ultrasound scanning system, a depth camera is usually used to plan a scanning path of a probe, but due to some interference caused by the physical characteristics of the depth camera and other environments, such as small tissue movement and light interference, the scanning path derived from point cloud data cannot be constantly guaranteed to be completely matched with the tissue surface, thereby causing poor ultrasound imaging quality and patient discomfort. Therefore, the system can be provided with the pressure detection device on the probe to acquire the contact condition feedback of the probe and the tissue in real time, so that the position of the probe can be correspondingly adjusted in the subsequent treatment, and the imaging quality and the comfort of a patient are improved.

However, the pressure detection device of the ultrasonic probe used in the existing system only uses two or three mechanical sensors fixed on the ultrasonic probe, can only acquire force information of two or three points, and cannot comprehensively reflect the stress condition of the probe, and even cannot provide correct force signal feedback for the system under certain conditions (such as when the probe is in contact with the skin and the sensors are not in contact with the skin).

Thus, there is a need for improvements and enhancements in the art.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide an ultrasonic probe pressure detection apparatus and a pressure detection method, aiming at solving the problem that the ultrasonic probe pressure detection apparatus in the prior art only uses two or three mechanical sensors to be fixed on an ultrasonic probe, only can acquire force information of two or three points, and cannot comprehensively reflect the stress condition of the probe.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

in a first aspect, the present invention provides an ultrasound probe pressure detection apparatus, wherein the apparatus comprises: the ultrasonic probe comprises an ultrasonic probe and a flexible surface mechanical sensor arranged outside the ultrasonic probe; the flexible surface mechanical sensor wraps the corner part of the ultrasonic probe; the flexible surface mechanical sensor is provided with a hollow-out part, and the hollow-out part corresponds to the ultrasonic emission part of the ultrasonic probe, so that the ultrasonic emission part is exposed.

In one implementation, the apparatus further includes an analog-to-digital converter, where the analog-to-digital converter is connected to the flexible surface mechanical sensor and is configured to convert an analog signal acquired by the flexible surface mechanical sensor into a digital signal.

In one implementation manner, the apparatus further includes the image processing module, and the image processing module is connected to the analog-to-digital converter and configured to process a digital signal output by the analog-to-digital converter.

In one implementation, the flexible surface mechanical sensor is arranged in a cap shape, and the cap-shaped flexible surface mechanical sensor is sleeved on the ultrasonic probe.

In one implementation, the inner surface of the flexible surface mechanical sensor is attached to the outer surface of the ultrasonic probe.

In one implementation, the hollow portion is configured as a long strip.

In a second aspect, the present invention provides a pressure detection method based on the ultrasound probe pressure detection apparatus according to any one of the above aspects, wherein the method includes:

acquiring a pressure signal according to a flexible surface mechanical sensor coated outside the ultrasonic probe;

converting the pressure signal into a digital signal through an analog-to-digital converter to obtain pressure information of each acquisition point on the ultrasonic probe;

and adjusting the ultrasonic probe according to the pressure information.

In one implementation, the adjusting the ultrasound probe according to the pressure information includes:

obtaining the pressure map according to the pressure information;

and outputting the pressure map to a mechanical arm mechanical feedback device connected with the ultrasonic probe so as to adjust the ultrasonic probe according to the pressure map.

In one implementation, the obtaining the pressure map according to the pressure information includes:

acquiring three-dimensional coordinates of each acquisition point on the ultrasonic probe in a preset right-hand coordinate system;

and obtaining the pressure map according to the pressure information of each acquisition point and the corresponding three-dimensional coordinate thereof, wherein the pressure map is used for displaying the stress conditions of all the acquisition points on the ultrasonic probe.

In one implementation, the obtaining the pressure map according to the pressure information further includes:

and after the pressure map is obtained, smoothing the pressure map by using a least square moving algorithm.

Has the advantages that: the invention provides an ultrasonic probe pressure detection device and a pressure detection method, wherein a flexible surface mechanical sensor is sleeved around an ultrasonic probe, so that the contact condition feedback of the probe and tissues can be comprehensively acquired in real time, and the problem that in the prior art, the ultrasonic probe pressure detection device only uses two or three mechanical sensors and cannot comprehensively reflect the stress condition of the probe is solved, so that the position of the probe can be more accurately adjusted in all aspects in the subsequent processing process, and the imaging quality and the comfort level of a patient are improved.

