Research On Intelligent Body Position Transformation Robot Applied To Ultrasonic Inspection

With the increasing demand for high-quality medical services in our country,many hospitals’ ultrasound inspection departments have been under heavy workload for a long time.The posture transformation robot can shorten the time of ultrasound inspection posture transformation for each patient,especially for disabled people,reduce the workload of physicians,and optimize the medical environment in the ultrasound room.In order to meet the above needs,under the funding of Jilin Province’s key scientific and technological research and development project "Multifunctional Bionic Intelligent Ultrasonic Inspection Body Transformation Device"(20180201043YY),this article aims to develop an intelligent ultrasonic inspection with intelligent body position angle and motion parameter prediction functions.Posture transformation robot and research its mechanical system,control system and software system.The specific research content and work are as follows:(1)Structural design and analysis of intelligent ultrasonic inspection robot for body position transformationCooperate with the Ultrasound Department of the First Hospital of Jilin University to analyze the human body posture,obtain the clinical data of the body position change of the ultrasound inspection,and conduct research on the body position change mode,transmission and actuator based on the data.Analyze the position requirements of the ultrasound inspection,and design the overall structure of the robot with the functions of assisting the patient to get up,lie on the back,bend legs,roll over,tilt,lift,shift,and rotate.(2)Kinematics,dynamics analysis and parameter optimization of body position change mechanismUsing ADAMS and MATLAB co-simulation method,the kinematics and dynamics analysis of the kick and bent leg mechanism are carried out.Taking the minimum force of the original moving parts of the mechanism and the minimum acceleration of the actuator as the optimization objective,the rod length as the factor,and the spatial coordinates of the key hinge points of the mechanism as the constraint conditions,the above-mentioned linkage mechanism is designed and optimized based on the Insight(ADAMS)module.Connecting rod parameters.Then,based on MATLAB,GA algorithm was used to optimize the abovementioned linkage mechanism again,and the correctness of the experimental design and optimization results was verified by cross-comparison.On the premise of meeting the space requirements,the above work will realize the smooth movement of the actuator and the load reduction of the original moving parts.(3)Hardware development and integration of intelligent ultrasonic inspection robot for body position transformationExplain the overall architecture and module selection of the hardware system,and determine the technical solution based on Bluetooth communication with Raspberry Pi as the host computer,Arduino as the controller.Starting from the demand,based on the principle of the timing counter,it explains its extended application in generating PWM signals,variable frequency signals and collecting Hall pulses.Finally,the principle analysis and interface analysis of the driver and sensor modules of the hardware system are carried out to provide research support for the subsequent programming of the software and controller of the upper computer.(4)Intelligent body position transformation robot control and software system developmentResearch on the host computer software and controller program.Starting from the functional requirements,the overall design of the upper computer software and the controller program is carried out,and the upper computer GUI program,the posture transformation logic program and the BP neural network-based ultrasonic inspection optimal pose angle prediction program design are emphasized.Aiming at the data training needs of neural networks,an offline 3D scanning body data acquisition method is proposed.First,based on MATLAB,through analyzing,processing,and ANN fitting of body position data,it reveals the mapping relationship between the basic data of patient’s gender,height,weight,etc.and the angle of roll,hip flexion and leg bending in the process of ultrasound inspection.The fitting effect of the tested ANN model is good,the minimum mean square error of the test sample is 157.6014,and the R value is 0.922.Subsequently,the C++ implementation of the BP neural network pose and angle prediction program was studied,and the above research was verified at the functional level in the form of a prototype.The ultrasonic body position transformation robot realizes the mutual switching of up to 7 body positions by assisting the human body in the rational design of the mechanism and the bed surface.Innovatively designed a non-forced squeeze rollover scheme,which realizes the passive rollover and rollover of disabled patients without assistance.Compared with other medical auxiliary devices with rollover function,this research designed rollover Process comfort and safety are improved.For the first time,the intelligent body position parameter prediction based on neural network is proposed.With the help of the nonlinear fitting characteristics of neural network,the accurate prediction of body position transformation parameters in the ultrasound inspection process is realized.Through longterm clinical application,the neural network control program of the robot can continuously learn,thereby improving the accuracy of posture transformation.The mechanical system,hardware system and software system of the ultrasonic inspection body transformation robot have been tested by a third party and can operate in coordination to meet the technical requirements of safety,rapid response and precise body position transformation.