CN114789445A - Manipulator system and method applied to remote heart color ultrasound robot - Google Patents

Manipulator system and method applied to remote heart color ultrasound robot Download PDF

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Publication number
CN114789445A
CN114789445A CN202210576457.1A CN202210576457A CN114789445A CN 114789445 A CN114789445 A CN 114789445A CN 202210576457 A CN202210576457 A CN 202210576457A CN 114789445 A CN114789445 A CN 114789445A
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control handle
robot
mechanical arm
linear motor
screen
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CN114789445B (en
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赖广源
庄恒锋
麦浩楠
黄正阳
李晓航
陈嘉雯
陈钰
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Guangdong Industry Technical College
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Guangdong Industry Technical College
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an operator system and a method applied to a remote heart color ultrasound robot, wherein the system is connected with the heart color ultrasound robot through a network and comprises a control handle, a resistance screen and an embedded computer; the control handle is connected with the embedded computer through a circuit, and the resistance screen is connected with the embedded computer through a circuit; the heart color ultrasound robot comprises a mechanical arm, wherein a pressure sensor is arranged at the tail end of the mechanical arm; the control handle comprises an enabling button, a gyroscope and a linear motor; the linear motor is used for generating different vibration feedbacks according to the data of the pressure sensor; the control handle is matched with the resistance screen, and when the resistance screen is touched to use, the voltage of the corresponding position of the resistance screen is changed; and the resistance screen is used for detecting the coordinates of the contact point of the control handle and the resistance screen according to the voltage change on the screen. According to the stress condition fed back by the robot end, the invention can make doctors know the interaction state of the remote robot and the patient from the hand feeling by using different vibration modes.

Description

Manipulator system and method applied to remote heart color ultrasound robot
Technical Field
The invention belongs to the technical field of human-computer interaction, and particularly relates to an operating hand system and method applied to a remote heart color ultrasound robot.
Background
With the development of medical technology, the heart color Doppler ultrasound detection technology is applied to hospitals more and more widely due to the simplicity, portability, low cost and no side effect. However, people in many areas have not been able to perform high quality heart color Doppler exams due to the uneven distribution of economic development and quality medical funding. A remote robot is configured at a patient end through a remote heart color Doppler ultrasound detection system, and the robot is remotely controlled by an expert doctor to carry out heart color Doppler ultrasound diagnosis so as to realize the sharing of resources and tourism, thereby solving the shortage of resources and tourism in primary hospitals and remote areas.
The existing control device for configuring a remote robot to a patient end comprises a serial connection type, a serial-parallel connection type, a pen type and the like, and has the main functions of collecting actions of an operator, quantizing the actions into electric signals and outputting the electric signals, and further working of the robot. For example, a pen-type remote control device obtains the posture of a grip by using the output of a gyroscope and obtains the position of the grip by using the output of a resistive screen, thereby capturing the motion of an operator and realizing the control of the operation of a robot.
However, the existing control system does not design different vibration feedback modes for the heart color Doppler ultrasound detection scene, and the force interaction state between the remote robot and the patient is lack of reminding, so that a doctor cannot accurately acquire the stress condition fed back by the robot end.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide an operating hand system and a method applied to a remote heart color ultrasound robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
an operator system applied to a remote heart color ultrasound robot is connected with the heart color ultrasound robot through a network and comprises a control handle, a resistance screen and an embedded computer;
the control handle is connected with the embedded computer circuit, and the resistance screen is connected with the embedded computer circuit;
the heart color Doppler ultrasound robot comprises a mechanical arm, wherein a pressure sensor is arranged at the tail end of the mechanical arm and used for collecting pressure data of the tail end of the mechanical arm contacting with a patient;
the control handle comprises an enabling button, a gyroscope and a linear motor; the linear motor is used for generating different vibration feedbacks according to the data of the pressure sensor;
the control handle is matched with the resistance screen, and when the control handle is used, the resistance screen is touched to change the voltage of the corresponding position of the resistance screen;
the resistance screen is used for detecting the coordinates of the contact point of the control handle and the resistance screen according to the voltage value change on the screen;
when the robot works, the control handle is matched with the resistance screen to acquire spatial position information, the spatial position information is transmitted to the embedded computer after data conversion, and the embedded computer transmits the data to the heart color ultrasonic robot to control the mechanical arm of the robot to perform corresponding movement.
