CN108113705A - It is long-range to check control device - Google Patents
It is long-range to check control device Download PDFInfo
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- CN108113705A CN108113705A CN201810043333.0A CN201810043333A CN108113705A CN 108113705 A CN108113705 A CN 108113705A CN 201810043333 A CN201810043333 A CN 201810043333A CN 108113705 A CN108113705 A CN 108113705A
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- 239000000523 sample Substances 0.000 claims abstract description 55
- 238000002604 ultrasonography Methods 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000007689 inspection Methods 0.000 claims abstract description 23
- 238000003745 diagnosis Methods 0.000 claims abstract description 10
- 238000002559 palpation Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 9
- 238000005452 bending Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 201000010099 disease Diseases 0.000 claims description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000036541 health Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 210000004185 liver Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 210000000496 pancreas Anatomy 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 210000000952 spleen Anatomy 0.000 description 1
- 230000002485 urinary effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
- A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
- A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Radiology & Medical Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Control device is remotely checked the present invention provides a kind of, including：Examination couch；Moving mechanism, any position being movable to above examination couch；Ultrasonic probe/contact diagnostic probe, is fixedly arranged in moving mechanism；Ultrasound measuring instrument；Contact diagnostic equipment；Video shooting device；Expert user end；Server admin platform contacts the information that diagnostic equipment and/or ultrasound measuring instrument and video shooting device send to storage and management, and the diagnostic message that sends of storage and management expert user end and specialist speech command information；To control the controller that moving mechanism moves, controller is connected with the instruction recipient in moving mechanism.Pass through long-range inspection control device provided by the invention, expert can be moved with remote control moving mechanism, so as to which probe be controlled to check any part of sufferer body, and then purpose of the expert to strange land sufferer inspection is realized, provide a convenient for sufferer, is high-quality, reliable diagnosis.
Description
Technical field
The present invention relates to a kind of check device more particularly to a kind of long-range inspection control devices, belong to Medical Devices technology
Field.
Background technology
The scope of ultrasonic examination is very wide, different check points, such as abdomen examination：Including liver, courage, pancreas, spleen and abdominal cavity
Deng, such as gynecologial examination, such as urinary system inspection, such as superficial tumor and lesion detection, such as heart and limb vessel inspection
Etc..In recent years, government was significantly increased the input of basic health mechanism ultrasonic diagnostic equipment, but to Ultrasonic Diagnosis professional people
The culture of member relatively lags behind.Current situation is that basic health mechanism Ultrasonic Diagnosis professional is serious deficient, especially lacks and have
The Ultrasonic Diagnosis expert of experience, while it is limited to carry out ultrasonic examination project, in addition when have and the relevant medical tangle of Ultrasonic Diagnosis
Occur.In this case, it is intended that some sufferers of basic health mechanism can also obtain high-caliber Ultrasonic Diagnosis expert
Inspection, but can not realize and the state of an illness is detected by expert due to region problem.
Some state of an illness, especially some difficult and complicated cases, in addition to using ultrasonic examination, it is also necessary to which expert carries out " hoping first
News, which is asked, cuts ", and palpation is the conventional means that expert carries out condition-inference, palpation i.e. expert directly with finger by touching, touching,
Check the body of patient by gimmicks such as, pressures, so as to equipment inspection（Ultrasonic examination）It complements each other, and then helps expert comprehensive
Understand and confirm patient condition.But at present some sufferers of basic health mechanism it is similary can not realize because of region problem by
Expert is detected the state of an illness.
The content of the invention
In order to solve the above technical problems, remotely check control device present invention aims at one kind is provided, it is existing to overcome
The deficiency of technology.
