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工業技術研究院

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技術名稱: 遠端控制機械臂超音波檢查技術

技術簡介

有鑑於疫情及偏鄉醫療資源不均等問題,為提升遠距醫療的發展,本技術藉由5G通訊進行跨院區、跨樓層實現遠端超音波檢查,相關內容包含低延遲感測控制架構、感興趣區域(Region of Interest, ROI)安全性操控、自主導航定位。本技術可根據超音波探頭接觸體表之受力進行分析,達到服貼體表、安全接觸等應用,同時藉由超音波影像及受力資訊回饋讓遠端操作者得知目前檢測情形。使用者可依據檢測疑慮位置,在上方拍攝視角影像進行點選,來移動超音波探頭位置,大幅縮短使用者操作手臂尋找疑慮位置時間。

Abstract

In View of the epidemic situation and the inequality of medical resources in remote villages, in order to improve the development of telemedicine, this technology develops remote ultrasonic examination system is implemented across campuses and floors through 5G communication. The related contents include the low latency sensing and control architecture, region of Interest (ROI) safety control and autonomous positioning. This technology can analyze according to the force of the ultrasonic probe contacting the body surface, so as to achieve applications such as conforming to the body surface and safe contact. The force information feedback allows the remote operator to know the current detection situation. System user can take images from the end of the robotic arm and click on the location of doubts, to move the ultrasound probe position, which greatly shortens the time for the user to operate the arm to find the location of doubts.

技術規格

遠端控制超音波檢查技術:開發程式語言以C#為基礎、C++生成DLL技術,支援UDP、TCP、Modbus、RS232等網路通訊協定;搭載力回饋搖桿自帶SDK、低成本Arduino感測模組以下說明各技術規格: *3Tier控制感測架構:以C#為基礎建立UDP及TCP通訊協定交握機制,可有效降低因網路延遲、掉包等因素造成機械手臂異常情形發生。 *ROI安全性操控:以力回饋搖桿及機械手臂兩者空間座標系進行ROI安全性演算法設計,可達到安全範圍±10立方公分。 *自主導航定位技術:藉由機械手臂或於手臂末端架設之攝影機拍攝回傳,圖像支援jpg、bmp等一般圖像格式,經由使用者點選圖像任一像素點進行空間位置轉換使機械手臂到達檢測位置,誤差範圍在±3公分。 *自主壓力感測回饋技術:透過Arduino感測搭配RS232通訊模組,將感測資訊回傳至機械手臂控制箱,透過Modbus回傳至中介軟體進行服貼及安全性算法推算,超音波探頭施力安全範圍<8牛頓。

Technical Specification

Ultrasonic examination technology of remote control manipulator: The development programming language is based on C#, C++ generates DLL technology, and supports UDP, TCP, Modbus, RS232 and other network communication protocols; equipped with force feedback joystick with the built-in SDK, low-cost Arduino The technical specifications of the sensing module are described below: *3Tier control and sensing architecture: Based on C#, the handshake mechanism of UDP and TCP communication protocols is established, which can effectively reduce the abnormal situation of the robot arm caused by factors such as network latency and packet loss. *ROI safety control: The ROI safety algorithm is designed with the space coordinate system of the force feedback joystick and the robotic arm, and the safety range can reach ±10 cubic centimeters. *Autonomous navigation and positioning technology: The robot arm or the camera installed at the end of the arm is used for choosing and returning, and the image supports general image formats such as JPG and BMP. When the arm reaches the detection position, the error range is ±3 cm. *Independent pressure sensing feedback technology: through Arduino sensing and RS232 communication module, the sensing information is sent back to the robotic arm control box, and sent back to the intermediary software through Modbus for compliance and safety algorithm calculation. Force safety ranges < 8 Newtons.

技術特色

本技術以3Tier控制感測架構為核心,設計ROI安全性操控、自主導航定位技術、自主壓力感測回饋技術等三大技術進行遠距超音波操作技術,可打破距離上的限制,進行防疫、偏遠地區等健檢、診斷等所需應用,提升醫療可近性,創造公益價值。

應用範圍

醫療照護場域SI、醫療器材販售及租賃業者、醫療器材代理商、醫療院所、機械手臂代理商、機械手臂商

接受技術者具備基礎建議(設備)

1.兩台具Win10作業系統、網路介面之筆記型電腦或一般電腦 2.達明機械手臂 3.奔騰超音波 4.Android 9以上智慧型手機 5.3D System OpenHaptics力回饋搖桿 6.支援HDMI輸出之攝影機與對應腳架 7.具網路功能之影像編解碼器 8.具1Gbps 1WAN/LAN+ 7 LAN埠無線路由器

接受技術者具備基礎建議(專業)

熟悉C#/C++/C程式語言開發、TCP/UDP/Modbus/RS232通訊協定、基本電子電路、感測電路設計、命令列介面(Command-Line Interface)

技術分類 H-智慧醫療

聯絡資訊

聯絡人:黎和欣 智慧醫療與照護服務組

電話:+886-3-5913411 或 Email:kernoli@itri.org.tw

客服專線:+886-800-45-8899

傳真:+886-3-5910212

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