KR20110108873A - Intergrated diagnosis system for comprising 3d robotic guide structure examining disease of cerebrovascular system and thereof method - Google Patents

Abstract

Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to an embodiment of the present invention, the reference coordinates of the head and cerebrovascular blood of the subject, the cerebrovascular flow measuring the condition of the cerebrovascular Measuring device; A vital sign measuring apparatus for measuring a biological phenomenon of the subject; A questionnaire interface for inputting additional information of the subject; A database that stores information relating to the risk of developing cerebrovascular diseases and cerebral diseases, standard head model and standard cerebrovascular model information; An analysis for diagnosing a cerebrovascular disease by analyzing a current state and a predicted state of the cerebrovascular unit of the subject based on the signal measured by the cerebrovascular measuring device and the vital sign measuring device and the information input through the questionnaire interface Device; And a three-dimensional robotic guide structure for diagnosing cerebrovascular disease, characterized in that it comprises an output device for outputting information diagnosed by the analysis device.

Description

Intergrated diagnosis system for comprising 3D robotic guide structure examining disease of cerebrovascular system and method method}

The present invention relates to a comprehensive diagnostic system and method for diagnosing cerebrovascular disease by analyzing the state of the cerebrovascular vessel of a subject using data measured by a cerebrovascular measuring apparatus, and more particularly, a three-dimensional robotic guide structure. 3D robotic guide structure for the examination of cerebrovascular disease that can accurately and objectively provide the current state and the predicted state of the subject based on various types of signals and information input in multi-dimensional manner using a comprehensive diagnostic apparatus including a It relates to a comprehensive diagnostic system and method comprising a.

Recently, due to rapid aging, death and burden of diseases due to cerebrovascular diseases have increased rapidly. Cerebrovascular disease, along with cancer and heart disease, has a high mortality rate, and even if it does not die, its sequelae is a serious disease.

In order to diagnose such cerebrovascular disease, appropriate prevention and treatment through objective and scientific diagnosis is required, and a cerebrovascular measuring device capable of measuring cerebral blood flow in diagnosing cerebrovascular disease has been developed.

However, the data measured by these cerebral blood flow meters can only be analyzed by the physician, in which case the subjective opinion of the analyzing physician is quite effective. In addition, because it is difficult to determine the exact location of the blood vessels of the subject, the test takes a long time, and the quality of the test results may vary depending on the skill of the measurer.

In addition, currently used cerebral blood flow measuring device measures only for the cerebrovascular system of the patient and as a result diagnoses cerebrovascular disease. However, as shown in Figure 3, when looking at risk factors associated with cerebrovascular disease, when the age increases 10 years, the incidence of cerebrovascular disease increases by 60%, and the systolic (peak) blood pressure increases the incidence of cerebrovascular disease This increases. In addition, there is a 52% increase in the incidence of cerebrovascular disease associated with smoking, a two-fold increase in the incidence of diabetes mellitus, a three-fold increase in the incidence of cerebrovascular disease in people with atrial fibrillation, and those with coronary artery disease. In 49% of cases, the incidence of cerebrovascular disease increases 82% in people with high homocysteine. Therefore, in diagnosing cerebrovascular disease, the information of related indicators should also be important in addition to the measured information.

The present invention has been made to solve the problems described above, by measuring the basic coordinates of the subject's ear, eyes, nose, chin, etc. and then by applying a standard human body model to guide the measurement position in three dimensions accurate position To provide a comprehensive diagnostic system and method including a three-dimensional robotic guide structure that can quickly and easily measure the cerebrovascular status of the subject and improve the quality of the measurement.

In addition, the present invention, as well as data such as cerebrovascular images, cerebrovascular related indexes, cerebrovascular rate, etc. in the diagnosis of cerebrovascular system, measurement data and family history of cardiovascular-related invasive / non-invasive blood pressure, pleth waveforms related to peripheral blood vessels, brain waves, etc. And multidimensional analysis of parameters related to questionnaire data, such as lifestyle, to provide a comprehensive diagnostic system and method including a dimensional robotic guide structure that can improve the accuracy of diagnosis of the current state and the predicted state of the subject's cerebrovascular system. Serves another purpose.