In order to achieve the above objectives, technical scheme is as follows：
Control device is remotely checked an embodiment of the present invention provides a kind of, including：
Examination couch；
Moving mechanism, the moving mechanism are installed on the examination couch, can be moved to the arbitrary position above the examination couch
It puts；
Contact diagnostic probe to the ultrasonic probe for gathering ultrasound detection information and/or to gather palpation information is described super
Sonic probe and contact diagnostic probe are fixedly arranged in the moving mechanism；
Ultrasound measuring instrument, the ultrasound measuring instrument are connected with the ultrasonic probe, and the ultrasound measuring instrument is at least to will be from institute
It states the ultrasound detection information obtained in ultrasonic probe and is converted into ultrasound image signal, and pass through its network port and be sent to far
The server admin platform of journey terminal；And/or
Contact diagnostic equipment, it is described contact diagnostic equipment with it is described contact diagnostic probe connection, it is described contact diagnostic equipment at least to by
The palpation information obtained in the contact diagnostic probe is converted into palpation picture signal, and passes through its network port and be sent to
The server admin platform of remote terminal；
Video shooting device to obtain video image, voice messaging, and the video image of acquisition, voice messaging is passed through and led to
News network is sent to server admin platform；
Expert user end is visited to access the server admin platform with checking the ultrasound measuring instrument and/or contacting diagnosis
Head and the information that sends of video shooting device, and by the server admin platform Real-time Feedback diagnostic message and to disease
Suffer from and transfer specialist speech command information；
The server admin platform is taken the photograph to contact diagnostic equipment described in storage and management and/or ultrasound measuring instrument and video
As the information that device is sent, and the diagnostic message of expert user end transmission described in storage and management and specialist speech instruction
Information；
And the controller to control moving mechanism's movement, the controller connect with the instruction in the moving mechanism
Receiver connects.
It is set in the fixing end of one of preferred embodiment as the present invention, the ultrasonic probe and/or contact diagnostic probe
There is pressure sensor, the pressure sensor can pass pressure signal value to detect the pressure being applied on sufferer body
It send into the ultrasound measuring instrument and/or contact diagnostic equipment, then acquired in the expert user end.
It is further preferred that the pressure sensor and the ultrasound measuring instrument and/or contacting pressure control in diagnostic equipment
Molding block and alarm module electrical connection.
One of preferred embodiment as the present invention, the moving mechanism include three axis servo transfer machines, the three axis servo
Transfer machine includes the X-axis cantilever transfer being fixedly arranged on the one side bed frame of the examination couch, is slidably connected with the X-axis cantilever transfer
Y-axis cantilever transfer, the Z axis cantilever transfer that is slidably connected with the Y-axis cantilever transfer and be connected with the Z axis cantilever transfer
Rotating arm, the X-axis cantilever transfer, Y-axis cantilever transfer and Z axis cantilever transfer by described instruction recipient control three axis join
Dynamic, the ultrasonic probe and/or contact diagnostic probe are located on the rotating arm.
One of preferred embodiment as the present invention, the moving mechanism include being fixedly arranged on the one side bed frame of the examination couch
X-axis cantilever transfer, with the X-axis cantilever transfer elasticity arm being slidably connected and the rotating arm being connected with the elasticity arm,
The ultrasonic probe and/or contact diagnostic probe are located on the rotating arm, wherein, the elasticity arm can be according to bending journey
Degree establishes the coordinate of Y-axis and Z axis.
One of preferred embodiment as the present invention, the contact diagnostic probe are the finger-like with human hand profiling and/or face
Shape is to simulate human hand palpation.
One of preferred embodiment as the present invention, the video shooting device include camera, speech sound device and host, wherein
The camera, speech sound device are connected respectively with host.
It is further preferred that the camera is remote-controlled zoom, the camera of 360 degree of transformation space positions.
One of preferred embodiment as the present invention, the expert user end are PC machine or mobile phone.
Compared with prior art, advantages of the present invention at least that：
By long-range inspection control device provided by the invention, expert can be moved with remote control moving mechanism, be visited so as to control
Head checks any part of sufferer body, and then realizes purpose of the expert to strange land sufferer inspection, is provided for sufferer
Convenience, high-quality, reliable diagnosis.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below
In or the prior art needed in attached drawing be briefly described.
Fig. 1 is the long-range structural representation for checking control device disclosed in the embodiment of the present invention 1；
Fig. 2 is the long-range structural representation for checking control device disclosed in the embodiment of the present invention 2.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes.