Drawings

Fig. 1 is an overall illustration of an ultrasonic probe pressure detection apparatus according to an embodiment of the present invention.

Fig. 2 is an exploded view of an ultrasonic probe pressure detection apparatus according to an embodiment of the present invention.

Fig. 3 is a cross-sectional view illustrating an ultrasonic probe pressure detecting apparatus according to an embodiment of the present invention.

Fig. 4 is a front view of an ultrasonic probe pressure detection apparatus according to an embodiment of the present invention.

Fig. 5 is an exemplary diagram of a signal processing module of an ultrasonic probe pressure detection apparatus according to an embodiment of the present invention.

Fig. 6 is an overall flowchart of a method for detecting pressure of an ultrasonic probe according to an embodiment of the present invention.

Fig. 7 is a flowchart of adjusting an ultrasonic probe according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

For a robotic-arm-based ultrasound scanning system, a depth camera is usually used to plan a scanning path of a probe, but due to some interference caused by the physical characteristics of the depth camera and other environments, such as small tissue movement and light interference, the scanning path derived from point cloud data cannot be constantly guaranteed to be completely matched with the tissue surface, thereby causing poor ultrasound imaging quality and patient discomfort. Therefore, the system can be provided with the pressure detection device on the probe to acquire the contact condition feedback of the probe and the tissue in real time, so that the position of the probe can be correspondingly adjusted in the subsequent treatment, and the imaging quality and the comfort of a patient are improved.

However, the pressure detection device of the ultrasonic probe used in the existing system only uses two or three mechanical sensors fixed on the ultrasonic probe, can only acquire force information of two or three points, and cannot comprehensively reflect the stress condition of the probe, and even cannot provide correct force signal feedback for the system under certain conditions (such as when the probe is in contact with the skin and the sensors are not in contact with the skin).

In order to solve the problems in the prior art, the present embodiment provides an apparatus and a method for detecting pressure of an ultrasonic probe. According to the invention, the flexible surface mechanical sensor is sleeved on the ultrasonic probe, and the flexible surface mechanical sensor covered on the ultrasonic emission part of the ultrasonic probe is hollowed out, so that when the ultrasonic detection system is applied to ultrasonic detection, a system automatically controls the flexible surface mechanical sensor to comprehensively and accurately acquire a pressure signal in contact with the skin, the pressure signal is processed by an algorithm of the signal processing module and converted into a pressure map and transmitted to the mechanical arm mechanical feedback device, the mechanical arm mechanical feedback device automatically adjusts the ultrasonic probe according to the transmitted data and then carries out ultrasonic detection on the skin, the quality of a detected ultrasonic image is improved, and the detection comfort level of a patient is improved.

For example, in order to obtain a high-quality ultrasound image by using an ultrasound probe to detect skin, the detection posture of the ultrasound probe needs to be adjusted, but because a pressure detection device on the ultrasound probe in the prior art usually only uses two or three mechanical sensors and no mechanical sensor is arranged at the corner of the ultrasound probe, pressure information between the ultrasound probe and the skin collected by the mechanical sensors is limited, and the contact condition between the ultrasound probe and the skin cannot be comprehensively reflected, for example, when the ultrasound probe detects a key part of a human body, the edge of the ultrasound probe cannot be in contact with the skin, the corner of the human tissue cannot be completely covered, or the detected pressure information is disordered due to different human body fat, so that the posture of the ultrasound probe cannot be effectively adjusted, the imaging quality of the ultrasound image is poor, and accurate medical diagnosis cannot be performed, therefore, as shown in fig. 1, 2, 3 and 4, the flexible surface mechanical sensor is sleeved on the ultrasonic probe, and the corners are completely covered, so that the flexible surface mechanical sensor can comprehensively collect pressure signals contacting with the skin in real time, even the corners can also collect the pressure signals, and the flexible surface mechanical sensor covered on the ultrasonic emission part of the ultrasonic probe is provided with a hollow part, so that the ultrasonic emission part of the ultrasonic probe is not influenced by structural factors, while the ultrasonic emission part of the prior art is completely covered by the mechanical sensor, which influences the imaging quality, the flexible surface mechanical sensor detects the pressure contacting with the skin while the ultrasonic emission part of the ultrasonic probe detects ultrasonic images, and transmits the collected pressure signals to the signal processing module connected with the flexible surface mechanical sensor, as shown in fig. 5, the signal processing module outputs a pressure map after signal processing is carried out according to a preset program algorithm, and the mechanical arm mechanical feedback device carries out self-adaptive adjustment on the ultrasonic probe according to the transmitted pressure map, so that the ultrasonic probe detects an ultrasonic image of the skin at the optimal posture, the quality and reliability of the detected ultrasonic image are very high compared with those of ultrasonic images detected in the prior art, and the misdiagnosis rate is greatly reduced.

