一种视触觉引导的超声探头自动定位方法

doi:10.19665/j.issn1001-2400.2020.01.012

Abstract

Abstract:

Since images in traditional ultrasound-guided puncture surgery are obtained by touching the position of the lesion with a hand-held ultrasound probe, it often causes puncture failure by inaccurate probe positioning and unstable contact force control due to the doctor’s fatigue or poor experience. In this regard, a method for guiding the automatic positioning of the ultrasonic probe by using vision and force is proposed. First, the combined image processing algorithm and matching algorithm are used to detect the small target feature points. Then, the robotic arm is used to guide the ultrasonic probe to the initial desired pose based on the desired image through the positional visual servo and pose transformation. Finally, the force closed-loop control algorithm is adopted to fine-tune the probe position to ensure a constant contact pressure. Experimental results show that the average of the feature point detection matching error and the average visual positioning error of this method is within 2.5 pixels, and that the average contact force of the ultrasonic probe is stable at 3.86N. Compared with the traditional hand-held method, the ultrasonic probe has a higher positioning accuracy and more stable contact with the measured object, which makes the doctor’s operation easier.

Key words: surgical robots, visual servoing, image processing, force sense, robot control

CLC Number:

TP242

CHENG Tianyou,LIN Yanping,MA Xiaojun. Ultrasound probe guiding method using vision and force[J].Journal of Xidian University, 2020, 47(1): 80-87.

Figures/Tables 12

References 15

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参数	相机速度/(mm·s^-1)
参数	115	125	135	145	155
成功次数	10	10	9	6	0
失败次数	0	0	1	4	10
准确率/%	100	100	90	60	0

参数	姿态1-2	姿态2-3	姿态3-4	姿态4-5	姿态5-6	平均值	标准差
Δu/像素	2.00	2.08	1.98	2.13	1.97	2.03	0.07
Δv/像素	1.98	1.97	2.03	1.50	1.60	1.18	0.25
用时/ms	9.53	9.46	9.32	9.01	9.44	9.35	0.21

实验	u₁/像素	v₁/像素	u₂/像素	v₂/像素	u₃/像素	v₃/像素	u₄/像素	v₄/像素	F/N
实验1	1.14	0.48	1.66	0.47	1.37	0.63	1.98	0.86	3.80
实验2	2.03	0.02	2.60	0.06	2.23	0.18	2.97	0.45	3.80
实验3	2.16	0.42	2.68	0.40	2.40	0.52	3.05	0.73	4.00
实验4	1.29	0.87	1.87	0.97	1.45	1.20	2.16	1.34	3.80
实验5	0.70	2.97	1.76	2.99	0.81	2.24	2.22	2.10	3.80
实验6	1.48	0.27	1.85	0.16	1.53	0.28	2.13	0.08	3.90
均值	1.47	0.84	2.07	0.84	1.63	0.84	2.42	0.93	3.86
标准差	0.55	1.08	0.45	1.10	0.59	0.77	0.47	0.71	0.08

实验	x/mm	y/mm	z/mm	α/(°)	β/(°)	γ/(°)
实验2	0.42	0.61	0.72	0.01	0.21	0.34
实验3	0.12	0.46	0.41	0.06	0.15	0.12
实验4	0.82	0.31	1.63	0.10	0.52	0.06
实验5	0.05	1.35	0.09	0.12	0.04	0.71
实验6	0.15	1.39	0.45	0.21	0.18	0.65
均值	0.31	0.83	0.66	0.10	0.22	0.38
标准差	0.32	0.51	0.59	0.07	0.18	0.30

Ultrasound probe guiding method using vision and force

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