CN114789445B - Manipulator system and method applied to remote heart color Doppler ultrasound robot - Google Patents

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

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Publication number
CN114789445B
CN114789445B CN202210576457.1A CN202210576457A CN114789445B CN 114789445 B CN114789445 B CN 114789445B CN 202210576457 A CN202210576457 A CN 202210576457A CN 114789445 B CN114789445 B CN 114789445B
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control handle
robot
mechanical arm
color doppler
doppler ultrasound
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CN114789445A (en
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陈钰
赖广源
庄恒锋
麦浩楠
黄正阳
李晓航
陈嘉雯
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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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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention discloses an operator system and a method applied to a remote heart color Doppler ultrasound robot, wherein the system is connected with the heart color Doppler 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 line, and the resistance screen is connected with the embedded computer line; the heart color Doppler ultrasound robot comprises a mechanical arm, and 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 feedback according to the pressure sensor data; the control handle is matched with the resistance screen, and when the resistance screen is touched during use, the voltage at 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 change of the voltage value on the screen. According to the stress condition fed back by the robot end, different vibration modes are utilized, so that a doctor can know the interaction state of the remote robot and a patient from the hand feeling.

Description

Manipulator system and method applied to remote heart color Doppler ultrasound robot
Technical Field
The invention belongs to the technical field of man-machine interaction, and particularly relates to an operator system and an operator method applied to a remote heart color Doppler ultrasound robot.
Background
With the development of medical technology, the heart color ultrasonic detection technology is simple and portable, has low cost and no side effect, and is widely applied to hospitals. However, due to the economic development and uneven distribution of high-quality medical treatment resources, people in many areas cannot perform high-quality heart color Doppler ultrasound examination. The remote heart color Doppler ultrasound detection system is provided with a remote robot at the patient end, and an expert doctor remotely controls the remote robot to perform heart color Doppler ultrasound diagnosis to realize resource sharing, so that the defect of resource shortage in primary hospitals and remote areas can be overcome.
The existing control device for configuring the remote robot on the patient end comprises serial connection, serial-parallel connection, pen type and the like, and has the main functions of collecting actions of an operator, quantifying the actions into electric signal output and further working of the robot. For example, the pen-type remote control device obtains the posture of the handle by using the output of the gyroscope, and obtains the position of the handle by using the output of the resistive screen, thereby capturing the action of the operator and realizing the control of the robot.
However, the existing control system does not design different vibration feedback modes aiming at the scene of heart color Doppler ultrasound detection, and the force interaction state of the remote robot and a 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 and the shortcomings of the prior art, and provides an operation hand system and an operation hand method applied to a remote heart color Doppler ultrasound robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an operator system applied to a remote heart color Doppler ultrasound robot is connected with a heart color Doppler ultrasound robot network and comprises a control handle, a resistance screen and an embedded computer;
the control handle is connected with the embedded computer line, and the resistance screen is connected with the embedded computer line;
the heart color Doppler ultrasound robot comprises a mechanical arm, wherein the tail end of the mechanical arm is provided with a pressure sensor for collecting pressure data of the tail end of the mechanical arm contacted 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 feedback according to the pressure sensor data;
the control handle is matched with the resistance screen, and when the resistance screen is touched during use, the voltage at the corresponding position of the resistance screen is changed;
the resistance screen is used for detecting the coordinates of the contact point of the control handle and the resistance screen according to the change of the voltage value on the screen;
when the heart color Doppler ultrasound robot works, the control handle is matched with the resistance screen, the spatial position information is acquired, the spatial position information is transmitted to the embedded computer after being converted by data, and the embedded computer transmits the data to the heart color Doppler ultrasound robot, so that the mechanical arm of the robot is controlled to perform corresponding movement.
Further, the linear motor generates different vibration feedback according to the data of the pressure sensor, specifically:
the contact of the tail end of the mechanical arm and the human body is divided into various conditions, including:
case one: non-contacting;
and a second case: just touching;
and a third case: the contact and pressure are stable;
case four: when the pressure is in contact, the pressure is gradually increased and the pressure is normal;
case five: the pressure is gradually reduced and is normal after the contact;
case six: has been contacted and the pressure is too great;
the stress between the tail end of the mechanical arm acquired by the current pressure sensor and the human body is set as F, and the range of F is [0,F ] m ]，F m For the maximum measuring range of the pressure sensor, fl is set as a pressure value acceptable to human body, delta is set as a real number larger than 0, and then 6 conditions are specifically expressed as follows:
case one: f=0;
and a second case: f is not equal to 0 and F is equal to 0 before Δt time interval;
and a third case: f is not equal to 0 and |DeltaF| < delta, deltaF is the difference between two pressure values acquired at the pressure sensor interval Deltat;
case four: when F is not equal to 0 and ΔF < -delta;
case five: when F is not equal to 0 and ΔF > δ;
case six: when F is not equal to 0 and F > Fl.