Embodiment 1：
Shown in Figure 1, a preferred embodiment of the present invention 1 provides a kind of long-range inspection control device, including：
Examination couch 11；
Moving mechanism 12, moving mechanism 12 are installed on examination couch 11, can be moved to any position of 11 top of examination couch；
Contact diagnostic probe 14 to the ultrasonic probe 13 for gathering ultrasound detection information and/or to gather palpation information surpasses
Sonic probe 13 and contact diagnostic probe 14 are fixedly arranged in moving mechanism 12；
Ultrasound measuring instrument 15, ultrasound measuring instrument 15 are connected with ultrasonic probe 13, ultrasound measuring instrument 15 at least to will from ultrasound visit
The ultrasound detection information obtained in first 13 is converted into ultrasound image signal, and passes through the clothes that its network port is sent to remote terminal
Business device management platform 17；And/or
Diagnostic equipment 16 is contacted, contact diagnostic equipment 16 is connected with contacting diagnostic probe 14, contacts diagnostic equipment 16 at least will contact
The palpation information obtained in diagnostic probe 14 is converted into palpation picture signal, and passes through it（Wirelessly）The network port is sent to remotely
The server admin platform 17 of terminal；
Video shooting device 18 to obtain video image, voice messaging, and the video image of acquisition, voice messaging is passed through
Communication network is sent to server admin platform 17；
Expert user end 19, to access server admin platform 17 with check ultrasound measuring instrument 15 and/or contact diagnostic probe
14 and the information that sends of video shooting device 18, and pass through 17 Real-time Feedback diagnostic message of server admin platform and to disease
Suffer from and transfer specialist speech command information；
Server admin platform 17 contacts diagnostic equipment 16 and/or ultrasound measuring instrument 15 and video camera to storage and management
The information that device 18 is sent, and the diagnostic message of the transmission of storage and management expert user end 19 and specialist speech instruction letter
Breath；
And to control the controller 20 that moving mechanism 12 moves, controller 20 and the instruction recipient in moving mechanism 12
125 connections.Controller 20, which can individually be set up, to be integrated in one with expert user end 19.
Preferably, pressure sensor is provided in the fixing end of ultrasonic probe 13 and/or contact diagnostic probe 14, pressure passes
Pressure signal value can be sent to ultrasound measuring instrument 15 and/or connect by sensor to detect the pressure being applied on sufferer body
It touches in diagnostic equipment 16, then acquired in expert user end 19.
It is further preferred that pressure sensor and ultrasound measuring instrument 15 and/or the pressure contacted in diagnostic equipment 16 control mould
Block and alarm module electrical connection.When expert carries out ultrasound detection/contact in some part to sufferer to be diagnosed, ultrasonic probe
The strength that 13/ contact diagnostic probe 14 presses human body has pressure sensor（It is not shown in figure）It detects and passes to ultrasonic inspection
It surveys instrument 15/ and contacts diagnostic equipment 16, the pressure control module in ultrasound measuring instrument 15 can receive this pressure signal, if pressure signal value
Be more than the human body of setting can tolerance range, then pressure control module control alarm module start alarm so that expert to be prompted to pass through
Controller 20 reduces ultrasonic probe 13/ and contacts the amplitude that diagnostic probe 14 pushes human body.Therefore can be carried by pressure sensor
The comfort level of high sufferer detection, avoids causing sufferer unnecessary injury.
Preferably, moving mechanism 12 includes three axis servo transfer machines, and three axis servo transfer machines include being fixedly arranged on examination couch 11
One side bed frame on X-axis cantilever transfer 121, be slidably connected with X-axis cantilever transfer 121 Y-axis cantilever transfer 122, hang with Y-axis
The Z axis cantilever transfer 123 that arm transfer 122 is slidably connected and the rotating arm 124 being connected with Z axis cantilever transfer 123, X-axis cantilever
Transfer 121, Y-axis cantilever transfer 122 and Z axis cantilever transfer 123 control three-shaft linkage, ultrasonic probe by instruction recipient 125
13 and/or contact diagnostic probe 14 be located on rotating arm 124.
It is further preferred that contact diagnostic probe 14 is to be touched with the finger-like and/or planar of human hand profiling with simulating human hand
It examines.Human hand can be simulated by contacting diagnostic probe 14 the body somewhere of sufferer beat/press.
Preferably, video shooting device 18 include camera, speech sound device and host, wherein camera, speech sound device respectively with
Host connects.It is further preferred that camera is remote-controlled zoom, the camera of 360 degree of transformation space positions.
Preferably, expert user end 19 is PC machine or mobile phone.Expert can be obtained by PC machine or mobile phone sufferer image,
Sound to understand the physical condition of sufferer, and can be conveyed to sufferer and instruct, inform how sufferer coordinates.
