远程控制超声扫描的远端操纵系统

针对远程超声扫描,研制了一种远端操纵系统,并实现了超声探头的人机协作控制。探头控制中利用远端操纵系统网传信号实时复现远端操作员的扫描动作,并在此基础上利用阻抗控制方式自动控制探头对皮肤的压力。实验结果表明:近端超声探头的位置误差和姿态误差分别保持在±2.0 mm和±1.5°以内,能较好地复现操作员的扫描动作;探头压力跟踪误差稳定在±0.5 N的范围内,不但能将操作员的扫描手感真实地施加到皮肤上来提升其临场感,而且为进一步提高超声图像的质量,增强超声扫描的安全性提供了参考。

Manipulating System for Remote-control Ultrasonic Scanning

A remote manipulating system was developed to achieve human-machine collaboration controlling in remote ultrasonic probe. The scanning action of a remote operator was reproduced by the signals collected from the remote manipulating system in real time, then the skin’s pressure generated from the probe was controlled automatically through an impedance controlled method. The experimental results show that the scanning action can be relatively reproduced with the position error and attitude error of the probe kept within ±2.0 mm and ±1.5° respectively in the near-end ultrasonic probe. Moreover, the tracking error of probe pressure is stable within ±0.5 N, which can not only enhance the operator’s scanning feeling to the skin, but also provide references to improve the quality of ultrasonic images and scanning safety.