CN117481682B - Remote control method, device and system for color ultrasonic probe, electronic equipment and medium - Google Patents

Remote control method, device and system for color ultrasonic probe, electronic equipment and medium Download PDF

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Publication number
CN117481682B
CN117481682B CN202311174432.XA CN202311174432A CN117481682B CN 117481682 B CN117481682 B CN 117481682B CN 202311174432 A CN202311174432 A CN 202311174432A CN 117481682 B CN117481682 B CN 117481682B
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component
mechanical arm
instantaneous
tail end
speed
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CN117481682A (en
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黄凯
王景峰
张玉玲
宋日辉
陈样新
王弘远
曹正宇
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Sun Yat Sen Memorial Hospital Sun Yat Sen University
Sun Yat Sen University
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Sun Yat Sen Memorial Hospital Sun Yat Sen University
Sun Yat Sen University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/54—Control of the diagnostic device
    • 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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  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

The disclosure relates to the technical field of medical instrument control, in particular to a remote control method, a remote control device, a remote control system, electronic equipment and a remote control medium for a color ultrasonic probe. The method comprises the following steps: acquiring a target instantaneous speed and a target instantaneous angular speed of the tail end of the mechanical arm from remote control equipment in a current control period, wherein the color ultrasonic probe is arranged at the tail end of the mechanical arm; and carrying out component division according to the first instantaneous speed, the first position, the first instantaneous angular speed and the first gesture of the tail end of the mechanical arm in the current control period, calculating the second position component and the second gesture component of the tail end of the mechanical arm in any one of a plurality of directions in the next control period by combining the limiting condition of the mechanical arm, and determining the gesture of the tail end of the mechanical arm in the next control period so as to control the movement of the probe in the next control period. The problem that the mechanical arm is down due to the fact that a plurality of target speeds with larger differences are received at any time is solved, the responsiveness and the flexibility of remote control of the color ultrasonic probe are improved, and meanwhile the safety and the stability of movement of the color ultrasonic probe are guaranteed.

Description

Remote control method, device and system for color ultrasonic probe, electronic equipment and medium
Technical Field
The disclosure relates to the technical field of medical instrument control, in particular to a remote control method, a remote control device, a remote control system, electronic equipment and a remote control medium for a color ultrasonic probe.
Background
In order to realize the instant and visual color ultrasonic probe remote control function, the color ultrasonic probe is loaded on the mechanical arm in the prior art, and then each component of the target speed of the color ultrasonic probe to be moved is continuously sent to a control program of the mechanical arm through a remote controller, and the color ultrasonic probe is enabled to reach the target speed in the shortest time through the control program.
However, since the remote control itself has no motion limitation, the user can move at will, so the manipulator control program may receive a plurality of target speeds with larger differences at any time. The mechanical arm where the color ultrasonic probe is located must meet certain limiting conditions, otherwise, the mechanical arm is down; the limiting conditions comprise speed limitation and acceleration limitation of the position coordinate value and the attitude angle coordinate value of the mechanical arm, wherein the absolute value of the instantaneous speed and the acceleration of each component in the position coordinate value and the attitude angle coordinate value cannot exceed the threshold value given by a manufacturer so as to ensure the stable operation of the mechanical arm.
Therefore, in order to ensure the normal operation of the above functions, it is necessary to cope with the end speed of the robot arm which changes at any time, and also to consider the limitation of the robot arm itself to the movement speed and acceleration.
Disclosure of Invention
In order to solve the problems in the related art, the embodiments of the present disclosure provide a method, an apparatus, a system, an electronic device, and a medium for remotely controlling a color ultrasound probe.
In a first aspect, an embodiment of the present disclosure provides a method for remotely controlling a color ultrasound probe, including the following steps:
in the current control period of the mechanical arm, acquiring the target instantaneous speed and the target instantaneous angular speed of the tail end of the mechanical arm according to a control signal of remote control equipment, wherein the color ultrasonic probe is arranged at the tail end of the mechanical arm;
acquiring a first instantaneous speed, a first position, a first instantaneous angular speed and a first gesture of the tail end of the mechanical arm in the current control period;
dividing the target instantaneous speed, the first position, the target instantaneous angular speed, the first instantaneous angular speed and the first gesture at the tail end of the mechanical arm based on a fixed coordinate system of the mechanical arm to obtain target instantaneous speed components, first position components, target instantaneous angular speed components, first instantaneous angular speed components and first gesture components in multiple directions;
Acquiring limiting conditions of the tail end of the mechanical arm;
calculating a second position component of the tail end of the mechanical arm in any direction of a next control period according to a target instantaneous speed component, a limiting condition, a first instantaneous speed component and a first position component of any direction in the plurality of directions, and calculating a second posture component of the tail end of the mechanical arm in any direction of the next control period according to the target instantaneous speed component, the limiting condition, the first instantaneous speed component and the first posture component of any direction;
determining the pose of the tail end of the mechanical arm in the next control period according to the second position component and the second pose component of each direction in the plurality of directions;
and controlling the movement of the tail end of the mechanical arm in the next control period according to the pose of the tail end of the mechanical arm in the next control period.