In order to achieve the above object, a comprehensive diagnostic system including a three-dimensional robotic guide structure for diagnosing cerebrovascular disease according to an embodiment of the present invention measures the reference coordinates of the head and cerebrovascular vessel of the subject, Cerebral blood flow measuring device for measuring the state of the; A vital sign measuring apparatus for measuring a biological phenomenon of the subject; A questionnaire interface for inputting additional information of the subject; A database that stores information relating to the risk of developing cerebrovascular diseases and cerebral diseases, standard head model and standard cerebrovascular model information; An analysis for diagnosing a cerebrovascular disease by analyzing a current state and a predicted state of the cerebrovascular unit of the subject based on the signal measured by the cerebrovascular measuring device and the vital sign measuring device and the information input through the questionnaire interface Device; And a three-dimensional robotic guide structure for diagnosing cerebrovascular disease, characterized in that it comprises an output device for outputting information diagnosed by the analysis device.

Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the analysis device, the three-dimensional head based on the reference coordinates measured by the cerebrovascular measuring device A model is generated and the cerebrovascular information measured by the cerebrovascular measuring device is applied to the generated three-dimensional head model.

Comprehensive diagnosis system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the cerebrovascular measuring device, three-dimensional static guide structure, three-dimensional dynamic guide structure or portable three It is characterized in that the dimensional headframe structure.

Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the three-dimensional static guide structure and the cerebral blood flow measuring device of the three-dimensional dynamic guide structure is moved position It is characterized by consisting of three axes to enable.

Comprehensive diagnostic system including a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, when the cerebrovascular measuring device is a three-dimensional dynamic guide structure, it moves to the coordinates input by the measurer It characterized in that it further comprises a drive unit for driving each axis to be able to.

Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the cerebrovascular measuring device, by transmitting and receiving an ultrasonic signal to a specific point of the subject blood vessel An ultrasonic probe measuring the state; A depth conversion module for adjusting a focusing depth of the ultrasonic signal; And a fine adjustment module for adjusting the projection angle of the ultrasonic signal. Further comprising, the ultrasonic probe is characterized in that for outputting ultrasonic signals in the range of 2MHz to 20MHz.

Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the ultrasonic signal is characterized in that the pulse (PW) or continuous (CW).

Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the cerebral blood flow measuring device, the brain using a measurement mode of amplitude, brightness, motion, Doppler type It automatically measures the location of blood vessels and provides spectral analysis with respect to cerebrovascular stenosis.

Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the biological phenomenon measured by the vital sign measuring device is blood pressure, blood sugar, electrocardiogram, pulse wave or brain wave It is characterized by.

Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the additional information of the subject, age, sex, family history, lifestyle and environment, past medical history, taking Characterized in that the information of the drug.

Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the output device is provided with a wired / wireless, power line communication module, the external medical information through the network It is characterized by interlocking with the system.

Comprehensive diagnostic method using a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to an embodiment of the present invention, measuring the subject measurement position as a basic coordinate point by the apparatus for measuring blood flow; Generating a three-dimensional head model of the subject by applying the measured basic coordinates to a standard head model; Mapping a standard cerebrovascular model to the generated three-dimensional head model; Designating the mapped cerebrovascular and measured points; Matching measurement coordinates and expected measurement coordinates of the cerebral blood flow measuring apparatus; Measuring cerebrovascular information of the subject through a motion mode of the cerebrovascular measuring device; Measuring cerebrovascular information of the subject through a Doppler mode of the cerebrovascular measuring device; Measuring vital sign information of the subject and inputting questionnaire information; Performing a cerebrovascular disease examination of the subject based on the measured cerebrovascular information, the vital sign information and the input medical information; And an output step of outputting the detected information.

Comprehensive diagnostic method using a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the cerebral blood flow measuring device, the three-dimensional static guide structure, three-dimensional dynamic guide structure or three-dimensional headframe It is characterized by the structure.

Comprehensive diagnostic method using a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the cerebrovascular measuring device, the state of the cerebrovascular system by transmitting and receiving an ultrasonic signal to a specific point of the subject Ultrasonic probe for measuring the; Depth conversion module for adjusting the focusing depth of the ultrasonic signal; Fine control module for adjusting the projection angle of the ultrasonic signal, The ultrasonic probe outputs an ultrasonic signal in the range of 2MHz to 20MHz Characterized in that.

Comprehensive diagnostic method using a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the ultrasonic signal is characterized in that the pulse (PW) or continuous (CW).

Comprehensive diagnostic method using a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the cerebrovascular measuring device, the motion mode measures the basic information of the cerebrovascular, the Doppler mode Measures detailed information on the cerebrovascular information measured in the motion mode.

