信息与控制2026，Vol.55Issue(4)：741-750,10.DOI:10.13976/j.cnki.xk.2025.0182
超声机器人辅助穿刺的避碰和稳定图像控制
Collision Avoidance and Stable Image Control for Ultrasound Robot-assisted Puncture
摘要
Abstract
To address the issue of interference to ultrasound imaging stability caused by null-space collision avoidance reactions in a 7-DOF ultrasound robot-assisted puncture task,we propose a collision avoidance and image stabilization control method.Firstly,we establish a collision force and collision location estimation model under multi-point contact conditions,and propose a new collision threshold judgment method integrating external force and external torque to distinguish between collision situations that could and could not be avoided by null-space motion.Secondly,we design a dual-scale visual servo controller,incorporating the stability evaluation of the ultrasound image on the temporal scale and the displacement of feature blocks on the spatial scale into the robot's control loop.This controller is capable of dynamically adjusting the probe position to stabilize the ultrasound image.Finally,we conduct collision avoidance and image stabilization experiments on a 7-DOF ultrasound robot-assisted puncture platform.The experimental results show that the proposed method has an external force estimation error range of[-4.33 N,5.2 N]during robot motion,and can effectively determine the collision situation to prevent the external force on the robot from rising to a large value,thereby ensuring the safety of physical human-robot interaction.Compared with the hybrid force/position control method,the proposed method achieves a 35.6%increase in the average value and a 48.5%increase in the maximum value of the image stability evaluation during null-space collision avoidance.Moreover,it is capable of recovering the ultrasound images that deviate from the desired state.These results validate the effectiveness of the proposed method.关键词
超声机器人/物理人机交互/避碰控制/动量观测器/视觉伺服/图像稳定性Key words
ultrasound robot/physical human-robot interaction/collision avoidance control/momentum observer/visual serving/image stability分类
信息技术与安全科学引用本文复制引用
汤永康,夏晶,贠光辉,邵超,周发旺..超声机器人辅助穿刺的避碰和稳定图像控制[J].信息与控制,2026,55(4):741-750,10.基金项目
国家自然科学基金面上项目(52174149) （52174149）
陕西省重点研发计划项目(2022GY-241) （2022GY-241）