According to an embodiment of the present disclosure, the plurality of directions are directions of three orthogonal coordinate axes of a fixed coordinate system of the mechanical arm.
According to an embodiment of the disclosure, the acquiring the first instantaneous speed of the arm end at the current control period includes:
Obtaining the duration of each control period according to the control frequency of the tail end of the mechanical arm;
acquiring a third position of the tail end of the mechanical arm in the last control period;
calculating the displacement of the tail end of the mechanical arm from the end of the last control period to the end of the current control period according to the third position and the first position;
and calculating the average speed of the tail end of the mechanical arm in the current control period according to the displacement and the duration, and taking the average speed as the first instantaneous speed of the tail end of the mechanical arm in the current control period.
According to an embodiment of the disclosure, the acquiring the first instantaneous angular velocity of the arm tip at the current control period includes:
obtaining the duration of each control period according to the control frequency of the tail end of the mechanical arm;
acquiring a third gesture of the tail end of the mechanical arm in the last control period;
calculating the angular displacement of the tail end of the mechanical arm from the end of the previous control period to the end of the current control period according to the third gesture and the first gesture;
and calculating the average angular velocity of the tail end of the mechanical arm in the current control period according to the angular displacement and the time length, and taking the average angular velocity as the first instantaneous angular velocity of the tail end of the mechanical arm in the current control period.
According to an embodiment of the disclosure, the limiting condition includes an instantaneous acceleration threshold and an instantaneous angular acceleration threshold of the robotic arm tip in any of the plurality of directions.
According to an embodiment of the disclosure, calculating a second position component of the arm tip in the any direction of the next control period according to the target instantaneous speed component in the any direction, the constraint condition, the first instantaneous speed component, and the first position component includes calculating a second instantaneous speed component of the arm tip in the any direction of the next control period according to the following formula, the second instantaneous speed component being used to calculate the second position component:
|v t -v 0 |<a l t p v when (v) 1 ＝v t ；
Otherwise, v 1 ＝v 0 +a l t p ；
Wherein v is 0 As a first instantaneous velocity component, v t For the target instantaneous velocity component, t p To control the duration of the period, a l V, which is the instantaneous acceleration threshold of the tail end of the mechanical arm 1 Is the second instantaneous velocity component.
According to an embodiment of the disclosure, the calculating the second position component of the arm tip in the any direction of the next control period according to the target instantaneous speed component, the limiting condition, the first instantaneous speed component and the first position component in the any direction further includes calculating the second position component of the arm tip in the any direction of the next control period according to the following formula:
s 1 ＝s 0 +v 1 t p ；
wherein s is 0 S as the first position component 1 Is the second position component.
According to an embodiment of the disclosure, the calculating the second attitude component of the mechanical arm joint in the any direction of the next control period according to the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component and the first attitude component of the any direction includes calculating the second instantaneous angular velocity component of the mechanical arm end in the any direction of the next control period according to the following formula, wherein the second instantaneous angular velocity component is used for calculating the second attitude component:
|ω t -ω 0 |<a 1 t p when omega 1 ＝ω t ；
Otherwise, omega 1 ＝ω 0 +a ω t p ；
Wherein omega 0 Is a first instantaneous angular velocity component; omega t For the target instantaneous angular velocity component, t p To control the duration of the period, a ω For the instantaneous angular acceleration threshold, ω, of the arm tip 1 Is the second instantaneous angular velocity component.
According to an embodiment of the disclosure, the calculating the second attitude component of the mechanical arm joint in the any direction of the next control period according to the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component and the first attitude component in the any direction further includes calculating the second attitude component of the mechanical arm end in the any direction of the next control period according to the following formula:
θ 1 ＝θ 0 +ω 1 t p ；
Wherein θ 0 For the first attitude component, θ 1 Is the second gesture component.
In a second aspect, in an embodiment of the present disclosure, a remote control device for a color ultrasound probe is provided, including:
the first acquisition module is configured to acquire a target instantaneous speed and a target instantaneous angular speed of the tail end of the mechanical arm according to a control signal of remote control equipment in a current control period of the mechanical arm, and the color Doppler ultrasound probe is arranged at the tail end of the mechanical arm;
the detection module is configured to acquire a first instantaneous speed, a first position, a first instantaneous angular speed and a first gesture of the tail end of the mechanical arm in the current control period;
the dividing module is configured to divide the target instantaneous speed, the first position, the target instantaneous angular speed, the first instantaneous angular speed and the first gesture of the tail end of the mechanical arm according to a fixed coordinate system of the mechanical arm, so as to obtain target instantaneous speed components, first position components, target instantaneous angular speed components, first instantaneous angular speed components and first gesture components in multiple directions;
a second acquisition module configured to acquire a limit condition of the arm end;
a calculating module configured to calculate, for any one of the directions, a second position component of the arm tip in the any one direction of a next control cycle according to a target instantaneous velocity component, a constraint condition, a first instantaneous velocity component, and a first position component of the any one direction, and calculate a second attitude component of the arm tip in the any one direction of the next control cycle according to the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component, and the first attitude component of the any one direction;
A determining module configured to determine a pose of the arm tip in a next control cycle based on the second position component and the second pose component of each of the plurality of directions;
and the control module is configured to control the movement of the tail end of the mechanical arm in the next control period according to the pose of the tail end of the mechanical arm in the next control period.