Further, according to 6 conditions of contact between the tail end of the mechanical arm and the human body, the linear motor generates different vibrations, the current vibration intensity of the linear motor is set as M, the range of M is [0, M ], and M is the maximum vibration intensity of the linear motor, and then the method specifically comprises the following steps:
when the situation occurs, the vibration intensity of the linear motor is 0;
when the second condition occurs, the linear motor is used for
Figure BDA0003662341420000031
Is vibrated once by the intensity of (2), and the vibration time is deltat 0 ；
When the third condition occurs, the vibration intensity M of the linear motor is attenuated gradually according to the formula (1), the time duration of each vibration is deltat, and the time interval is deltat 1 ；
Figure BDA0003662341420000032
Where' is the vibration intensity of the last time interval;
when the four conditions occur, the vibration intensity M of the linear motor is attenuated gradually according to the formula (2), the duration of each vibration is deltat, and the time interval is deltat 2 ；
Figure BDA0003662341420000033
When the fifth condition occurs, the vibration intensity M of the linear motor is gradually enhanced according to the formula (3), the duration of each vibration is deltat, and the time interval is deltat 3 ；
Figure BDA0003662341420000041
When the sixth condition occurs, the linear motor continuously vibrates according to the maximum vibration intensity m, the time duration of each vibration is deltat, and the time interval is deltat 4 。
Further, the control handle also comprises a shell, and 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, both the linear motor and the gyroscope are installed inside the housing;
the gyroscope is used for acquiring the gesture of the control handle and forming gesture data for controlling the gesture of the mechanical arm.
Further, the resistance screen is provided with a touch voltage threshold value for preventing false touch, and when the control handle touches the resistance screen and the generated voltage is larger than the threshold value, the resistance screen only detects the coordinates of the contact point of the control handle and the resistance screen.
Further, when the manipulator system works, the first point of the gyroscope in the initial state, where the control handle touches the resistance screen, is taken as an initial point, and the initial position of the tail end of the mechanical arm takes the initial point as a reference position; the mechanical arm is controlled to move in two ways through the cooperation of the control handle and the resistance screen, and the mechanical arm comprises:
the clicking control mode uses a control handle to click a position on the resistance screen relative to the initial point, and according to the relative coordinates of the position and the initial point, the tail end of the synchronous mechanical arm moves to a position corresponding to the reference position;
the dragging control mode uses a control handle to drag around an initial point and accumulate in a certain direction, the tail end of the mechanical arm moves in a certain direction, and when the control handle is lifted, the tail end of the mechanical arm resets to a previous relative position, so that the tail end of the mechanical arm moves.
The invention also includes a method based on the provided manipulator system, comprising the steps of:
s1, initializing a system, wherein the system comprises setting initial states and initial parameters of a gyroscope and a resistance screen;
s2, pressing an enabling button, enabling the system to start working, firstly detecting whether the gyroscope is in an initial state, if not, executing the step S1 again, otherwise, entering the step S3;
s3, operating a control handle to perform heart color Doppler ultrasound, detecting whether the direction of the gyroscope X, Y, Z rotates or not during the heart color Doppler ultrasound, and detecting whether the voltage of the resistance screen changes or not;
s4, when rotation of the gyroscope X, Y, Z is detected, measuring the rotation 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 rotation offset angle of the gyroscope X, Y, Z to an embedded computer; if not smaller than the maximum safe value, the conversion speed of the offset angle is enabled to be equal to the maximum safe value, and the offset angle rotated in the direction of the gyroscope X, Y, Z is output to the embedded computer;
when detecting that the voltage change occurs on the resistance screen, judging whether the touch voltage is larger than a touch voltage threshold value at the moment, if so, judging whether the resistance screen is provided with an initial point, and if so, outputting coordinate information to the embedded computer according to a clicking or dragging control mode;
if the touch voltage is not greater than the touch voltage threshold, the touch is considered as a false touch, and the voltage change is ignored; if the resistor 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 the data to the heart color Doppler ultrasound robot according to the transmitted data, so as to control the mechanical arm of the robot to perform corresponding movement;
s6, repeating the steps S3-S6 to realize remote control of the heart color Doppler ultrasound robot to perform color Doppler ultrasound work.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, 6 different vibration modes are designed for the linear motor according to the stress condition of the remote robot and the patient contact feedback, and different vibration is carried out according to different stress conditions during operation, so that a doctor can directly perceive the interaction state of the remote robot and the patient according to the vibration modes, and the remote control robot can be better controlled to carry out heart color ultrasound.