Further, the linear motor generates different vibration feedbacks according to the data of the pressure sensor, specifically:
the contact of the tail end of the mechanical arm with the human body is divided into a plurality of conditions, including:
the first condition is as follows: not contacting;
case two: just touching;
case three: contacted and pressure stabilized;
case four: after contact, the pressure is gradually increased and normal;
case five: after contact, the pressure is gradually reduced and normal;
case six: contacted and over-pressurized;
the stress between the tail end of the mechanical arm and the human body collected by the current pressure sensor is set as F, and the range of the F is set as [0, F m ]，F m For the maximum range of the pressure sensor, let Fl be the pressure value acceptable to human body, and let δ be a real number greater than 0, then 6 cases are specifically expressed as:
the first condition is as follows: f is 0;
case two: f is not equal to 0 and F is equal to 0 before the Δ t interval;
and a third situation: f is not equal to 0 and | delta F | is less than delta, wherein delta F is the difference between two pressure values acquired by the pressure sensor at an interval delta t;
case four: when F is not equal to 0 and Δ F < - δ;
case five: when F is not equal to 0 and Δ F > δ;
case six: when F is not equal to 0 and F > Fl.
Further, according to 6 conditions of the contact between the tail end of the mechanical arm and the human body, the linear motor generates different vibrations, and if the current vibration intensity of the linear motor is M, the range of M is [0, M ], and M is the maximum vibration intensity of the linear motor, the method specifically comprises the following steps:
when the condition one occurs, the vibration intensity of the linear motor is 0;
when the second condition occurs, the linear motor is driven by the motor
Figure BDA0003662341420000031
Is vibrated for a time period of delta t 0 ；
When the third condition occurs, the vibration intensity M of the linear motor is gradually attenuated according to the formula (1), the duration of each vibration is delta t, and the time interval is delta t 1 ；
Figure BDA0003662341420000032
Wherein' is the vibration intensity of the previous time interval;
when the condition four occurs, of linear motorsThe vibration intensity M is gradually attenuated according to the formula (2), the duration of each vibration is delta t, and the time interval is delta t 2 ；
Figure BDA0003662341420000033
When the fifth condition occurs, the vibration intensity M of the linear motor is gradually increased according to the formula (3), the time length of each vibration is delta t, and the time interval is delta t 3 ；
Figure BDA0003662341420000041
When the six conditions occur, the linear motor continuously vibrates according to the maximum vibration intensity m, the time length of each vibration is delta t, and the time interval is delta t 4 。
Furthermore, the control handle further comprises a shell, the enabling button is arranged on the shell and used for driving the robot to work, and the robot can be driven to move only by pressing the enabling button.
Further, the linear motor and the gyroscope are both arranged inside the shell;
the gyroscope is used for acquiring the gesture of the control handle and forming gesture data used for controlling the gesture of the mechanical arm.
Further, the resistive screen is equipped with the touching voltage threshold value for prevent the mistake and touch, when control handle touching resistive screen and the voltage that produces is greater than the threshold value, the resistive screen just will detect the coordinate of control handle and resistive screen contact point.
Further, when the manipulator system works, a first point of the control handle touching the resistance screen in an initial state of the gyroscope is used as an initial point, and an initial position of the tail end of the mechanical arm is used as a reference position; through control handle and resistance screen cooperation control mechanical arm removal have two kinds of modes, specifically do:
a click control mode, namely clicking a position relative to an initial point on the resistance screen by using a control handle, and synchronously moving the tail end of the mechanical arm to a position corresponding to a reference position according to the relative coordinates of the position and the initial point;
the dragging control mode is that the control handle is used for dragging around an initial point and accumulating in a certain direction, the tail end of the mechanical arm moves to the direction in which the control handle is accumulated, and the tail end of the mechanical arm resets again when the control handle is lifted, so that the tail end of the mechanical arm moves.