In a third aspect, an embodiment of the present disclosure provides a remote control color ultrasound system, including:
a mechanical arm;
the color ultrasonic probe is arranged at the tail end of the mechanical arm;
the upper computer is used for controlling the movement of the tail end of the mechanical arm and comprises a memory and a processor; wherein the memory stores computer instructions that are executed by the processor to implement the method steps of any of the first aspects;
and the remote control equipment is communicated with the upper computer.
In a fourth aspect, an embodiment of the present disclosure provides an electronic device, including a memory and a processor, wherein the memory stores computer instructions, wherein the computer instructions are executed by the processor to implement the method of any one of the first aspects.
In a fifth aspect, embodiments of the present disclosure provide a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement a method according to the first aspect.
According to the technical scheme provided by the embodiment of the disclosure, the target instantaneous speed and the target instantaneous angular speed of the tail end of the mechanical arm are obtained from the remote control equipment in the current control period, and the color Doppler ultrasound probe is arranged at the tail end of the mechanical arm; and according to any one direction of the directions, carrying out component division according to the first instantaneous speed, the first position, the first instantaneous angular speed and the first gesture of the tail end of the mechanical arm in the current control period, calculating the second position component and the second gesture component of the tail end of the mechanical arm in any direction of the next control period by combining the limiting condition of the mechanical arm, further determining the gesture of the tail end of the mechanical arm in the next control period, and controlling the movement of the tail end of the mechanical arm in the next control period according to the gesture. The method and the device ensure that the tail end of the mechanical arm can not be down due to the fact that the target speed and the target angular speed transmitted by the remote control equipment exceed the limiting conditions of the mechanical arm when the tail end of the mechanical arm moves, so that the color ultrasonic probe installed at the tail end of the mechanical arm can be close to the target speed and the target angular speed as soon as possible, and the responsiveness and the flexibility of the color ultrasonic probe when the color ultrasonic probe is remotely controlled are improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:
FIG. 1 illustrates a flow chart of a method of remotely controlling a color ultrasound probe in accordance with an embodiment of the present disclosure;
FIG. 2 illustrates a flow chart of a method of computing a second location component in accordance with an embodiment of the present disclosure;
FIG. 3 illustrates a flow chart of a method of calculating a second angle component according to an embodiment of the present disclosure;
FIG. 4 shows a block diagram of a remote control device of a color ultrasound probe according to an embodiment of the present disclosure;
fig. 5 illustrates a schematic diagram of a connection relationship between a mechanical arm and a color ultrasound probe of a remote control color ultrasound system according to an embodiment of the disclosure;
fig. 6 illustrates a schematic diagram of a connection relationship between a host computer and a remote control device of a remote control color ultrasound system according to an embodiment of the present disclosure;
fig. 7 shows a block diagram of an electronic device according to an embodiment of the disclosure;
fig. 8 shows a schematic diagram of a computer system suitable for use in implementing methods according to embodiments of the present disclosure.
Detailed Description
Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, portions irrelevant to description of the exemplary embodiments are omitted in the drawings.
In this disclosure, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in this specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, acts, components, portions, or combinations thereof are present or added.
In addition, it should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In the present disclosure, if an operation of acquiring user information or user data or an operation of presenting user information or user data to another person is referred to, the operations are all operations authorized, confirmed, or actively selected by the user.
In order to realize the instant and visual color ultrasonic probe remote control function, not only the movement speed of the tail end of the mechanical arm which changes at the moment is required to be dealt with, but also the limitation of the mechanical arm on the speed is required to be considered. The disclosure provides a remote control method of a color ultrasonic probe, which comprises the following steps: acquiring a target instantaneous speed and a target instantaneous angular speed of the tail end of a mechanical arm from remote control equipment in a current control period, wherein a color ultrasonic probe is arranged at the tail end of the mechanical arm; and according to any one direction of the directions, carrying out component division according to the first instantaneous speed, the first position, the first instantaneous angular speed and the first gesture of the tail end of the mechanical arm in the current control period, calculating the second position component and the second gesture component of the tail end of the mechanical arm in any direction of the next control period by combining the limiting condition of the mechanical arm, further determining the gesture of the tail end of the mechanical arm in the next control period, and controlling the movement of the tail end of the mechanical arm in the next control period according to the gesture. According to the embodiment of the disclosure, the color ultrasonic probe installed at the tail end of the mechanical arm can be close to the target speed and the target angular speed as soon as possible, the responsiveness and the flexibility of the color ultrasonic probe when being remotely controlled are improved, meanwhile, the tail end of the mechanical arm can not be down due to the fact that the target speed and the target angular speed transmitted by the remote control equipment exceed the limiting conditions of the mechanical arm when the mechanical arm moves, and the movement safety and the movement stability of the color ultrasonic probe are ensured.
Fig. 1 shows a flowchart of a method for remotely controlling a color ultrasound probe according to an embodiment of the present disclosure. As shown in fig. 1, the method includes steps S101 to S107.
