Patent ID: 11872079
Assignee: KUNSHAN IMAGENE MEDICAL CO., LTD.
Field: Medical technology (Instruments)
Classification: CPC A  Y | IPC A

Claim 10:
11. A non-volatile storage medium having computer programs stored thereon, when the computer programs are executed by a processor of an ultrasound scanning device which comprising an execution mechanism, the processor is configured to perform an ultrasound scanning control method, the execution mechanism comprising a force sensor, a mechanical arm and a probe, wherein the method comprises:
controlling the mechanical arm to drive the probe to move based on a set scanning trajectory;
controlling the probe to collect an ultrasound image;
identifying a target area from the ultrasound image;
calculating a position of the target area in the ultrasound image, and determining whether the position of the target area in the ultrasound image belongs to a predetermined position;
controlling the mechanical arm to drive the probe to move based on the set scanning trajectory in response that the position of the target area in the ultrasound image belong to the predetermined position;
adjusting the set scanning trajectory in response that the position of the target area in the ultrasound image does not belong to the predetermined position; and controlling the mechanical arm to drive the probe to move based on the adjusted scanning trajectory;
wherein the method further comprises:
sensing a lateral impact force F received by the probe using the force sensor;
calculating a position change amount S according to the lateral impact force F received by the probe, wherein the calculated position change amount S=F*K, F represents a magnitude of the lateral impact force, and K is a known coefficient; and
controlling the mechanical arm to drive the probe to move a preset distance along a direction of the lateral impact force, according to a magnitude relationship between the calculated position change amount S and a preset maximum position change amount.