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

Claim 9:
10. An ultrasound scanning device, comprising:
an execution mechanism comprising a force sensor, a mechanical arm and a probe;
a processor; and
a storage device storing one or more computer programs, which when executed by the processor, cause the processor to: control the mechanical arm to drive the probe to move based on a set scanning trajectory;
control the probe to collect an ultrasound image;
identify a target area from the ultrasound image;
calculate a position of the target area in the ultrasound image, and determine whether the position of the target area in the ultrasound image belongs to a predetermined position;
control 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;
adjust 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 control the mechanical arm to drive the probe to move based on the adjusted scanning trajectory;
wherein the processor is further caused to:
sense a lateral impact force F received by the probe using the force sensor;
calculate 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
control 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.