In step S101, in the current control cycle of the mechanical arm, the target instantaneous speed and the target instantaneous angular speed of the end of the mechanical arm are obtained according to the control signal of the remote control device, and the color ultrasonic probe is installed at the end of the mechanical arm.
According to the embodiment of the disclosure, the duration of each control period corresponds to the control frequency of the tail end of the mechanical arm, and assuming that the control frequency is f and the control period is t, t=1/f, where the unit of f may be hertz or kilohertz, and the unit of the corresponding t may be seconds or milliseconds, but is not limited thereto; in a specific embodiment, f is 1Khz and t is 1ms. The control frequency of the arm end is a motor frequency of a driving motor controlling the arm end, and may be, for example, an operating frequency of a linear motor and a pulse frequency of a stepping motor, which are synchronized, but not limited thereto. And according to the types of the mechanical arms, obtaining the control frequencies of the tail ends of different mechanical arms.
According to the embodiment of the disclosure, the remote control device may remotely control the end of the mechanical arm, for example, the remote control device and the end of the mechanical arm may remotely control through a communication connection, wherein the communication connection may be wireless communication, but is not limited thereto. In particular, the remote control device may be a remote control lever, but is not limited thereto.
According to the embodiment of the disclosure, the mechanical arm acquires a remote control signal from the remote control device in the current control period, and a control program in the mechanical arm analyzes and processes the remote control signal to acquire a target instantaneous speed and a target instantaneous angular speed.
According to the embodiment of the disclosure, the color ultrasonic probe is mounted at the tail end of the mechanical arm, wherein the color ultrasonic probe and the tail end of the mechanical arm are rigidly connected, such as clamping, welding, bolting, etc., but not limited thereto. The color Doppler ultrasound probe can be a heart color Doppler ultrasound probe, but is not limited to the heart color Doppler ultrasound probe.
In step S102, a first instantaneous speed, a first position, a first instantaneous angular speed, and a first posture of the robot arm tip in the current control cycle are acquired.
According to the embodiment of the disclosure, the first position and the first gesture of the tail end of the mechanical arm in the current control period are obtained, wherein the position and the gesture of the tail end of the mechanical arm can be measured by using a measuring sensor, a three-dimensional projection scanning device, a laser tracker or the like, but the method is not limited to the method; the measurement may be a contact measurement and/or a non-contact measurement, but is not limited thereto; the measurement may be performed by a free-form surface measurement, an attitude matrix calculation, or the like, but is not limited thereto.
According to an embodiment of the disclosure, the acquiring the first instantaneous speed of the arm end at the current control period includes:
obtaining the duration of each control period according to the control frequency of the tail end of the mechanical arm;
acquiring a third position of the tail end of the mechanical arm in the last control period;
calculating the displacement of the tail end of the mechanical arm from the end of the last control period to the end of the current control period according to the third position and the first position;
and calculating the average speed of the tail end of the mechanical arm in the current control period according to the displacement and the duration, and taking the average speed as the first instantaneous speed of the tail end of the mechanical arm in the current control period.
According to an embodiment of the present disclosure, assume that the third position is X 3 The first position is X 1 Displacement is Δx, Δx=x 3 -X 1 The method comprises the steps of carrying out a first treatment on the surface of the Assuming that the duration of each control period is DeltaT, the first instantaneous speed is v 0 V is then 0 ＝ΔX/ΔT。
According to an embodiment of the disclosure, the acquiring the first instantaneous angular velocity of the arm tip at the current control period includes:
obtaining the duration of each control period according to the control frequency of the tail end of the mechanical arm;
acquiring a third gesture of the tail end of the mechanical arm in the last control period;
calculating the angular displacement of the tail end of the mechanical arm from the end of the previous control period to the end of the current control period according to the third gesture and the first gesture;
And calculating the average angular velocity of the tail end of the mechanical arm in the current control period according to the angular displacement and the time length, and taking the average angular velocity as the first instantaneous angular velocity of the tail end of the mechanical arm in the current control period.
According to an embodiment of the present disclosure, assume that the third posture is θ 3 The first posture is theta 1 When the angular displacement is Δθ, Δθ=θ 3 -θ 1 The method comprises the steps of carrying out a first treatment on the surface of the Assuming that the duration of each control period is DeltaT, the first instantaneous angular velocity is omega 0 Omega is then 0 ＝Δθ/ΔT。
In step S103, the target instantaneous speed, the first position, the target instantaneous angular speed, the first instantaneous angular speed, and the first posture of the tail end of the mechanical arm are divided into components based on a fixed coordinate system of the mechanical arm, so as to obtain target instantaneous speed components, first position components, target instantaneous angular speed components, first instantaneous angular speed components, and first posture components in multiple directions.
According to an embodiment of the present disclosure, the plurality of directions are directions of three orthogonal coordinate axes of a fixed coordinate system of the mechanical arm.
According to embodiments of the present disclosure, the fixed coordinate system of the robotic arm is a coordinate system that is stationary relative to a mounting base of the robotic arm, which may be stationary, e.g., fixed to the ground, or movable, e.g., mounted to a rail or a mobile platform; the fixed coordinate system may be a base coordinate system provided on a mounting base of the robot arm, but is not limited thereto.