Drawings
FIG. 1 is a schematic diagram of a system of the present invention;
FIG. 2 is a flow chart of the method of the present invention;
reference numerals 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 embodiments of the present invention are not limited thereto.
Examples
As shown in FIG. 1, the manipulator system applied to the remote heart color Doppler ultrasound robot is connected with a heart color Doppler ultrasound robot network and comprises a control handle 1, a resistance screen 2 and an embedded computer 3;
the control handle is connected with the embedded computer line through a signal transmission line, and the resistance screen is connected with the embedded computer line through a usb transmission line;
the heart color Doppler ultrasound robot comprises a mechanical arm, wherein the tail end of the mechanical arm is provided with a pressure sensor for collecting pressure data of the tail end of the mechanical arm contacted 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 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 feedback according to the pressure sensor data;
the gyroscope is used for acquiring the gesture of the control handle and forming gesture data for controlling the gesture of the mechanical arm.
The control handle is matched with the resistance screen, and when the resistance screen is touched during use, the voltage at the corresponding position of the resistance screen is changed;
the resistance screen is used for detecting the coordinates of the contact point of the control handle and the resistance screen according to the change of the voltage value on the screen; the resistance screen is provided with a touch voltage threshold value for preventing false touch, and when the control handle touches the resistance screen and the generated voltage is larger than the threshold value, the resistance screen only detects the coordinates of the contact point of the control handle and the resistance screen.
When the heart color Doppler ultrasound robot works, the control handle is matched with the resistance screen, the spatial position information is acquired, the spatial position information is transmitted to the embedded computer after being converted by data, and the embedded computer transmits the data to the heart color Doppler ultrasound robot, so that the mechanical arm of the robot is controlled to perform corresponding movement.
The linear motor generates different vibration feedback according to the data of the pressure sensor, specifically:
the contact of the tail end of the mechanical arm and the human body is divided into various conditions, including:
case one: non-contacting;
and a second case: just touching;
and a third case: the contact and pressure are stable;
case four: when the pressure is in contact, the pressure is gradually increased and the pressure is normal;
case five: the pressure is gradually reduced and is normal after the contact;
case six: has been contacted and the pressure is too great;
the stress between the tail end of the mechanical arm acquired by the current pressure sensor and the human body is set as F, and the range of F is [0,F ] m ]，F m For the maximum measuring range of the pressure sensor, fl is set as a pressure value acceptable to human body, delta is set as a real number larger than 0, and then 6 conditions are specifically expressed as follows:
case one: f=0;
and a second case: f is not equal to 0 and F is equal to 0 before Δt time interval;
and a third case: f is not equal to 0 and |DeltaF| < delta, deltaF is the difference between two pressure values acquired at the pressure sensor interval Deltat;
case four: when F is not equal to 0 and ΔF < -delta;
case five: when F is not equal to 0 and ΔF > δ;
case six: when F is not equal to 0 and F > Fl.
According to the 6 conditions of the contact between the tail end of the mechanical arm and the human body, the linear motor generates different vibration, the current vibration intensity of the linear motor is set as M, the range of M is [0, M ], and M is the maximum vibration intensity of the linear motor, and then the method specifically comprises the following steps:
when the situation occurs, the vibration intensity of the linear motor is 0;
when the second condition occurs, the linear motor is used for
Figure BDA0003662341420000081
Is vibrated once by the intensity of (2), and the vibration time is deltat 0 ；
When the third condition occurs, the vibration intensity M of the linear motor is attenuated gradually according to the formula (1), the time duration of each vibration is deltat, and the time interval is deltat 1 ；
Figure BDA0003662341420000082
Where' is the vibration intensity of the last time interval;
when the four conditions occur, the vibration intensity M of the linear motor is attenuated gradually according to the formula (2), the duration of each vibration is deltat, and the time interval is deltat 2 ；
Figure BDA0003662341420000083
When the fifth condition occurs, the vibration intensity M of the linear motor is gradually enhanced according to the formula (3), the duration of each vibration is deltat, and the time interval is deltat 3 ；
Figure BDA0003662341420000084
When the sixth condition occurs, the linear motor continuously vibrates according to the maximum vibration intensity m, the time duration of each vibration is deltat, and the time interval is deltat 4 。
In the embodiment, when the manipulator system works, a first point of the gyroscope in an initial state, where the control handle touches the resistance screen, is taken as an initial point, and an initial position of the tail end of the mechanical arm takes the initial point as a reference position; the mechanical arm is controlled to move in two ways through the cooperation of the control handle and the resistance screen, and the mechanical arm comprises:
the clicking control mode uses a control handle to click a position on the resistance screen relative to the initial point, and according to the relative coordinates of the position and the initial point, the tail end of the synchronous mechanical arm moves to a position corresponding to the reference position;
the dragging control mode uses a control handle to drag around an initial point and accumulate in a certain direction, the tail end of the mechanical arm moves in a certain direction, and when the control handle is lifted, the tail end of the mechanical arm resets to a previous relative position, 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 steps of:
s1, initializing a system, wherein the system comprises setting initial states and initial parameters of a gyroscope and a resistance screen;
s2, pressing an enabling button, enabling the system to start working, firstly detecting whether the gyroscope is in an initial state, if not, executing the step S1 again, otherwise, entering the step S3;
s3, operating a control handle to perform heart color Doppler ultrasound, detecting whether the direction of the gyroscope X, Y, Z rotates or not during the heart color Doppler ultrasound, and detecting whether the voltage of the resistance screen changes or not;
s4, when rotation of the gyroscope X, Y, Z is detected, measuring the rotation 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 rotation offset angle of the gyroscope X, Y, Z to an embedded computer; if not smaller than the maximum safe value, the conversion speed of the offset angle is enabled to be equal to the maximum safe value, and the offset angle rotated in the direction of the gyroscope X, Y, Z is output to the embedded computer;
when detecting that the voltage change occurs on the resistance screen, judging whether the touch voltage is larger than a touch voltage threshold value at the moment, if so, judging whether the resistance screen is provided with an initial point, and if so, outputting coordinate information to the embedded computer according to a clicking or dragging control mode;
if the touch voltage is not greater than the touch voltage threshold, the touch is considered as a false touch, and the voltage change is ignored; if the resistor 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 the data to the heart color Doppler ultrasound robot according to the transmitted data, so as to control the mechanical arm of the robot to perform corresponding movement;
s6, repeating the steps S3-S6 to realize remote control of the heart color Doppler ultrasound robot to perform color Doppler 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 one … …" does not exclude the presence of other like 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 (6)

1. An operator system applied to a remote heart color Doppler ultrasound robot is connected with a heart color Doppler ultrasound robot 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 line, and the resistance screen is connected with the embedded computer line;
the heart color Doppler ultrasound robot comprises a mechanical arm, wherein the tail end of the mechanical arm is provided with a pressure sensor for collecting pressure data of the tail end of the mechanical arm contacted 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 feedback according to the pressure sensor data;
the control handle is matched with the resistance screen, and when the resistance screen is touched during use, the voltage at the corresponding position of the resistance screen is changed;
the resistance screen is used for detecting the coordinates of the contact point of the control handle and the resistance screen according to the change of the voltage value on the screen;
when the heart color Doppler ultrasound robot works, the control handle is matched with the resistance screen to acquire space position information, the space position information is transmitted to the embedded computer after being converted by data, and the embedded computer transmits the data to the heart color Doppler ultrasound robot to realize the control of the mechanical arm of the robot to perform corresponding movement;
the linear motor generates different vibration feedback according to the data of the pressure sensor, specifically:
the contact of the tail end of the mechanical arm and the human body is divided into various conditions, including:
case one: non-contacting;
and a second case: just touching;
and a third case: the contact and pressure are stable;
case four: when the pressure is in contact, the pressure is gradually increased and the pressure is normal;
case five: the pressure is gradually reduced and is normal after the contact;
case six: has been contacted and the pressure is too great;
the stress between the tail end of the mechanical arm acquired by the current pressure sensor and the human body is set asF，FIn the range of [0 ],F m ]，F m for the maximum measuring range of the pressure sensor, setFlFor the pressure value acceptable to human body, set
Figure QLYQS_1
For a real number greater than 0, then 6 cases are expressed as:
case one:F=0；
and a second case:Fis not equal to 0 and
Figure QLYQS_2
before the time intervalFEqual to 0;
and a third case:Fis not equal to 0 and
Figure QLYQS_3
，/>
Figure QLYQS_4
for pressure sensor distance->
Figure QLYQS_5
The difference between the two acquired pressure values;
case four: when (when)FIs not equal to 0 and
Figure QLYQS_6
；
case five: when (when)FIs not equal to 0 and
Figure QLYQS_7
；
case six: when (when)FIs not equal to 0 and
Figure QLYQS_8
；