Exemplary devices

The present embodiment provides an ultrasonic probe pressure detecting apparatus, as shown in fig. 1, 2, 3, 4 and 5, including: an ultrasonic probe 30 and a flexible surface mechanical sensor 20 arranged outside the ultrasonic probe; wherein, the flexible surface mechanical sensor 20 covers the corner part of the ultrasonic probe 30; the flexible surface mechanical sensor 20 is provided with a hollow-out portion 40, and the hollow-out portion 40 corresponds to the ultrasonic emission portion 10 of the ultrasonic probe, so that the ultrasonic emission portion 10 is exposed.

Specifically, as shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the flexible surface mechanical sensor 20 may adopt Tekscan and be configured as a cap-shaped structure, and the content size and the edge structure are both designed by polishing according to the shape and size of the ultrasonic probe 30, so that the cap-shaped flexible surface mechanical sensor 20 can be smoothly sleeved on the ultrasonic probe 30 without resistance, the inner surface of the flexible surface mechanical sensor 20 can be closely attached to the outer surface of the ultrasonic probe 30, and the installation and removal are very convenient; the flexible surface mechanical sensor 20 covers the ultrasonic probe 30, including the corner part of the ultrasonic probe 30, but the flexible surface mechanical sensor 20 is sleeved on the ultrasonic emission part of the ultrasonic probe 30 and is provided with a hollow part 40, the hollow part 40 is arranged in a long strip shape, so that the ultrasonic emission part 10 is exposed without being shielded, according to the physical characteristics of ultrasonic waves, the ultrasonic emission part can collect the ultrasonic waves when the ultrasonic waves emitted by the ultrasonic emission part are detected through the long strip-shaped hollow part 10, the obtained returned signals are high in intensity and fixed in directivity, and the obtained ultrasonic returned signals can be processed into ultrasonic images conveniently; when using shown ultrasonic probe pressure measurement device to detect on human skin, ultrasonic probe 10 is used for gathering the ultrasonic image on human skin, flexible face mechanical sensor 20 is in when ultrasonic probe 30 gathers the image, the laminating of full aspect is on the human skin that ultrasonic probe 30 is located, because flexible face mechanical sensor 20 is the mechanics that adopts the flexible face type and detects the structure, and the higher authority adheres to intensive degree and is millimeter level's power information acquisition point, not only can not cause human skin's discomfort, moreover the pressure measurement of every point all distributes very evenly on the flexible face mechanical sensor 20, no matter how much of human skin fat, even corner position or human tissue corner, the pressure signal of collection is all very stable and clear.

The ultrasonic probe pressure detection device is further provided with a signal processing module, as shown in fig. 5, the signal processing module comprises an analog-to-digital converter and an image processing module, the signal processing module is used for processing the pressure signal acquired by the flexible surface mechanical sensor 20 and outputting a pressure map, and the mechanical arm mechanical feedback device can adjust the contact pressure of the ultrasonic probe 30 and the skin according to the pressure map, so that the quality of an ultrasonic image acquired by the ultrasonic probe on the skin is improved, and the comfort of a patient is improved.

In one implementation, the analog-to-digital converter is connected to the flexible surface mechanics sensor 20, and is configured to convert an analog signal acquired by the flexible surface mechanics sensor 20 into a digital signal. Specifically, the pressure signal acquired by the flexible surface mechanics sensor 20 is an analog signal, which is represented by the magnitude of voltage and cannot be recognized by the system, so the pressure information of the analog signal converted into a digital signal can be recognized and processed by the system, the system parameterizes the magnitude of the voltage of the analog signal, the magnitude of the voltage of the analog signal is divided into 10 levels, each level is represented by binary, finally the system converts the analog signal into the pressure information of the binary digital signal which can be recognized by the system and stores the pressure information in the form of a matrix array, the pressure information represents the stress condition of all acquisition points on the ultrasonic probe, and then the pressure information converted into the form of the digital signal is transmitted to the image processing module for further processing.