The inventor notes that the object motion has resolvable, so that each component of the pose of the mechanical arm can be planned separately, and therefore, the single component of the position and the pose of the mechanical arm can be planned directly, and the single component of the position and the pose can be planned through simple calculation, so that the complexity of the pose calculation and the planning is greatly reduced.
According to the embodiment of the disclosure, assuming that the fixed coordinate system of the mechanical arm is a spatial rectangular coordinate system O-XYZ, the target instantaneous speed, the first position, the target instantaneous angular speed, and the first posture are divided into components based on the fixed coordinate system of the mechanical arm, so that a target instantaneous speed component, a first position component, a target instantaneous angular speed component, a first instantaneous angular speed component, and a first posture component corresponding to XYZ three coordinate axis directions can be obtained.
Specifically, the attitude of the end of the mechanical arm can be represented by an euler angle or a fixed angle; assuming that three angles of euler angles are α, β and γ, based on a fixed coordinate system O-XYZ, the euler angles may be an angle α for the end of the mechanical arm to rotate about the Z axis, then an angle β for the end of the mechanical arm to rotate about the X axis, and finally an angle γ for the end of the mechanical arm to rotate about the Z axis, but not limited thereto, for example, the rotation order of the euler angles may be X-Z-Y, Y-X-Z, Y-Z-X, Z-X-Y or Z-Y-X. The fixed angle is RPY angle, R: rotating around the X axis, and rolling the angle; p: rotating around a Y axis, and pitching the angle; y: and rotating around the Z axis and heading angle. In a specific embodiment, the gesture component includes an angle component of euler angles in XYZ three coordinate axis directions.
In step S104, a limitation condition of the arm end is acquired.
According to an embodiment of the disclosure, the limiting condition includes an instantaneous acceleration threshold and an instantaneous angular acceleration threshold of the robotic arm tip in any of the plurality of directions.
Specifically, the robot arm movement speed depends on the type of robot arm used. In general, the moving speed of the robot arm may be expressed in terms of a distance per second or an angle per second, but is not limited thereto. Speed and acceleration are the main indicators of the motion characteristics of the mechanical arm. The acceleration during acceleration and deceleration is large, so that the effective speed of the mechanical arm is improved, but the excessive acceleration possibly causes the positioning overshoot or the oscillation clamp, so that the time for waiting for oscillation damping after reaching the target position is increased, and the effective speed is reduced. The arm itself is therefore provided with a threshold value of acceleration, including instantaneous acceleration and instantaneous angular acceleration, to balance between the effective speed of the arm and the damping of the oscillations.
In step S105, for any one direction of the plurality of directions, a second position component of the arm tip in the any one direction of a next control cycle is calculated according to the target instantaneous velocity component, the constraint condition, the first instantaneous velocity component, and the first position component of the any one direction, and a second attitude component of the arm tip in the any one direction of the next control cycle is calculated according to the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component, and the first attitude component of the any one direction.
The inventor finds that if the planning of the pose of each control period under the condition that the target speed changes at any time needs to be solved, interpolation can be carried out between the current speed and the target speed, so that each control period is ensured to meet the limit of speed and acceleration, and the pose of the next control period is calculated according to the speed and the acceleration.
Fig. 2 shows a flowchart of a method of calculating a second location component according to an embodiment of the present disclosure.
As shown in fig. 2, the calculating the second position component of the arm tip in the any direction of the next control period according to the target instantaneous speed component in the any direction, the constraint condition, the first instantaneous speed component and the first position component includes calculating the second instantaneous speed component of the arm tip in the any direction of the next control period according to the following formula, where the second instantaneous speed component is used to calculate the second position component:
|v t -v 0 |<a l t p v when (v) 1 ＝v t ；
Otherwise, v 1 ＝v 0 +a l t p ；
Wherein v is 0 As a first instantaneous velocity component, v t For the target instantaneous velocity component, t p To control the duration of the period, a l V, which is the instantaneous acceleration threshold of the tail end of the mechanical arm 1 Is the second instantaneous velocity component.
According to an embodiment of the disclosure, the calculating the second position component of the arm tip in the any direction of the next control period according to the target instantaneous speed component, the limiting condition, the first instantaneous speed component and the first position component in the any direction further includes calculating the second position component of the arm tip in the any direction of the next control period according to the following formula:
s 1 ＝s 0 +v 1 t p ；
Wherein s is 0 S as the first position component 1 Is the second position component.
Fig. 3 shows a flowchart of a method of calculating a second angle component according to an embodiment of the present disclosure.
As shown in fig. 3, the calculating the second attitude component of the mechanical arm joint in the any direction of the next control period according to the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component and the first attitude component in the any direction includes calculating the second instantaneous angular velocity component of the mechanical arm end in the any direction of the next control period according to the following formula, where the second instantaneous angular velocity component is used to calculate the second attitude component:
|ω t -ω 0 |<a ω t p when omega 1 ＝ω t ；
Otherwise, omega 1 ＝ω 0 +a ω t p ；
Wherein omega 0 Is a first instantaneous angular velocity component; omega t For the target instantaneous angular velocity component, t p To control the duration of the period, a ω For the instantaneous angular acceleration threshold, ω, of the arm tip 1 Is the second instantaneous angular velocity component.