Comprehensive diagnostic method using a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, applying the cerebrovascular information measured by the cerebrovascular measurement device to the generated three-dimensional head model It characterized in that it further comprises;

Comprehensive diagnostic method using a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, characterized in that the vital sign information is blood pressure, blood sugar, electrocardiogram, pulse wave or brain wave.

Comprehensive diagnostic method using a three-dimensional robotic guide structure for the examination of cerebrovascular disease according to another embodiment of the present invention, the additional information of the subject is age, sex, family history, lifestyle and environment, past medical history, taking medication It is characterized in that the information.

According to the comprehensive diagnosis system and method including the three-dimensional robotic guide structure of the present invention, after measuring the basic coordinates of the ear, eyes, nose, chin, etc. of the subject to be measured by applying a standard human body model in three dimensions By guiding, you can quickly and easily measure the subject's cerebrovascular status at the correct location, while at the same time improving the quality of the measurements.

In addition, according to the comprehensive diagnostic system and method including the three-dimensional robotic guide structure of the present invention, not only data such as cerebrovascular images, cerebrovascular indexes, cerebrovascular rate, etc. Multivariate analysis of measurement data such as invasive blood pressure, pleth waveforms related to peripheral blood vessels, brain waves, and questionnaire data such as family history and lifestyles to improve the accuracy of diagnosis of the current and predicted state of the subject's cerebrovascular system Can be.

1 is a block diagram of a comprehensive diagnostic system including a three-dimensional robotic guide structure for the cerebrovascular disease screening according to an embodiment of the present invention.
2 is a diagram showing the structure of a diagnosis algorithm for cerebrovascular disease examination according to an embodiment of the present invention.
3 is a diagram showing association indicators related to risk factors.
4 is a diagram showing the structure of a multi-axis robotic arm.
5 is a diagram illustrating a three-dimensional headframe mounted on a subject.
6 is a diagram illustrating basic input coordinates of a subject.
7 is a diagram illustrating an example of three-dimensional head modeling of a subject applied to a standard head model.
8 is a diagram illustrating an example of cerebrovascular measuring points and guides.
9 is a diagram illustrating a standard model based cerebrovascular mapping and blood vessel guide.
10 is a flow chart of a cerebrovascular measurement method using a three-dimensional static guide structure for the cerebrovascular disease screening according to an embodiment of the present invention.
11 is a flow chart of a cerebrovascular measurement method using a three-dimensional static guide structure for the cerebrovascular disease screening according to an embodiment of the present invention.
FIG. 12 is a diagram illustrating an integrated GUI for outputting a result detected by a comprehensive diagnostic system including a 3D robotic guide structure.

Hereinafter, a detailed description of a preferred embodiment of the present invention will be described with reference to the accompanying drawings. In the following description of the present invention, detailed descriptions of well-known functions or configurations will be omitted when it is deemed that they may unnecessarily obscure the subject matter of the present invention.

In the present specification, when one component 'transmits' data or a signal to another component, any one component may directly transmit data or a signal to another component, and at least one other component. This means that data or a signal can be transmitted to other components through the APC.

1 is a block diagram of a comprehensive diagnostic system including a three-dimensional robotic guide structure for the cerebrovascular disease screening according to an embodiment of the present invention, Figure 2 is the structure of the algorithm for diagnosing cerebrovascular disease screening according to an embodiment of the present invention 4 is a diagram illustrating a structure of a multi-axis robotic arm, FIG. 5 is a diagram illustrating a three-dimensional headframe mounted on a subject, and FIG. 6 is a diagram illustrating basic input coordinates of the subject. 7 is a diagram illustrating an example of three-dimensional head modeling of a subject applied to a standard head model, and FIG. 8 is a diagram illustrating an example of cerebrovascular measurement points and guides.

As shown in the figure, the comprehensive diagnostic system 100 including a three-dimensional robotic guide structure, the position measurement and motion controller 20, the brain blood flow measuring device 30, vital sign measuring device 40, paperweight The interface 50 may include a diagnostic result output device 60 and a database 70.

The cerebral blood flow measuring device (cerebral blood flow diagnosis device), or TCD (Transcranial Doppler), is a penetrating doppler of the skull using Doppler effect. Blood circulation can be measured.