In one implementation, the image processing module is connected to the analog-to-digital converter and configured to process a digital signal output by the analog-to-digital converter. Specifically, after the system obtains the pressure information in the form of digital signals, the system can process the pressure information, and because the current pressure information is a binary digital signal and is in the form of a matrix array, the speed of processing the matrix data is much faster than that of processing the data in a common storage mode according to the physical characteristics of a computer, the processing can be completed immediately when the image processing is performed, a pressure map is output, and the contact pressure of the ultrasonic probe 30 and the skin can be adjusted by the mechanical arm mechanical feedback device according to the pressure map.

In summary, the invention provides an ultrasonic probe pressure detection device, the device is characterized in that a flexible surface mechanical sensor is sleeved on an ultrasonic probe, and the flexible surface mechanical sensor covered on an ultrasonic emission part of the ultrasonic probe is hollowed out, when ultrasonic detection is performed, a system automatically controls the flexible surface mechanical sensor to comprehensively and accurately acquire a pressure signal contacting with skin, the pressure signal is processed by an algorithm of a signal processing module and converted into a pressure map and transmitted to a mechanical arm mechanical feedback device, the mechanical arm mechanical feedback device automatically adjusts the ultrasonic probe according to the transmitted data and then performs ultrasonic detection on the skin, and the quality of a detected ultrasonic image is improved.

Exemplary method

The embodiment also provides an ultrasonic probe pressure detection method, which is applied to the ultrasonic probe pressure detection device, specifically as shown in fig. 6, and the method includes the following steps:

and S100, acquiring a pressure signal according to a flexible surface mechanical sensor coated outside the ultrasonic probe.

When the device works, the ultrasonic probe is responsible for transmitting ultrasonic waves by using a transmitting part on the ultrasonic probe and detecting ultrasonic images through a hollow part of the flexible surface mechanical sensor, the flexible surface mechanical sensor is tightly attached to the human skin, and force information acquisition points with the density of millimeter level are used for detecting the contact pressure and acquiring pressure signals on the contacted skin.

And S200, converting the pressure signal into a digital signal through an analog-to-digital converter to obtain pressure information of each acquisition point on the ultrasonic probe.

After the pressure signal is acquired, the current pressure signal is an analog signal and cannot be identified by a system, so that the current pressure signal is transmitted to the analog-to-digital converter to be converted into a digital signal for identification, as shown in fig. 5, for convenience of image processing in the next step, the result output by the analog-to-digital converter is not only a binary digital signal, but also the digital signal represents the pressure information of the digital signal of each acquisition point on the ultrasonic probe by representing the pressure information of each acquisition point on the ultrasonic probe in a parameter normalization form, and the computer operates fastest when processing matrix array data due to the physical characteristics of the computer, so that the pressure information of the digital signal of each acquisition point on the ultrasonic probe is obtained.

And step S300, adjusting the ultrasonic probe according to the pressure information.

After the system obtains the pressure information, the pressure information needs to be converted into a pressure map, then the stress condition of the current ultrasonic probe and each part of the skin of the human body can be clearly known according to the pressure map, the ultrasonic probe can be controlled to carry out adaptive posture adjustment according to the stress condition, and the quality of an ultrasonic image detected by the ultrasonic probe can be greatly improved after the posture is adjusted.

In one implementation, as shown in fig. 7, the step S300 specifically includes the following steps:

s301, obtaining the pressure map according to the pressure information;

s302, outputting the pressure map to a mechanical arm mechanical feedback device connected with the ultrasonic probe so as to adjust the ultrasonic probe according to the pressure map.

In the image processing module, the system firstly acquires three-dimensional coordinates of each acquisition point on the ultrasonic probe under a preset right-hand coordinate system, specifically, a rectangular coordinate system is established by taking the central point of the ultrasonic probe as the origin and the transmitting direction of the ultrasonic probe as the z-axis and the contact surface of the ultrasonic probe and the skin, the rectangular coordinate system and the z-axis are fused into a three-dimensional coordinate system according to the right-hand rule, each acquisition point on the ultrasonic probe sleeved with the flexible surface mechanics sensor in the three-dimensional coordinate system has own three-dimensional coordinates, and the system acquires and stores the three-dimensional coordinate information.