According to an embodiment of the disclosure, the calculating the second attitude component of the mechanical arm joint in the any direction of the next control period according to the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component and the first attitude component in the any direction further includes calculating the second attitude component of the mechanical arm end in the any direction of the next control period according to the following formula:
θ 1 ＝θ 0 +ω 1 t p ；
Wherein θ 0 For the first attitude component, θ 1 Is the second gesture component.
Therefore, the number of sentence execution times in each formula is a constant, so that the time complexity is O (1), and the calculated amount is greatly reduced.
In step S106, the pose of the arm end in the next control cycle is determined according to the second position component and the second pose component of each of the plurality of directions.
According to the embodiment of the disclosure, assuming that the fixed coordinate system is O-XYZ, the second position component of each direction in the plurality of directions is coordinate components in three directions of XYZ, and the second positions of the tail ends of the mechanical arms in the fixed coordinate system are obtained through combination; the second gesture component of each direction in the plurality of directions is Euler angle component of XYZ three directions respectively, and Euler angles of the tail end of the mechanical arm in the fixed coordinate system are obtained through combination, namely the second gesture of the tail end of the mechanical arm in the fixed coordinate system. And combining the second position and the second gesture to obtain the gesture of the next control period.
In step S107, the movement of the arm end in the next control cycle is controlled according to the pose of the arm end in the next control cycle.
Specifically, the pose of the tail end of the mechanical arm in the next control period is obtained in each current control period, namely the pose of the tail end of the mechanical arm in all working time after the current moment is obtained, and therefore planning is carried out on the pose of the tail end of the mechanical arm in the working process.
The method and the device adopt a high-efficiency and reasonable interpolation algorithm, so that the optimal speed and pose of the next control period are calculated in each control period, the color ultrasonic probe installed at the tail end of the mechanical arm is enabled to approach the target speed given by the remote control equipment as soon as possible, the dynamic following of the mechanical arm clamping color ultrasonic probe is realized, and the speed and pose of the color ultrasonic probe can be adjusted in real time according to the change of the pose of the remote control equipment, so that the effect of synchronizing with the remote control equipment is achieved.
Fig. 4 shows a block diagram of a remote control device of a color ultrasound probe according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device by software, hardware, or a combination of both.
As shown in fig. 4, a remote control device of a color ultrasound probe includes: a first acquisition module 301, a detection module 302, a division module 303, a second acquisition module 304, a calculation module 305, a determination module 306, and a control module 307.
The first obtaining module 301 is configured to obtain a target instantaneous speed and a target instantaneous angular speed of the tail end of the mechanical arm according to a control signal of the remote control device in a current control period of the mechanical arm, and the color Doppler ultrasound probe is installed at the tail end of the mechanical arm;
A detection module 302 configured to obtain a first instantaneous speed, a first position, a first instantaneous angular speed, and a first pose of the robotic arm tip at the current control period;
a dividing module 303, configured to divide the target instantaneous speed, the first position, the target instantaneous angular speed, the first instantaneous angular speed, and the first gesture of the tail end of the mechanical arm into components based on a fixed coordinate system of the mechanical arm, so as to obtain target instantaneous speed components, first position components, target instantaneous angular speed components, first instantaneous angular speed components, and first gesture components in multiple directions;
a second obtaining module 304 configured to obtain a limiting condition of the end of the mechanical arm;
a calculating module 305 configured to calculate, for any one of the directions, a second position component of the arm tip in the any one direction of a next control cycle according to a target instantaneous velocity component, a constraint condition, a first instantaneous velocity component, and a first position component of the any one direction, and calculate a second attitude component of the arm tip in the any one direction of the next control cycle according to the target instantaneous angular velocity component, the constraint condition, the first instantaneous angular velocity component, and the first attitude component of the any one direction;
A determining module 306 configured to determine a pose of the robotic arm tip at a next control cycle based on the second position component and the second pose component for each of the plurality of directions;
a control module 307 configured to control movement of the robot arm tip in a next control cycle according to its pose in the next control cycle.
Fig. 5 illustrates a schematic diagram of a connection relationship between a mechanical arm and a color ultrasound probe of a remote control color ultrasound system according to an embodiment of the disclosure; fig. 6 illustrates a schematic diagram of a connection relationship between a host computer and a remote control device of a remote control color ultrasound system according to an embodiment of the present disclosure.
As shown in fig. 5 and 6, a remote control color ultrasound system includes:
a mechanical arm 1;
the color ultrasonic probe 2 is arranged at the tail end of the mechanical arm 1;
the upper computer 3 is used for controlling the movement of the tail end of the mechanical arm and comprises a memory and a processor; wherein the memory stores computer instructions that are executed by the processor to implement method steps according to any of the embodiments of the present disclosure;
and a remote control device 4 which communicates with the upper computer 3.
According to an embodiment of the present disclosure, the remote control device 4 communicates with the host computer 3, and the communication may be a wireless connection, such as a 4G connection, a 5G connection, but is not limited thereto; in a specific embodiment, the remote control device 4 sends the target speed to the host computer 3 via 5G communication.