The cerebral blood flow measuring device 30 is equipped with a variety of ultrasonic probes (probe) to transmit and receive ultrasonic signals to the subject to measure the state of the blood vessels, the ultrasonic probe can output ultrasonic waves in the range of 2MHz ~ 20MHz It is variously used so that the pulse type (PW) and continuous (CW) may be used as the signal form of the ultrasonic wave. In addition, the depth conversion module is provided inside the cerebral blood flow measuring device 30 to adjust the focusing depth of the ultrasonic signal to the subject. Therefore, it is possible to detect the area of cerebral hemorrhage due to multi-depth. In addition, it includes a fine control module for adjusting the projection angle of the ultrasonic signal to automatically adjust the projection angle of the ultrasonic signal to the subject.

In addition, the measurement mode supports amplitude, luminance, motion and Doppler modes. The cerebral blood flow measuring device 30 provides not only sound signals such as blood flow sounds, but also various indices INDEX in numerical form and various spectrums through various modes. Thus, not only can the vascular location be searched by multiple modes automatically, but also spectral analysis can be provided in relation to cerebrovascular stenosis.

Vital sign measuring device 40 is to measure the biological phenomenon of the subject, a device that directly measures or interfaces such as blood pressure, blood sugar, electrocardiogram, pulse wave, brain wave, etc. In the present invention is measured as an indicator associated with cerebrovascular disease Can be analyzed.

Although not illustrated, the paperweight interface 50 may include various input devices such as a monitor, a keyboard, a camera, a microphone, a joystick, and a speaker so as to input various additional information of the subject, and may be used as a separate paperweight program. Enter additional information of the subject. At this time, the additional information includes information such as the age, sex, medical history, taking medication, family history, lifestyle and environment of the subject.

The analysis apparatus 10 may store various types of signals and information input in multiple dimensions, for example, a blood flow measurement apparatus 30, a vital sign measuring apparatus 40, and information input through an interrogation interface 50. Based on the internal standard database information and the knowledge base stored in 70), the final diagnosis and prediction information about the cerebrovascular vessel of the measured subject is output through the output device 60 as shown in FIG.

As shown in the cerebrovascular diagnostic algorithm structure of FIG. 2, the analyzing apparatus 10 is a blood flow rate (FV), a pulsating index (PI), and a resistance index (RI) as information measured through the cerebrovascular measuring apparatus 30. , Direct indicators of pulse rate propagation index (PTI), blood flow direction (FD), and Doppler sound (DS) and the difference between left and right, percentage difference, speed ratio (VR), middle cerebral artery peak systolic blood flow rate (Delta MCA), blood flow acceleration (FA), asymmetric index (AI), cerebral hemisphere index (HI) and blood vessel velocity ratio (AVR) indirect indicators, vital sign information measured by the measuring device 40, blood pressure, blood sugar, ECG, oxygen saturation, pulse wave and Use the index of EEG. These association indicators are used as important indicators because of the high incidence of cerebrovascular disease, especially in hypertension, and the significant relationship between diabetes, necrosis and cerebrovascular disease.

In particular, the analysis device 10 is based on the standard data and the knowledge base of the normal value stored in the database 70 in addition to the measured information through the various analysis methods such as multi-dimensional analysis, correlation analysis, weight analysis, etc. Diagnose the disease and predict and predict the possibility of future disease occurrence by referring to additional predictive indicators such as the age, sex, medical history, medication taken, family history, lifestyle and environment of the subject. Therefore, it is possible to provide early prevention through prediction as well as early diagnosis of various diseases.

The output device 60 is connected to a sound output device and a data storage device (not shown), although the diagnostic result of the analysis device 10 is displayed on the monitor 62 by an integrated graphical user interface (GUI) 61. Can be.

In addition, the output device 60 includes wired / wireless and power line communication modules, and for example, an external medical information system 80 such as a medical institution or a public health center or a personal computer 90 at home through a network such as the Internet. By interlocking with each other, the function of U-Healthcare (Ubiquitous Healthcare) can be performed.

In addition, the cerebral blood flow measuring apparatus 20 may be formed of a robotic arm 31 (see FIG. 4A) and a three-dimensional headframe 32 (see FIG. 5). The robotic arm 31 structure may be formed of the three-dimensional static guide structure 41 (FIG. 4B) and the three-dimensional dynamic guide structure 42 (FIG. 4C), as shown in FIGS. 4B and 4C.