The invention also comprises a method based on the manipulator system provided, comprising the following steps:
s1, initializing the system, including setting initial states and initial parameters of the gyroscope and the resistance screen;
s2, pressing an enable button, starting the system to work, firstly detecting whether the gyroscope is in an initial state, if not, executing the step S1 again, otherwise, entering the step S3;
s3, operating the control handle to perform heart color Doppler ultrasound, detecting whether the gyroscope X, Y, Z rotates in the direction during the heart color ultrasound, and detecting whether the voltage of the resistance screen changes;
s4, when the gyroscope X, Y, Z is detected to rotate, measuring the offset angle of the gyroscope X, Y, Z rotating in the direction, judging whether the change speed of the offset angle is smaller than a safety value, and if so, outputting the offset angle of the gyroscope X, Y, Z rotating in the direction to the embedded computer; if not, the conversion speed of the offset angle is equal to the maximum safety value, and the offset angle of the rotation of the gyroscope X, Y, Z is output to the embedded computer;
when detecting that the voltage of the resistive screen changes, judging whether the touch voltage is larger than a touch voltage threshold value or not, if so, judging whether an initial point is set on the resistive screen or not, and if so, outputting coordinate information to the embedded computer according to a click or drag control mode;
if the touch voltage is not greater than the touch voltage threshold, the touch is regarded as a false touch, and the voltage change is ignored; if the resistance screen is not provided with the initial point, setting the contact point of the current voltage change as the initial point;
s5, the embedded computer transmits data to the heart color ultrasound robot according to the transmitted data, and accordingly the mechanical arm of the robot is controlled to move correspondingly;
and S6, repeating the steps S3-S6, and realizing the remote control of the heart color ultrasound robot to carry out color ultrasound work.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the stress condition fed back by the remote robot and the patient in contact, the linear motor is designed with 6 different vibration modes, different vibrations are carried out according to different stress conditions during operation, a doctor can directly sense the interaction state of the remote robot and the patient according to the vibration modes, and the remote control robot can be better used for carrying out heart color ultrasound.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of the method of the present invention;
the reference numbers illustrate: 1-a control handle; 2-a resistive screen; 3-embedded computer.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1, the manipulator system applied to a remote heart color ultrasound robot of the present invention is connected to a heart color ultrasound robot network, and comprises a control handle 1, a resistive screen 2 and an embedded computer 3;
the control handle is connected with the embedded computer circuit through a signal transmission line, and the resistance screen is connected with the embedded computer circuit through a usb transmission line;
the heart color Doppler ultrasound robot comprises a mechanical arm, wherein a pressure sensor is arranged at the tail end of the mechanical arm and used for collecting pressure data of the tail end of the mechanical arm contacting with a patient;
the control handle comprises a shell, an enabling button, a gyroscope and a linear motor; the enabling button is arranged on the shell, and the linear motor and the gyroscope are both arranged inside the shell;
the enabling button is used for driving the robot to work, and the robot can be driven to move only by pressing the enabling button;
the linear motor is used for generating different vibration feedbacks according to the data of the pressure sensor;
the gyroscope is used for acquiring the gesture of the control handle and forming gesture data used for controlling the gesture of the mechanical arm.
The control handle is matched with the resistance screen, and when the control handle is used, the resistance screen is touched to change the voltage of the corresponding position of the resistance screen;
the resistance screen is used for detecting the coordinates of a contact point of the control handle and the resistance screen according to the voltage change on the screen; the resistance screen is equipped with the touching voltage threshold value for prevent that the mistake from touching, when the voltage that brake valve handle touching resistance screen and production is greater than the threshold value, the resistance screen just will detect the coordinate of brake valve handle and resistance screen contact point.
When the robot works, the control handle is matched with the resistance screen to acquire spatial position information, the spatial position information is transmitted to the embedded computer after data conversion, and the embedded computer transmits the data to the heart color ultrasonic robot to control the mechanical arm of the robot to perform corresponding movement.
The linear motor generates different vibration feedbacks according to the data of the pressure sensor, and specifically comprises the following steps:
the contact of the tail end of the mechanical arm with the human body is divided into a plurality of conditions, including:
the first condition is as follows: not contacting;
case two: just touching;
and a third situation: contacted and pressure stabilized;
case four: after contact, the pressure is gradually increased and normal;
and a fifth situation: after the contact, the pressure is gradually reduced and the pressure is normal;
case six: contacted and over-pressurized;
the stress between the tail end of the mechanical arm and the human body collected by the current pressure sensor is set to be F, and the range of the F is set to be [0, F m ]，F m For the maximum range of the pressure sensor, let Fl be the pressure value acceptable to human body, and let δ be a real number greater than 0, then 6 cases are specifically expressed as:
the first condition is as follows: f is 0;
and a second condition: f is not equal to 0 and F is equal to 0 before the Δ t interval;
and a third situation: f is not equal to 0 and | delta F | is less than delta, wherein delta F is the difference between two pressure values acquired by the pressure sensor at an interval delta t;
case four: when F is not equal to 0 and Δ F < - δ;
and a fifth situation: when F is not equal to 0 and Δ F > δ;
case six: when F is not equal to 0 and F > Fl.
