中国医学装备2025，Vol.22Issue(6)：30-34,5.DOI:10.3969/j.issn.1672-8270.2025.06.006
自主超声扫查机器人性能评价方法研究
Research on evaluation method for performance of autonomous ultrasound scanning robot
摘要
Abstract
Objective:To explore the evaluation method for key performance indicators of autonomous ultrasound scanning robots,so as to establish a testing scheme and conduct experiments.Methods:Based on the working principle of autonomous ultrasound scanning robots,three key performance indicators,which included scanning speed,scanning contact force,and accuracy of online adjustment,were established.The speed of the robotic arm,which execute autonomous scanning,was tested through laser rangefinders and a design of process equipment for displacement.The contact force of autonomous scanning was monitored and evaluated using a combination of ultrasound phantom and sensor with six-dimensional force.The displacement differences of phantom and robotic arm were monitored to evaluate the accuracy of online adjustment through designed a synchronization detection device for the displacements of phantom and robotic arm.Results:This research designed and provided test method and test device,which realized successful measurements for the speed,contact force,and accuracy of online adjustment in autonomous scanning of the ultrasonic scanning robot.Conclusion:The speed,contact force,and accuracy of online adjustment in scanning can be used as evaluation indicators of systematic performance of autonomous ultrasound scanning robots.The feasibility of these indicators is demonstrated through designed evaluation methods and corresponding experiments.关键词
自主超声扫查机器人/扫查速度/扫查接触力/在线调整精度Key words
Autonomous ultrasound scanning robot/Scanning speed/Scanning contact force/Accuracy of online adjustment分类
预防医学引用本文复制引用
童禹铭,白鸽,韩冬,徐扬,张少华,刘凯月..自主超声扫查机器人性能评价方法研究[J].中国医学装备,2025,22(6):30-34,5.基金项目
湖北省重点研发计划(2022BCA050) （2022BCA050）
黑龙江省重点研发计划(2023ZX02C08) Hubei Provincial Key Research and Development Program(2022BCA050) （2023ZX02C08）
Heilongjiang Provincial Key Research and Development Program(2023ZX02C08) （2023ZX02C08）
