基于点云和力控的乳腺超声机器人路径规划  

Path Planning of Breast Ultrasound Robot Based on Point Cloud and Force Control

作　　者：李保坤[1,2] 张俊超[1,2] LI Baokun;ZHANG Junchao(The First Affiliated Hospital,Anhui University of Science&Technology,Huainan Anhui 232001,China;School of Mechanical and Electrical Engineering,Anhui University of Science&Technology,Huainan Anhui 232001,China)

机构地区：[1]安徽理工大学第一附属医院,安徽淮南232001 [2]安徽理工大学机电工程学院,安徽淮南232001

出　　处：《兰州工业学院学报》2024年第6期61-69,共9页Journal of Lanzhou Institute of Technology

基　　金：国家自然科学基金资助项目(U21A20122);安徽理工大学医学专项培育项目(YZ2023H2A003)。

摘　　要：针对B超检查过程中存在的操作规范和疲劳问题,将机器人运动规划及控制技术应用于乳腺超声检查中,减轻操作医师劳动强度、提高检查准确率和筛查效率。针对因自然光不一致导致的成像和重建精度问题,使用红外双目相机平台结合立体匹配算法对女性乳腺模型进行三维重建,提高了乳腺模型点云数据重建精度。依照女性乳腺B超检查规程,提取模型中层点云,针对中层点云乱序问题,通过优化点云后处理过程,对点云法向量方向进行了校正。并将点云按环形排序以生成初步扫描路径;再对路径进行非均匀有理B样条插值处理,使路径光顺化。根据机器人单一视觉控制存在精度和安全性问题,提出通过在执行器末端引入六维力传感器,建立导纳控制模型,实现力反馈柔顺控制,解决了系统精度和安全性问题。通过仿真验证及实验模拟表明,该系统在扫描过程中提高了人身安全性。研究模拟人工手眼协调进行乳腺超声安全检查,可对实施基于机器人技术的乳腺癌大规模筛查提供必要技术支撑。To address the issues of operational standards and fatigue in the process of breast B-ultrasound examinations,robotic motion planning and control technologies are applied to breast B-ultrasound examinations to reduce the labor intensity of doctors,improve the accuracy of examination and screening efficiency.To address the issues of imaging and reconstruction accuracy caused by inconsistent natural lighting,a three-dimensional reconstruction of a female breast model is conducted by using an infrared binocular camera platform combined with a stereo matching algorithm,which enhances the reconstruction accuracy of the point cloud data for the breast model.According to the B-ultrasound examination procedures of female breast,the middle-level point cloud of the model is extracted.In view of the disorder of the middle-level point cloud,the normal vector direction of the point cloud is corrected by optimizing the post-processing process of the point cloud,and the point cloud is arranged in a circular order to generate a preliminary scanning path,and then the path is processed by non-uniform rational B-spline interpolation to make the path smooth.According to the accuracy and safety problems of single vision control of robot,an admittance control model is established by introducing a six-dimensional force sensor at the end of the actuator to achieve force feedback compliant control,which solves the problems of system accuracy and safety.Simulation verification and experimental simulation show that the system can improve personal safety in the process of scanning,and the study of simulated artificial hand-eye coordination for breast ultrasound safety examination can provide necessary technical support for the implementation of large-scale breast cancer screening based on robotic technology.

关 键 词：三维重建 点云法向量 点云后处理 路径规划 力反馈控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]