Journal of Xidian University ›› 2020, Vol. 47 ›› Issue (1): 80-87.doi: 10.19665/j.issn1001-2400.2020.01.012

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Ultrasound probe guiding method using vision and force

CHENG Tianyou1,LIN Yanping1,MA Xiaojun2   

  1. 1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
    2. Shanghai General Hospital, Shanghai Jiao Tong University, Shanghai 200080, China
  • Received:2019-10-24 Online:2020-02-20 Published:2020-03-19


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