By long-range inspection control device provided by the invention, expert by moving mechanism 12 by ultrasonic probe 13 and/or
Contact diagnostic probe 14 is moved to the top for lying at the sufferer on examination couch 11, and expert can pass through video shooting device in other places
18 see sufferer and obtain the sound of sufferer, in addition, expert passes through expert user end 19（PC machine or mobile phone）It is transmitted to sufferer
Phonetic order instructs sufferer to carry out dispensing or informs sufferer inspection situation etc..To sum up, long-range inspection control provided by the invention
Device can be interacted by remote mode expert with sufferer, and sufferer is remotely checked, for the sufferer side of providing
Just, high-quality, reliable diagnosis.
Embodiment 2：
The present embodiment 2 is the structure for changing moving mechanism on the basis of embodiment 1, here, part same as Example 1 is not
Repeat again, it is shown in Figure 2, the present embodiment 2 moving mechanism 2 include moving mechanism include be fixedly arranged on examination couch one side bed
The elasticity arm 122 ' and connect with elasticity arm 122 ' that X-axis cantilever transfer 121 ' and X-axis cantilever transfer 121 ' on frame are slidably connected
The rotating arm 124 ' connect, ultrasonic probe 13 and/or contact diagnostic probe 14 are located on rotating arm 124 ', wherein, elasticity arm
122 ' can establish the coordinate of Y-axis and Z axis according to bending degree.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (9)
1. a kind of long-range inspection control device, it is characterised in that including：
Examination couch；
Moving mechanism, the moving mechanism are installed on the examination couch, can be moved to the arbitrary position above the examination couch
It puts；
Contact diagnostic probe to the ultrasonic probe for gathering ultrasound detection information and/or to gather palpation information is described super
Sonic probe and contact diagnostic probe are fixedly arranged in the moving mechanism；
Ultrasound measuring instrument, the ultrasound measuring instrument are connected with the ultrasonic probe, and the ultrasound measuring instrument is at least to will be from institute
It states the ultrasound detection information obtained in ultrasonic probe and is converted into ultrasound image signal, and pass through its network port and be sent to far
The server admin platform of journey terminal；And/or
Contact diagnostic equipment, it is described contact diagnostic equipment with it is described contact diagnostic probe connection, it is described contact diagnostic equipment at least to by
The palpation information obtained in the contact diagnostic probe is converted into palpation picture signal, and passes through its network port and be sent to
The server admin platform of remote terminal；
Video shooting device to obtain video image, voice messaging, and the video image of acquisition, voice messaging is passed through and led to
News network is sent to server admin platform；
Expert user end is visited to access the server admin platform with checking the ultrasound measuring instrument and/or contacting diagnosis
Head and the information that sends of video shooting device, and by the server admin platform Real-time Feedback diagnostic message and to disease
Suffer from and transfer specialist speech command information；
The server admin platform is taken the photograph to contact diagnostic equipment described in storage and management and/or ultrasound measuring instrument and video
As the information that device is sent, and the diagnostic message of expert user end transmission described in storage and management and specialist speech instruction
Information；
And the controller to control moving mechanism's movement, the controller connect with the instruction in the moving mechanism
Receiver connects.
2. long-range inspection control device according to claim 1, it is characterised in that：The ultrasonic probe and/or contact are examined
It is provided with pressure sensor in the fixing end of disconnected probe, the pressure sensor is detecting the pressure being applied on sufferer body
Power, and pressure signal value can be sent in the ultrasound measuring instrument and/or contact diagnostic equipment, then by the expert user end
It is acquired.
3. long-range inspection control device according to claim 2, it is characterised in that：The pressure sensor and the ultrasound
Detector and/or the pressure control module in contact diagnostic equipment and alarm module electrical connection.
4. long-range inspection control device according to claim 1, it is characterised in that：The moving mechanism includes three axis servos
Transfer machine, the three axis servo transfer machine include be fixedly arranged on the examination couch one side bed frame on X-axis cantilever transfer, with it is described
Y-axis cantilever transfer that X-axis cantilever transfer is slidably connected, the Z axis cantilever transfer being slidably connected with the Y-axis cantilever transfer and with
The rotating arm of the Z axis cantilever transfer connection, the X-axis cantilever transfer, Y-axis cantilever transfer and Z axis cantilever transfer are by described
Recipient control three-shaft linkage is instructed, the ultrasonic probe and/or contact diagnostic probe are located on the rotating arm.