The basic structure of the robotic arm 31 is in the form of a multi-axis robot, and the first joint 201, the second joint 202, and the third joint 203 have three degrees of freedom, respectively, and the three-dimensional dynamics of FIG. 4C. The guide structure is configured in such a way that the dynamic guide is possible by mounting the drive unit 204 to each of the joints 201, 202, and 203. In addition, the position measurement and the sensing of each joint 201, 202, 203 in the motion controller 20 can be performed by means such as an encoder, a potentiometer, or the like. It is possible. The three-dimensional position measurement method for the three-dimensional static and dynamic guide can measure the position by various methods by using an ultrasonic mechanism, an electromagnetic field, a magnetic field, an optics, an image, etc. in addition to using a mechanical mechanism. In the case of the mechanical method, the coordinates of the final end point are calculated by solving the Kinematics Matrix based on the information of each joint 201, 202, 203, etc., and in the other methods, the method by triangulation or relative position measurement You can measure the position with. In general, while receiving position or force information and feedback during position measurement, in the present invention, the coordinates can be specified by receiving feedback simultaneously with three-dimensional target coordinates and information by the cerebral blood flow.

 The ultrasonic probe 200 is mounted to the third joint 203 of the robotic arm 31.

The three-dimensional headframe 32 of FIG. 5 is based on a simple guide based on movement and portability, and the robotic arm 31 structure of FIG. Doppler 51 and 52 that can be positioned on both sides can be configured to enable accurate positioning and stable measurement. It may also include psychological stability and two-way communication means of the subject during the measurement.

In the case of using the three-dimensional static guide structure 41 and the three-dimensional dynamic guide structure 42, as shown in FIG. 6, a pointing input to the basic input coordinates of the subject is required. In other words, the points for constructing the three-dimensional head model can be changed according to the standard database and modeling graphic algorithms, but basically, as many inputs as possible can provide the most similar output model. A measuring point of 7 or more is suitable for the minimum modeling for accurate measurement, but measurement is possible even below that. At the ends of the three-dimensional static guide structure 41 and the three-dimensional dynamic guide structure 42, although not shown, additional sensors may be attached to provide more accurate modeling coordinates, thereby enabling accurate modeling of mesh polygon shapes. FIG. 7 shows an example of 3D head modeling based on a standard database using the basic input coordinates of FIG. 6, and FIG. 8 measures the blood vessels of the subject by the 3D headframe 32 and the robotic arm 31. An example of a point and a guide is shown.

Accordingly, the measured cerebrovascular information is mapped to standard database-based cerebrovascular information (see FIG. 9A) stored in the database 70 and output as shown in FIGS. 9B and 9C. Thereafter, the diagnosis result through the analysis device 10 is displayed in the form of an integrated graphical user interface (GUI) 61 through the output device 60 of FIG. 12.

10 is a flowchart of a cerebrovascular measuring method using a three-dimensional static guide structure for the cerebrovascular disease screening according to an embodiment of the present invention.

First, information about the head model and the cerebrovascular position information, etc. is composed of standard information and knowledge information and stored in the database 70. Subsequently, when reference coordinates for the head shape of the subject are input (S401), a 3D head model is constructed based on the standard head model stored in the database 70 (S402), and the cerebrovascular model is added to the 3D head model. Mapped (S403). The information thus constructed includes three-dimensional location information, expected vessel location information, and expected measurement point. When the blood vessel is selected for the cerebrovascular measurement of the subject (S404), the current position of the robotic arm 31 is estimated by the position measurement and motion controller 20 to guide the measurement point of the selected blood vessel (S405). The measurement point information is illustrated in three dimensions by the output device 60 (S406), so that the measurement can be easily moved to the correct position through the feedback (S407). In this way, the guide is completed first, the approximate brain blood flow information is measured through the motion mode (S408), and the actual blood vessel position is adjusted (S409). Then, the detailed cerebral blood flow is measured based on the information measured in the motion mode through the Doppler mode (S410), and fine position and angle adjustment is performed (S411). Then, by measuring the final cerebrovascular vessel transmits the measured information to the analysis device 10 and stores (S412). The final information includes spatial information on the actual blood vessel location, measurement position, etc. of the subject.

Also, in step S404, step S412 may be repeated by the measurer.

11 is a flow chart of a cerebrovascular measurement method using a three-dimensional dynamic guide structure for the cerebrovascular disease screening according to an embodiment of the present invention.

