超声扫查作为一种经济有效的体表检测方式，已在现代医学诊断中得到了广泛的应用。远程超声机器人的研究和发展使得超声医生可以从重复和高强度的体表扫查工作中解脱出来，在最短的时间内完成医生与患者的异地超声诊断或手术，使偏远或资源稀缺地区的患者也能够在最佳时间得到救治，对现代老龄化社会治疗保障条件的提升和中国的医疗发展具有重要意义。文章针对远程超声机器人遥操作系统和柔顺控制的关键问题展开深入研究，具体研究内容如下：

首先，本文搭建远程超声机器人遥操作硬件系统平台，通过主端力反馈和从端图像信息反馈分别建立了超声扫查遥操作的力觉和视觉临场感，设计增量式遥操作主从映射控制方法实现对远程超声机器人的灵活控制。建立远程超声机器人正运动学模型，引入关节限位避免和奇异位置优化准则分别基于加权最小范数和阻尼梯度投影的方法建立了远程超声机器人冗余优化逆运动学模型，并通过Matlab和Ros仿真环境对远程超声机器人冗余解优化方法进行了仿真验证。

其次，针对远程超声机器人扫查柔顺交互过程中难以在保持稳定接触力和柔性交互的同时满足避关节限位和奇异位置约束的问题，分析超声扫查接触交互过程，研究七自由度冗余机器人阻抗控制理论，提出了一种基于加权最小范数的超声机器人避关节限位混合力/阻抗控制方法。该方法通过在扫查接触面切向建立阻抗控制器，进行间接力柔顺控制，使机器人保持柔性，在扫查接触面法向建立接触力控制器，通过直接力控制维持超声探头和人体组织之间稳定接触力，并将加权最小范数和阻尼伪逆思想引入到混合力/阻抗控制中对远程超声机器人零空间运动进行优化。该方法可以在保持柔顺和稳定力控制基础上，避免机器人在扫查过程受到关节限位和奇异位置的约束。

最后，设计了远程超声机器人遥操作人体腹部肝脏超声扫查实验，对本文搭建的远程超声机器人遥操作系统和柔顺控制方法进行了实验验证。实验结果表明设计的远程超声机器人遥操作系统的主从控制精度满足超声扫查遥操作的要求，所提柔顺控制方法可以在保持柔顺特性的同时获得较好的力跟踪性能，同时扫查切向柔顺接触力相比于传统位置控制方式平均减小了32%，满足超声扫查对于人机交互柔顺性的需求。

Ultrasound scanning, as a cost-effective way to detect body surface, has been widely used in modern medical diagnosis. The research and development of remote ultrasound robot allows ultrasonographers to be freed from the repetitive and high-intensity body surface scanning work, and to complete the off-site ultrasound diagnosis or surgery between doctors and patients in the shortest time, so that patients in remote or resource-scarce areas can also be treated in the best time, which is of great significance to the improvement of treatment security conditions in modern aging society and the medical development of China. The article conducts an in-depth study on the key issues of remote ultrasound robot teleoperating system and supple control, which are as follows:

Firstly, this paper builds a hardware system platform for remote ultrasound robot teleoperation, establishes the force and visual proximity of ultrasound scanning teleoperation through force feedback at the master end and image information feedback at the slave end, respectively, and designs an incremental teleoperation master-slave mapping control method to realize flexible control of the remote ultrasound robot. The positive kinematic model of the remote ultrasonic robot is established, and the joint limit avoidance and singular position optimization criteria are introduced to establish the inverse kinematic model of the redundancy optimization of the remote ultrasonic robot based on the weighted minimum parametric and damped gradient projection methods, respectively, and the redundancy solution optimization method of the remote ultrasound robot is simulated and verified by Matlab and Ros simulation environment.

Second, to address the problem that it is difficult to satisfy joint avoidance limits and singular position constraints while maintaining stable contact force and flexible interaction during the scanning supple interaction of a remote ultrasound robot, the ultrasound scanning contact interaction process is analyzed, the impedance control theory of a seven-degree-of-freedom redundant robot is studied, and a hybrid force/impedance control method based on weighted minimum parametric number for joint avoidance limits of an ultrasound robot is proposed. The method establishes an impedance controller in the tangential direction of the swept contact surface for indirect force suppleness control to keep the robot flexible, a contact force controller in the normal direction of the swept contact surface to maintain a stable contact force between the ultrasound probe and human tissue through direct force control, and introduces the weighted least parametric and damping pseudo-inverse ideas into the hybrid force/impedance control to optimize the zero-space motion of the remote ultrasound robot. This method can avoid the constraints of joint limits and singular positions of the robot during the scanning process while maintaining the supple and stable force control.

Finally, a remote ultrasound robot teleoperation experiment of human abdominal liver ultrasound scanning was designed to experimentally verify the remote ultrasound robot teleoperation system and the suppleness control method built in this paper.The experimental results show that the master-slave control accuracy of the designed remote ultrasound robot teleoperation system meets the requirements of ultrasound sweeping teleoperation, and the proposed soft control method can obtain better force tracking performance while maintaining the soft characteristics, while the sweeping tangential soft contact force is reduced by 32% on average compared with the traditional position control method, which meets the demand of human-robot interaction softness for ultrasound scanning.

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