For example, in order to regulate and control the stress condition of the ultrasonic probe, a specific stress point needs to be positioned, and the mechanical arm mechanical feedback device can control the ultrasonic probe to move according to specific coordinates, so that the adjustment is faster and more accurate. Firstly, selecting the central point of an ultrasonic probe as an original point, setting the transmitting direction of an ultrasonic transmitting part of the ultrasonic probe as the positive direction of a z axis, selecting a millimeter left as a minimum unit in order to enable the adjustment to be more fine and reduce errors, establishing a right-hand coordinate system according to a right-hand rule, and calculating the three-dimensional coordinates of each acquisition point on the ultrasonic probe sleeved with the flexible surface mechanical sensor under the coordinate system by the system every 0.1 second.

And then, the system obtains the pressure map according to the pressure information of each acquisition point and the corresponding three-dimensional coordinates thereof, wherein the pressure map is used for displaying the stress conditions of all the acquisition points on the ultrasonic probe, and the pressure map can display physical data which indicate the stress conditions, such as the coordinates of the pressure, the pressure magnitude, the pressure direction, the distribution area of the maximum pressure and the minimum pressure, and the like.

Finally, after obtaining the pressure map, the system uses a least square moving algorithm to carry out smoothing processing on the pressure map, specifically, the system uses the least square moving algorithm to carry out smoothing processing on data displayed on the pressure map, integrates the data to obtain a linear regression equation, further reduces errors of the data, eliminates data errors caused by unpredictable faults in the system, and retains effective reliable data, thereby more accurately obtaining the stress condition of skin contacted with the ultrasonic probe; the image processing module outputs and transmits the processed pressure map to the mechanical arm mechanical feedback device to adjust the ultrasonic probe according to the pressure map, specifically, the mechanical arm mechanical feedback device classifies data displayed on the pressure map, inputs the data into a mechanical arm mechanical feedback device system, calculates and controls by adopting a closed negative feedback adjustment algorithm, controls the ultrasonic probe to move in the established three-dimensional coordinate system according to the step length of 1 mm, so that the detected user can not have uncomfortable reactions when the ultrasonic probe is self-adjusted, and simultaneously, because the precision of the coordinate system is higher, the ultrasonic probe can be controlled to move to a specified spatial position quickly, the whole control process is quick and accurate, because the detected pressure signal is detected in real time, once the local area pressure is abnormal, the ultrasonic probe can be quickly adjusted in real time, so that the ultrasonic probe can always keep the best posture to detect an ultrasonic image, the imaging quality is greatly improved, and the comfort level of a patient is improved.

Other exemplary methods have been set forth in the exemplary apparatus and will not be repeated here.

In summary, the present invention discloses an ultrasonic probe pressure detection apparatus and a pressure detection method, wherein the apparatus comprises: the ultrasonic probe comprises an ultrasonic probe and a flexible surface mechanical sensor arranged outside the ultrasonic probe; the flexible surface mechanical sensor wraps the corner part of the ultrasonic probe; the flexible surface mechanical sensor is provided with a hollow-out part, and the hollow-out part corresponds to the ultrasonic emission part of the ultrasonic probe, so that the ultrasonic emission part is exposed. The invention adopts the flexible surface mechanical sensor to be sleeved on the ultrasonic probe, the corners are completely covered, so that the flexible surface mechanical sensor can comprehensively acquire pressure signals contacting with the skin in real time, even the corners can also acquire the pressure signals, the flexible surface mechanical sensor covered on the ultrasonic emission part of the ultrasonic probe is provided with the hollow part, so that the ultrasonic emission part of the ultrasonic probe cannot be influenced by structural factors to form images, the flexible surface mechanical sensor detects the pressure contacting with the skin while the ultrasonic emission part of the ultrasonic probe detects ultrasonic images, and transmits the acquired pressure signals to the signal processing module connected with the flexible surface mechanical sensor, the signal processing module comprises an analog-to-digital converter and an image processing module, and the analog-to-digital converter and the image processing module sequentially process the received pressure signals according to a preset program algorithm, the pressure map is output after processing, the mechanical arm mechanical feedback device carries out self-adaptive adjustment on the ultrasonic probe according to the transmitted pressure map, so that the ultrasonic probe detects an ultrasonic image of the skin in the optimal posture, the quality and reliability of the detected ultrasonic image are very high compared with those of ultrasonic images detected in the prior art, the imaging quality is improved, the comfort level of a patient is improved, and the misdiagnosis rate is greatly reduced.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the present invention in its responsive technical solutions.