According to 6 conditions of contact between the tail end of the mechanical arm and a human body, the linear motor generates different vibrations, the current vibration intensity of the linear motor is set to be M, the range of M is [0, M ], M is the maximum vibration intensity of the linear motor, and the method specifically comprises the following steps:
when the condition one occurs, the vibration intensity of the linear motor is 0;
when the second condition occurs, the linear motor is driven by the motor
Figure BDA0003662341420000081
Is vibrated for a vibration time of delta t 0 ；
When the third condition occurs, the vibration intensity M of the linear motor is gradually attenuated according to the formula (1), the duration of each vibration is delta t, and the time interval is delta t 1 ；
Figure BDA0003662341420000082
Wherein' is the vibration intensity of the previous time interval;
when the four conditions occur, the vibration intensity M of the linear motor is gradually attenuated according to the formula (2), the time length of each vibration is delta t, and the time interval is delta t 2 ；
Figure BDA0003662341420000083
When the fifth condition occurs, the vibration intensity M of the linear motor is according to the formulaThe formula (3) is gradually enhanced, the duration of each vibration is delta t, and the time interval is delta t 3 ；
Figure BDA0003662341420000084
When the six conditions occur, the linear motor continuously vibrates according to the maximum vibration intensity m, the time length of each vibration is delta t, and the time interval is delta t 4 。
In this embodiment, when the manipulator system works, a first point where the gyroscope is in an initial state and the control handle touches the resistance screen is used as an initial point, and an initial position of the tail end of the mechanical arm is used as a reference position; through control handle and resistance screen cooperation control mechanical arm removal have two kinds of modes, specifically do:
a click control mode, namely clicking a position relative to an initial point on the resistance screen by using a control handle, and synchronously moving the tail end of the mechanical arm to a position corresponding to a reference position according to the relative coordinates of the position and the initial point;
the dragging control mode is that the control handle is used for dragging around an initial point and accumulating in a certain direction, the tail end of the mechanical arm moves to the direction in which the control handle is accumulated, and the tail end of the mechanical arm resets again when the control handle is lifted, so that the tail end of the mechanical arm moves.
As shown in fig. 2, in the present embodiment, the workflow of the system includes the following steps:
s1, initializing the system, including setting initial states and initial parameters of the gyroscope and the resistance screen;
s2, pressing an enable button, starting the system to work, firstly detecting whether the gyroscope is in an initial state, if not, executing the step S1 again, otherwise, entering the step S3;
s3, operating the control handle to perform heart color ultrasound, detecting whether the gyroscope X, Y, Z rotates in the period, and detecting whether the voltage of the resistance screen changes;
s4, when detecting that the gyroscope X, Y, Z rotates, measuring the offset angle of the gyroscope X, Y, Z, judging whether the change speed of the offset angle is smaller than a safety value, and if so, outputting the offset angle of the gyroscope X, Y, Z to the embedded computer; if not, the conversion speed of the deviation angle is equal to the maximum safety value, and the deviation angle of the gyroscope X, Y, Z rotating in the direction is output to the embedded computer;
when detecting that the voltage of the resistive screen changes, judging whether the touch voltage is greater than a touch voltage threshold value at the moment, if so, judging whether an initial point is set on the resistive screen, and if so, outputting coordinate information to the embedded computer according to a click or drag control mode;
if the touch voltage is not greater than the touch voltage threshold, the touch is regarded as a false touch, and the voltage change is ignored; if the resistance screen is not provided with an initial point, setting a contact point of the current voltage change as the initial point;
s5, the embedded computer transmits data to the heart color ultrasound robot according to the transmitted data, and accordingly the mechanical arm of the robot is controlled to move correspondingly;
and S6, repeating the steps S3-S6, and realizing the remote control of the heart color ultrasound robot to carry out color ultrasound work.
