Research On Robot Servo Ultrasonic Scanning System

Ultrasonic scanning has become one of the most popular imaging methods in clinic due to its advantages of low cost,real-time monitoring,non-invasive and non-radiation.A large number of ultrasonic scanning needs lead to the heavy task for Ultrasound doctor,they are vulnerable to repetitive labor.Therefore,it has become an urgent need to increase the efficiency of ultrasonic scanning and relieve the pressure of ultrasonic doctors.This paper proposes an ultrasonic servo scanning system based on mechanical arm,which aims to assist ultrasonic doctors in ultrasonic scanning,reduce the dependence on operators,reduce the labor intensity of ultrasonic doctors,standardize the scanning process and improve the accuracy and efficiency of scanning operation.The main contents of this paper include the design of the servo ultrasonic scanning system,sensor data acquation and analysis,manipulator serve control and experiment analysis.This system is mainly composed of visual servo module,ultrasound images servo module,pressure servo control module and data comprehensive analysis module.The system design should consider the relationship between the various modules,such as task priority.It’s most important to guarantee the safety of patients when ultrasound scanning in practice,so the priority of pressure servo control module should be in the first place,the system will be preferred security tasks when the security tasks and other tasks making request to the system at the same time.For other tasks,we also need to set different priority labels according to the application scenarios.In the design of the system,it is also necessary to consider the performance of our system.For example,the real-time performance of the system should not be too low,which will lead to a variety of problems such as slow response speed,weakened ability to deal with emergencies,poor quality of ultrasonic images,and unsmooth movement control of the mechanical arm.In order to increase the real-time performance of the system,we use the behavior tree to optimize the system,and make use of the structural characteristics of behavior tree to reduce the problem of task redundancy and improve the response speed.This subject designed a three-dimensional reconstruction experiment and abdominal ultrasonic scanning experiment to verify the feasibility,timeliness and stability of the system.The experimental results showed that under the control of the feedback data of Kinect,ultrasonic image and pressure sensor,the robotic arm could scan the path according to the target safely,quickly and stably,and achieve independent ultrasonic image acquisition.