The cerebrovascular measuring method using the three-dimensional dynamic guide structure of FIG. 11 includes the functions of the three-dimensional static guide structure of FIG. 10. Therefore, steps S501 to S503 correspond to steps S401 to 403 of FIG. 10, and thus detailed description thereof will be omitted.

Subsequently, when a blood vessel or a measuring point to be selected is input for measuring the cerebrovascular blood of the subject (S504), the position measuring and motion controller 20 is configured to guide the selected blood vessel and the measuring point (S405). 31 by moving the robotic arm 31 to the measurement position by checking the current position (S506), and checking whether the probe 200 mounted on the robotic arm 31 matches the measurement coordinates (S507). The guide is completed, by measuring the approximate cerebral blood flow information through the motion mode to analyze the signal intensity, amplitude, spectrum, etc. from the measured cerebral blood flow information (S508), and automatically adjusts the actual vessel position (S509). After measuring and analyzing detailed cerebral blood flow based on the information measured in the motion mode through the Doppler mode (S510), automatically measuring the final cerebrovascular vessel by adjusting the fine position and angle (S511) measured by the analysis device 10 The stored information is transmitted and stored (S512). Thus, the most accurate cerebrovascular information can be measured and analyzed at the most appropriate location.

 Further, in step S504, step S512 can be automatically repeated through the position measurement and the motion controller 20.

After the cerebrovascular measurement method is finished, the analysis device 30 is multidimensional based on the measured cerebrovascular information, the vital sign information of the subject, the questionnaire data, and the standard data and the knowledge base of the normal value stored in the database 70. Through various analytical methods such as analysis, correlation analysis, and weight analysis, the present subject is diagnosed with cerebrovascular disease and predicts future disease occurrence. Thereafter, the analyzed examination information is output through the output device 60, and the external medical information system 80 or the personal computer through a network such as the Internet in a wired / wireless or power line communication module of the output device 60. (90) performs the function of U-Healthcare (Ubiquitous Healthcare) by providing screening information.

In addition, preferred embodiments of the present invention are disclosed for the purpose of illustration, those skilled in the art will be able to various modifications, changes, and additions within the spirit and scope of the present invention, such modifications, changes and additions are the scope of the claims Should be seen as belonging to.

10: analysis device 20: position measurement and motion controller
30: cerebral blood flow measuring device 40: vital sign measuring device
50: paperweight interface 60: output device
70: Database 80: Medical Information System
90: Personal Computer 31: Robotic Arm
32: 3D headframe 41: 3D static guide structure
42: three-dimensional dynamic guide structure 200: probe
201-203: Joint 204: Drive part

Claims (19)