It should also be noted that in this specification, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. An operator system applied to a remote heart color ultrasound robot is connected with the heart color ultrasound robot through a network and is characterized by comprising a control handle, a resistance screen and an embedded computer;
the control handle is connected with the embedded computer through a circuit, and the resistance screen is connected with the embedded computer through a circuit;
the heart color Doppler ultrasound robot comprises a mechanical arm, wherein a pressure sensor is arranged at the tail end of the mechanical arm and used for collecting pressure data of the tail end of the mechanical arm contacting with a patient;
the control handle comprises an enabling button, a gyroscope and a linear motor; the linear motor is used for generating different vibration feedbacks according to the data of the pressure sensor;
the control handle is matched with the resistance screen, and when the control handle is used, the resistance screen is touched to change the voltage of the corresponding position of the resistance screen;
the resistance screen is used for detecting the coordinates of a contact point of the control handle and the resistance screen according to the voltage change on the screen;
when the robot works, the control handle is matched with the resistance screen to acquire spatial position information, the spatial position information is transmitted to the embedded computer after data conversion, and the embedded computer transmits the data to the heart color ultrasonic robot to control the mechanical arm of the robot to perform corresponding movement.
2. The manipulator system according to claim 1, wherein the linear motor generates different vibration feedbacks according to the pressure sensor data, specifically:
the contact of the end of the mechanical arm with the human body is divided into a plurality of conditions including:
the first condition is as follows: not contacted;
case two: just touching;
and a third situation: contacted and pressure stabilized;
case four: after contact, the pressure is gradually increased and normal;
case five: after the contact, the pressure is gradually reduced and the pressure is normal;
case six: contacted and over-pressurized;
the stress between the tail end of the mechanical arm and the human body collected by the current pressure sensor is set to be F, and the range of the F is set to be [0, F m ]，F m For the maximum range of the pressure sensor, let Fl be the pressure value acceptable to human body, and let δ be a real number greater than 0, then 6 cases are specifically expressed as:
the first condition is as follows: f is 0;
case two: f is not equal to 0 and F is equal to 0 before the Δ t interval;
and a third situation: f is not equal to 0 and | delta F | is less than delta, wherein delta F is the difference between two pressure values acquired by the pressure sensor at an interval delta t;
case four: when F is not equal to 0 and Δ F < - δ;
and a fifth situation: when F is not equal to 0 and Δ F > δ;
case six: when F is not equal to 0 and F > Fl.
3. The manipulator system of claim 2, wherein the linear motor generates different vibrations according to 6 conditions of the contact between the end of the mechanical arm and the human body, and when the current vibration intensity of the linear motor is M, the range of M is [0, M ], and M is the maximum vibration intensity of the linear motor, the method specifically comprises:
when the condition one occurs, the vibration intensity of the linear motor is 0;
when the second condition occurs, the linear motor is driven by the motor
Figure FDA0003662341410000021
Is vibrated for a vibration time of delta t 0 ；
When the third condition occurs, the vibration intensity M of the linear motor is gradually attenuated according to the formula (1), and each vibration is gradually attenuatedThe duration of the movement is Δ t and the time interval is Δ t 1 ；
Figure FDA0003662341410000022
Wherein, M' is the vibration intensity of the last time interval;
when the four conditions occur, the vibration intensity M of the linear motor is gradually attenuated according to the formula (2), the duration of each vibration is delta t, and the time interval is delta t 2 ；
Figure FDA0003662341410000023
When the fifth condition occurs, the vibration intensity M of the linear motor is gradually increased according to the formula (3), the time length of each vibration is delta t, and the time interval is delta t 3 ；
Figure FDA0003662341410000024
When the six conditions occur, the linear motor continuously vibrates according to the maximum vibration intensity m, the time length of each vibration is delta t, and the time interval is delta t 4 。
4. The manipulator system for the remote heart color Doppler ultrasound robot as claimed in claim 1, wherein the control handle further comprises a housing, the enable button is disposed on the housing for driving the robot to work, and the robot can be driven to move only by pressing the enable button.
5. The manipulator system applied to the remote heart color ultrasound robot is characterized in that the linear motor and the gyroscope are mounted inside the shell;
the gyroscope is used for acquiring the gesture of the control handle and forming gesture data used for controlling the gesture of the mechanical arm.
6. The manipulator system of claim 1, wherein the resistive screen has a touch voltage threshold for preventing accidental touch, and the resistive screen detects the coordinates of the contact point between the control handle and the resistive screen when the control handle touches the resistive screen and the generated voltage is greater than the threshold.