According to the embodiment of the present disclosure, the upper computer 3 may be a computer, a single chip microcomputer, or the like, but is not limited thereto; the upper computer 3 is provided with a mechanical arm control program, after the upper computer 3 analyzes the target speed sent by the remote controller, the target instantaneous speed and the target instantaneous angular speed are obtained and then sent to the mechanical arm control program, the mechanical arm control program obtains the planning of the pose of the mechanical arm by using the method of the embodiment of the disclosure, and the upper computer 3 controls the mechanical arm, wherein the upper computer 3 can use a wireless module, such as a Bluetooth or WIFI module, when controlling the mechanical arm, but is not limited to the Bluetooth or WIFI module.
Fig. 7 shows a block diagram of an electronic device according to an embodiment of the disclosure.
As shown in fig. 7, the electronic device includes a memory and a processor, wherein the memory stores computer instructions that are executed by the processor to implement a method according to an embodiment of the present disclosure.
Fig. 8 shows a schematic diagram of a computer system suitable for use in implementing methods according to embodiments of the present disclosure.
As shown in fig. 8, the computer system includes a processing unit that can execute the various methods in the above embodiments according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage section into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the computer system are also stored. The processing unit, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.
The following components are connected to the I/O interface: an input section including a keyboard, a mouse, etc.; an output section including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage section including a hard disk or the like; and a communication section including a network interface card such as a LAN card, a modem, and the like. The communication section performs a communication process via a network such as the internet. The drives are also connected to the I/O interfaces as needed. Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, and the like are mounted on the drive as needed so that a computer program read therefrom is mounted into the storage section as needed. The processing unit may be implemented as a processing unit such as CPU, GPU, TPU, FPGA, NPU.
In particular, according to embodiments of the present disclosure, the methods described above may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the method described above. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules referred to in the embodiments of the present disclosure may be implemented in software or in programmable hardware. The units or modules described may also be provided in a processor, the names of which in some cases do not constitute a limitation of the unit or module itself.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention referred to in this disclosure is not limited to the specific combination of features described above, but encompasses other embodiments in which any combination of features described above or their equivalents is contemplated without departing from the inventive concepts described. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).

Claims (11)

1. The remote control method of the color Doppler ultrasound probe is characterized by comprising the following steps:
in the current control period of the mechanical arm, acquiring the target instantaneous speed and the target instantaneous angular speed of the tail end of the mechanical arm according to a control signal of remote control equipment, wherein the color ultrasonic probe is arranged at the tail end of the mechanical arm;
acquiring a first instantaneous speed, a first position, a first instantaneous angular speed and a first gesture of the tail end of the mechanical arm in the current control period;
dividing the target instantaneous speed, the first position, the target instantaneous angular speed, the first instantaneous angular speed and the first gesture at the tail end of the mechanical arm based on a fixed coordinate system of the mechanical arm to obtain target instantaneous speed components, first position components, target instantaneous angular speed components, first instantaneous angular speed components and first gesture components in multiple directions;
Acquiring a limiting condition of the tail end of the mechanical arm, wherein the limiting condition comprises an instantaneous acceleration threshold value and an instantaneous angular acceleration threshold value of the tail end of the mechanical arm in any one direction of the directions;
calculating, for any one of the plurality of directions, a second position component of the arm tip in the any one direction of a next control cycle based on the target instantaneous speed component, the constraint condition, the first instantaneous speed component, and the first position component for the any one direction, including calculating a second instantaneous speed component of the arm tip in the any one direction of the next control cycle based on the following formula, the second instantaneous speed component being used to calculate the second position component:
|v t -v 0 |<a l t p v when (v) 1 ＝v t ；
Otherwise, v 1 ＝v 0 +a l t p ；
Wherein v is 0 As a first instantaneous velocity component, v t For the target instantaneous velocity component, t p To control the duration of the period, a l V, which is the instantaneous acceleration threshold of the tail end of the mechanical arm 1 Is a second instantaneous velocity component;
calculating a second attitude component of the tail end of the mechanical arm in any direction of a next control period according to the target instantaneous angular velocity component, the limiting condition, the first instantaneous angular velocity component and the first attitude component in any direction;
Determining the pose of the tail end of the mechanical arm in the next control period according to the second position component and the second pose component of each direction in the plurality of directions;
and controlling the movement of the tail end of the mechanical arm in the next control period according to the pose of the tail end of the mechanical arm in the next control period.
2. The method according to claim 1, characterized in that:
the plurality of directions are directions of three orthogonal coordinate axes of a fixed coordinate system of the mechanical arm.
3. The method of claim 1, wherein the obtaining a first instantaneous velocity of the arm tip at a current control cycle comprises:
obtaining the duration of each control period according to the control frequency of the tail end of the mechanical arm;
acquiring a third position of the tail end of the mechanical arm in the last control period;
calculating the displacement of the tail end of the mechanical arm from the end of the last control period to the end of the current control period according to the third position and the first position;
and calculating the average speed of the tail end of the mechanical arm in the current control period according to the displacement and the duration, and taking the average speed as the first instantaneous speed of the tail end of the mechanical arm in the current control period.