Cerebral blood flow measuring apparatus for measuring the reference coordinates of the head and cerebrovascular vessel of the subject, and measuring the state of the cerebrovascular vessel;
A vital sign measuring apparatus for measuring a biological phenomenon of the subject;
A questionnaire interface for inputting additional information of the subject;
A database that stores information relating to the risk of developing cerebrovascular diseases and cerebral diseases, standard head model and standard cerebrovascular model information;
An analysis for diagnosing a cerebrovascular disease by analyzing a current state and a predicted state of the cerebrovascular unit of the subject based on the signal measured by the cerebrovascular measuring device and the vital sign measuring device and the information input through the questionnaire interface Device; And
Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that it comprises an output device for outputting the information diagnosed by the analysis device.
The method of claim 1, wherein the analysis device,
Generate a three-dimensional head model based on the reference coordinates measured by the cerebral blood flow measurement device,
Comprehensive diagnosis system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that to apply the cerebrovascular information measured by the cerebrovascular measuring device to the generated three-dimensional head model.
According to claim 1, The cerebral blood flow measuring device,
Comprehensive diagnostic system comprising a three-dimensional static guide structure, a three-dimensional dynamic guide structure or a portable three-dimensional headframe structure for a cerebrovascular disease screening, characterized in that the three-dimensional robotic guide structure.
The method of claim 3, wherein
The three-dimensional static guide structure and the cerebrovascular measuring device of the three-dimensional dynamic guide structure is a comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the cerebrovascular disease examination, characterized in that consisting of three axes to move the position .
The method of claim 4, wherein
When the cerebral blood flow measuring device is a three-dimensional dynamic guide structure, the three-dimensional robotic for the cerebrovascular disease examination, characterized in that it further comprises a drive unit for driving each axis to move to the coordinates input by the measurer Comprehensive diagnostic system including guide structure.
According to claim 1, The cerebrovascular measuring device,
Ultrasonic probe (probe) for measuring the state of the blood vessels by transmitting and receiving an ultrasonic signal to a specific point of the subject;
A depth conversion module for adjusting a focusing depth of the ultrasonic signal; And
Fine control module for adjusting the projection angle of the ultrasonic signal; More,
The ultrasonic probe comprises a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that for outputting ultrasonic signals in the range of 2MHz to 20MHz.
The method of claim 6, wherein the ultrasonic signal,
Comprehensive diagnostic system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that the pulse (PW) or continuous (CW).
According to claim 1, The cerebral blood flow measuring device,
3D robotic guide structure for diagnosing cerebrovascular disease, characterized by automatically measuring the location of cerebrovascular vessels using amplitude, luminance, motion, and Doppler-type measurement modes and providing spectral analysis related to cerebrovascular narrowing Comprehensive diagnostic system comprising a.
The method of claim 1,
Comprehensive diagnosis system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that the biological phenomenon measured by the vital sign measuring device is blood pressure, blood sugar, electrocardiogram, pulse wave or brain wave.
The method of claim 1,
The additional information of the subject is a comprehensive diagnosis system comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that the information of age, sex, family history, lifestyle and environment, past medical history, taking medication.
The method of claim 1,
The output device comprises a wired / wireless, power line communication module, a comprehensive diagnostic system comprising a three-dimensional robotic guide structure, characterized in that it is linked to an external medical information system through a network.
Measuring the subject measurement position as a basic coordinate point by a cerebral blood flow measuring apparatus;
Generating a three-dimensional head model of the subject by applying the measured basic coordinates to a standard head model;
Mapping a standard cerebrovascular model to the generated three-dimensional head model;
Designating the mapped cerebrovascular and measured points;
Matching measurement coordinates and expected measurement coordinates of the cerebral blood flow measuring apparatus;
Measuring cerebrovascular information of the subject through a motion mode of the cerebrovascular measuring device;
Measuring cerebrovascular information of the subject through a Doppler mode of the cerebrovascular measuring device;
Measuring vital sign information of the subject and inputting questionnaire information;
Performing a cerebrovascular disease examination of the subject based on the measured cerebrovascular information, the vital sign information and the input medical information; And
Outputting the detected information output step; Comprehensive diagnostic method using a three-dimensional robotic guide structure for the diagnosis of cerebrovascular disease comprising a.
The method of claim 12, wherein the cerebrovascular measuring device,
Comprehensive diagnostic method comprising a three-dimensional static guide structure, three-dimensional dynamic guide structure or three-dimensional head frame structure for a cerebrovascular disease screening, characterized in that the structure.
The method of claim 12, wherein the cerebrovascular measuring device,
And an ultrasonic probe for transmitting and receiving an ultrasonic signal to a specific point of the subject to measure the state of the cerebrovascular vessel, a depth conversion module for adjusting the focusing depth of the ultrasonic signal, and a fine adjustment module for adjusting the projection angle of the ultrasonic signal. ,
The ultrasonic probe includes a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that for outputting ultrasonic signals in the range of 2MHz to 20MHz.
The method of claim 14, wherein the ultrasonic signal,
Comprehensive diagnostic method comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that the pulse (PW) or continuous (CW).
The method of claim 12, wherein the cerebrovascular measuring device,
The motion mode measures basic information of the cerebrovascular vessel, and the Doppler mode measures a three-dimensional robotic guide structure for diagnosing cerebrovascular disease, characterized in that for measuring detailed information on the cerebrovascular information measured in the motion mode Comprehensive diagnostic method that includes.
The method of claim 11,
Applying the cerebrovascular information measured by the cerebrovascular measurement device to the generated three-dimensional head model; Comprehensive diagnostic method comprising a three-dimensional robotic guide structure for the examination of cerebrovascular disease further comprising a .
The method of claim 12,
The vital sign information includes a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that blood pressure, blood sugar, electrocardiogram, pulse wave or brain wave.
The method of claim 12,
The additional information of the subject includes a three-dimensional robotic guide structure for the examination of cerebrovascular disease, characterized in that the information of age, sex, family history, lifestyle and environment, past medical history, taking medication.

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