7. The manipulator system applied to the remote heart color Doppler ultrasound robot is characterized in that when the manipulator system works, a first point of a control handle touching a resistance screen in an initial state of a gyroscope is used as an initial point, and an initial position of the tail end of a mechanical arm is used as a reference position; through control handle and resistance screen cooperation control mechanical arm removal have two kinds of modes, specifically do:
a click control mode, namely clicking a position relative to an initial point on the resistance screen by using a control handle, and synchronously moving the tail end of the mechanical arm to a position corresponding to a reference position according to the relative coordinates of the position and the initial point;
and in the dragging control mode, the control handle is used for dragging around an initial point and accumulating in a certain direction, the tail end of the mechanical arm moves to the direction in which the accumulation is performed, and the tail end of the mechanical arm resets to the relative position when the control handle is lifted, so that the tail end of the mechanical arm moves.
8. Method for operating a hand system according to any of claims 1-7, characterized in that it comprises the following steps:
s1, initializing the system, including setting initial states and initial parameters of the gyroscope and the resistance screen;
s2, pressing an enable button, starting the system to work, firstly detecting whether the gyroscope is in an initial state, if not, executing the step S1 again, otherwise, entering the step S3;
s3, operating the control handle to perform heart color ultrasound, detecting whether the gyroscope X, Y, Z rotates in the period, and detecting whether the voltage of the resistance screen changes;
s4, when the gyroscope X, Y, Z is detected to rotate, measuring the offset angle of the gyroscope X, Y, Z rotating in the direction, judging whether the change speed of the offset angle is smaller than a safety value, and if so, outputting the offset angle of the gyroscope X, Y, Z rotating in the direction to the embedded computer; if not, the conversion speed of the offset angle is equal to the maximum safety value, and the offset angle of the rotation of the gyroscope X, Y, Z is output to the embedded computer;
when detecting that the voltage of the resistive screen changes, judging whether the touch voltage is greater than a touch voltage threshold value at the moment, if so, judging whether an initial point is set on the resistive screen, and if so, outputting coordinate information to the embedded computer according to a click or drag control mode;
if the touch voltage is not greater than the touch voltage threshold, determining that the touch is mistaken touch, and neglecting the voltage change; if the resistance screen is not provided with the initial point, setting the contact point of the current voltage change as the initial point;
s5, the embedded computer transmits the data to the heart color Doppler ultrasound robot according to the transmitted data, and the mechanical arm of the robot is controlled to move correspondingly;
and S6, repeating the steps S3-S6, and realizing the remote control of the heart color ultrasound robot to carry out color ultrasound work.
CN202210576457.1A 2022-05-25 2022-05-25 Manipulator system and method applied to remote heart color Doppler ultrasound robot Active CN114789445B (en)

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CN113499094A (en) * 2021-07-08 2021-10-15 中山大学 Heart color ultrasound examination device and method guided by vision and force feedback
CN113842165A (en) * 2021-10-14 2021-12-28 合肥合滨智能机器人有限公司 Portable remote ultrasonic scanning system and safe ultrasonic scanning compliance control method
CN113907788A (en) * 2021-10-14 2022-01-11 合肥合滨智能机器人有限公司 Portable teleoperation handheld device for remote ultrasonic examination

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US20120083692A1 (en) * 2010-09-30 2012-04-05 Siemens Medical Solutions Usa, Inc. Pressure control in medical diagnostic ultrasound imaging
JP2017159027A (en) * 2016-03-07 2017-09-14 東芝メディカルシステムズ株式会社 Ultrasonograph and ultrasonic diagnosis support device
US20200179069A1 (en) * 2017-05-30 2020-06-11 Kuka Deutschland Gmbh Manipulator system with input device for force reduction
CN113499094A (en) * 2021-07-08 2021-10-15 中山大学 Heart color ultrasound examination device and method guided by vision and force feedback
CN113842165A (en) * 2021-10-14 2021-12-28 合肥合滨智能机器人有限公司 Portable remote ultrasonic scanning system and safe ultrasonic scanning compliance control method
CN113907788A (en) * 2021-10-14 2022-01-11 合肥合滨智能机器人有限公司 Portable teleoperation handheld device for remote ultrasonic examination

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