4. The method of claim 1, wherein the obtaining a first instantaneous angular velocity of the arm tip at a current control period comprises:
Obtaining the duration of each control period according to the control frequency of the tail end of the mechanical arm;
acquiring a third gesture of the tail end of the mechanical arm in the last control period;
calculating the angular displacement of the tail end of the mechanical arm from the end of the previous control period to the end of the current control period according to the third gesture and the first gesture;
and calculating the average angular velocity of the tail end of the mechanical arm in the current control period according to the angular displacement and the time length, and taking the average angular velocity as the first instantaneous angular velocity of the tail end of the mechanical arm in the current control period.
5. The method of claim 1, wherein calculating a second position component of the arm tip in the any one direction of the next control period based on the target instantaneous velocity component in the any one direction, the constraint, the first instantaneous velocity component, and the first position component further comprises calculating the second position component of the arm tip in the any one direction of the next control period based on the following formula:
s 1 ＝s 0 +v 1 t p ；
wherein s is 0 S as the first position component 1 Is the second position component.
6. The method of claim 1, wherein calculating a second attitude component of the robotic arm joint in the any one direction of a next control cycle based on the target instantaneous angular velocity component in the any one direction, the constraint, the first instantaneous angular velocity component, and the first attitude component comprises calculating a second instantaneous angular velocity component of the robotic arm tip in the any one direction of the next control cycle based on the following formula, the second instantaneous angular velocity component being used to calculate the second attitude component:
|ω t -ω 0 |<a ω t p When omega 1 ＝ω t ；
Otherwise, omega 1 ＝ω 0 +a ω t p ；
Wherein omega 0 Is a first instantaneous angular velocity component; omega t For the target instantaneous angular velocity component, t p To control the duration of the period, a ω For instantaneous angular acceleration of the arm endThreshold, omega 1 Is the second instantaneous angular velocity component.
7. The method of claim 1, wherein calculating a second attitude component of the robotic arm joint in the any one direction of a next control cycle based on the target instantaneous angular velocity component, the constraint, the first instantaneous angular velocity component, and the first attitude component of the any one direction further comprises calculating a second attitude component of the robotic arm tip in the any one direction of the next control cycle based on the following formula:
θ 1 ＝θ 0 +ω 1 t p ；
wherein θ 0 For the first attitude component, θ 1 Is the second gesture component.
8. A remote control device for a color ultrasonic probe, comprising:
the first acquisition module is configured to acquire a target instantaneous speed and a target instantaneous angular speed of the tail end of the mechanical arm according to a control signal of remote control equipment in a current control period of the mechanical arm, and the color Doppler ultrasound probe is arranged at the tail end of the mechanical arm;
the detection module is configured to acquire a first instantaneous speed, a first position, a first instantaneous angular speed and a first gesture of the tail end of the mechanical arm in the current control period;
The dividing module is configured to divide the target instantaneous speed, the first position, the target instantaneous angular speed, the first instantaneous angular speed and the first gesture of the tail end of the mechanical arm according to a fixed coordinate system of the mechanical arm, so as to obtain target instantaneous speed components, first position components, target instantaneous angular speed components, first instantaneous angular speed components and first gesture components in multiple directions;
a second acquisition module configured to acquire a limit condition of the robot arm tip, the limit condition including an instantaneous acceleration threshold and an instantaneous angular acceleration threshold of the robot arm tip in any one of the plurality of directions;
a computing module configured to:
calculating, for any one of the plurality of directions, a second position component of the arm tip in the any one direction of a next control cycle based on the target instantaneous speed component, the constraint condition, the first instantaneous speed component, and the first position component for the any one direction, including calculating a second instantaneous speed component of the arm tip in the any one direction of the next control cycle based on the following formula, the second instantaneous speed component being used to calculate the second position component:
|v t -v 0 |<a l t p V when (v) 1 ＝v t ；
Otherwise, v 1 ＝v 0 +a l t p ；
Wherein v is 0 As a first instantaneous velocity component, v t For the target instantaneous velocity component, t p To control the duration of the period, a l V, which is the instantaneous acceleration threshold of the tail end of the mechanical arm 1 Is a second instantaneous velocity component;
calculating a second attitude component of the tail end of the mechanical arm in any direction of a next control period according to the target instantaneous angular velocity component, the limiting condition, the first instantaneous angular velocity component and the first attitude component in any direction;
a determining module configured to determine a pose of the arm tip in a next control cycle based on the second position component and the second pose component of each of the plurality of directions;
and the control module is configured to control the movement of the tail end of the mechanical arm in the next control period according to the pose of the tail end of the mechanical arm in the next control period.
9. A remote control color ultrasound system, comprising:
a mechanical arm;
the color ultrasonic probe is arranged at the tail end of the mechanical arm;
the upper computer is used for controlling the movement of the tail end of the mechanical arm and comprises a memory and a processor; wherein the memory stores computer instructions, wherein the computer instructions are executed by the processor to implement the method steps of any of claims 1-7;
And the remote control equipment is communicated with the upper computer.
10. An electronic device comprising a memory and a processor; wherein the memory stores computer instructions that are executed by the processor to implement the method steps of any of claims 1-7.
11. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the method steps of any of claims 1 to 7.
CN202311174432.XA 2023-09-12 2023-09-12 Remote control method, device and system for color ultrasonic probe, electronic equipment and medium Active CN117481682B (en)

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