Research On The Control Of Ultrasonic-Assisted Abdominal Diagnosis

Since the twenty-first century,robot-related technology has been developing continuously,and its application field has been expanding and deepening,especially in the medical field,the robot is playing an increasingly important role.Ultrasound testing,as a typical way of non-interventional detection and diagnosis of disease,is well accepted and recognized by the public for its convenience and inexpensiveness.In this paper,robot-assisted ultrasound detection biomechanical modeling and ultrasonic detection assisted robot control as two important research direction,to study the ultrasonic detection of auxiliary robot system related technology.This paper presents a model of human skin based on elasticity.Including the human body abdominal modeling,ultrasonic probe and human skin contact model,the human skin parameters online identification,skin deformation and other related issues.The force sensor is used to extract the contact force in the ultrasonic scanning process,and then the constant force control method based on the fuzzy control is put forward according to the requirement of the deformation of the human skin and the force control of the robot.This paper studies the position control strategy of the ultrasonic robot,that is,the work space mapping mode of the master-slave robot.First,the kinematics analysis of the robot is carried out.The positive solution of robot kinematics and inverse kinematics were derived,and system transformation equations were solved,then the inverse solution is selected.Based on the consistency of master and slave and follow the same,we study the master and slave mapping of the system.According to the actual needs,this paper adopts the method of location mapping strategy,velocity mapping strategy and index mapping strategy,in which the position mapping strategy includes variable proportional mode.Based on the kinematics and mapping method of the robot,the master-slave control is simulated and validated in V-REP robot simulation software.Based on the solution of the related technical problems,the ultrasonic detection assistant robot system is designed,which has the main hand robot Omega.6,from the hand arm,real-time detection camera,force sensor,PC and display,test bed,controller Wait.The software part contains the robot control system,the detection system,the human-computer interaction interface and so on.In order to verify the feasibility and safety of the control scheme,the position control method and the force control effect of the master-slave robot were tested respectively.The experimental results show that the control method can meet the requirements of ultrasonic assisted scanning in terms of positioning accuracy and safety control.