according to 6 conditions of contact between the tail end of the mechanical arm and a human body, the linear motor generates different vibration, and the current vibration strength of the linear motor is set asM，MIn the range of [0 ],m]，mthe maximum vibration intensity of the linear motor is specifically:
when the situation occurs, the vibration intensity of the linear motor is 0;
when the second condition occurs, the linear motor is used for
Figure QLYQS_9
Is subjected to a shaking of the intensity of +.>
Figure QLYQS_10
；
When the third condition occurs, the vibration intensity of the linear motorMGradually attenuating according to the formula (1), wherein the time length of each vibration is
Figure QLYQS_11
The time interval is +.>
Figure QLYQS_12
；
Figure QLYQS_13
（1）
Wherein,,
Figure QLYQS_14
is the vibration intensity of the last time interval;
when the situation is four, the vibration intensity of the linear motorMGradually attenuating according to the formula (2), wherein the time length of each vibration is
Figure QLYQS_15
The time interval is +.>
Figure QLYQS_16
；
Figure QLYQS_17
（2）
When the fifth condition occurs, the vibration intensity of the linear motorMGradually enhancing according to the formula (3), wherein the time length of each vibration is
Figure QLYQS_18
The time interval is +.>
Figure QLYQS_19
；
Figure QLYQS_20
（3）
When the situation six occursWhen the linear motor is at maximum vibration strengthmContinuously vibrating, wherein the time length of each vibration is
Figure QLYQS_21
The time interval is +.>
Figure QLYQS_22
。
2. The manipulator system for a remote heart color Doppler ultrasound robot of claim 1, wherein the control handle further comprises a housing, and the enabling button is arranged on the housing and used for driving the robot to work, and the enabling button is pressed to drive the robot to move.
3. The manipulator system for a remote heart color Doppler ultrasound robot of claim 2, wherein the linear motor and the gyroscope are mounted inside the housing;
the gyroscope is used for acquiring the gesture of the control handle and forming gesture data for controlling the gesture of the mechanical arm.
4. The manipulator system for a remote heart color Doppler ultrasound robot according to claim 1, wherein the resistive screen is provided with a touch voltage threshold for preventing false touch, and the resistive screen detects coordinates of a 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.
5. The manipulator system applied to the remote heart color Doppler ultrasound robot, according to claim 1, is characterized in that when the manipulator system works, a first point of a gyroscope in an initial state, where a control handle touches a resistance screen, is taken as an initial point, and an initial position of the tail end of the mechanical arm is taken as a reference position; the mechanical arm is controlled to move in two ways through the cooperation of the control handle and the resistance screen, and the mechanical arm comprises:
the clicking control mode uses a control handle to click a position on the resistance screen relative to the initial point, and according to the relative coordinates of the position and the initial point, the tail end of the synchronous mechanical arm moves to a position corresponding to the reference position;
the dragging control mode uses a control handle to drag around an initial point and accumulate in a certain direction, the tail end of the mechanical arm moves in a certain direction, and when the control handle is lifted, the tail end of the mechanical arm resets to a previous relative position, so that the tail end of the mechanical arm moves.
6. A method based on a manipulator system according to any of the claims 1-5, comprising the steps of:
s1, initializing a system, wherein the system comprises setting initial states and initial parameters of a gyroscope and a resistance screen;
s2, pressing an enabling button, enabling the system to start working, firstly detecting whether the gyroscope is in an initial state, if not, executing the step S1 again, otherwise, entering the step S3;
s3, operating a control handle to perform heart color Doppler ultrasound, detecting whether the direction of the gyroscope X, Y, Z rotates or not during the heart color Doppler ultrasound, and detecting whether the voltage of the resistance screen changes or not;
s4, when rotation of the gyroscope X, Y, Z is detected, measuring the rotation 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 rotation offset angle of the gyroscope X, Y, Z to an embedded computer; if not smaller than the maximum safe value, the conversion speed of the offset angle is enabled to be equal to the maximum safe value, and the offset angle rotated in the direction of the gyroscope X, Y, Z is output to the embedded computer;
when detecting that the voltage change occurs on the resistance screen, judging whether the touch voltage is larger than a touch voltage threshold value at the moment, if so, judging whether the resistance screen is provided with an initial point, and if so, outputting coordinate information to the embedded computer according to a clicking or dragging control mode;
if the touch voltage is not greater than the touch voltage threshold, the touch is considered as a false touch, and the voltage change is ignored; if the resistor 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 the data to the heart color Doppler ultrasound robot according to the transmitted data, so as to control the mechanical arm of the robot to perform corresponding movement;
s6, repeating the steps S3-S6 to realize remote control of the heart color Doppler ultrasound robot to perform color Doppler ultrasound work.
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