5. long-range inspection control device according to claim 1, it is characterised in that：The moving mechanism includes being fixedly arranged on institute
State the X-axis cantilever transfer on the one side bed frame of examination couch, the elasticity arm being slidably connected with the X-axis cantilever transfer and with it is described
The rotating arm of elasticity arm connection, the ultrasonic probe and/or contact diagnostic probe are located on the rotating arm, wherein, it is described
Elasticity arm can establish the coordinate of Y-axis and Z axis according to bending degree.
6. long-range inspection control device according to claim 1, it is characterised in that：The contact diagnostic probe is and human hand
The finger-like and/or planar of portion's profiling are to simulate human hand palpation.
7. long-range inspection control device according to claim 1, it is characterised in that：The video shooting device includes camera shooting
Head, speech sound device and host, wherein the camera, speech sound device are connected respectively with host.
8. long-range inspection control device according to claim 7, it is characterised in that：The camera for remote-controlled zoom,
The camera of 360 degree of transformation space positions.
9. long-range inspection control device according to claim 1, it is characterised in that：The expert user end is PC machine or hand
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810043333.0A CN108113705A (en) | 2018-01-18 | 2018-01-18 | It is long-range to check control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810043333.0A CN108113705A (en) | 2018-01-18 | 2018-01-18 | It is long-range to check control device |
Publications (1)
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| CN108113705A true CN108113705A (en) | 2018-06-05 |
Family
ID=62232925
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|---|---|---|---|
| CN201810043333.0A Pending CN108113705A (en) | 2018-01-18 | 2018-01-18 | It is long-range to check control device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108931363A (en) * | 2018-07-05 | 2018-12-04 | 西安交通大学 | A kind of plane and D remote sensing tele-experimentation device |
| CN109350113A (en) * | 2018-11-22 | 2019-02-19 | 山东省千佛山医院 | A kind of B ultrasound medical treatment detection robot |
| WO2020051821A1 (en) * | 2018-09-13 | 2020-03-19 | 广东医动科技有限公司 | Remote b-scan ultrasonography service station suitable for outreach services |
| CN111317506A (en) * | 2018-12-15 | 2020-06-23 | 刘世坚 | Remote ultrasonic diagnosis system and use method thereof |
| CN111317504A (en) * | 2018-12-15 | 2020-06-23 | 刘世坚 | Information and control terminal and remote ultrasonic diagnosis system and using method thereof |
| CN111317505A (en) * | 2018-12-15 | 2020-06-23 | 刘世坚 | Remote ultrasonic diagnosis system and use method thereof |
| CN111407414A (en) * | 2020-04-07 | 2020-07-14 | 上海市第一人民医院 | Multifunctional remote robot for clinical diagnosis and treatment |
| CN112147935A (en) * | 2020-09-25 | 2020-12-29 | 劢微机器人科技(深圳)有限公司 | Method, device and equipment for controlling fork arm of unmanned forklift and storage medium |
| CN113057591A (en) * | 2021-03-17 | 2021-07-02 | 重庆大学附属三峡医院 | Mobile remote monitoring and diagnosing robot for sickbed guardrail |
| CN115174460A (en) * | 2022-08-02 | 2022-10-11 | 国能锅炉压力容器检验有限公司 | System and method for realizing remote diagnosis |
| CN116725493A (en) * | 2023-08-08 | 2023-09-12 | 首都医科大学附属北京积水潭医院 | Joint diagnosis and rehabilitation integrated equipment and joint diagnosis and rehabilitation method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108931363A (en) * | 2018-07-05 | 2018-12-04 | 西安交通大学 | A kind of plane and D remote sensing tele-experimentation device |
| CN113365558A (en) * | 2018-09-13 | 2021-09-07 | 广东医动科技有限公司 | Remote B-ultrasonic service workstation suitable for basic service |
| WO2020051821A1 (en) * | 2018-09-13 | 2020-03-19 | 广东医动科技有限公司 | Remote b-scan ultrasonography service station suitable for outreach services |
| CN109350113A (en) * | 2018-11-22 | 2019-02-19 | 山东省千佛山医院 | A kind of B ultrasound medical treatment detection robot |
| CN111317506A (en) * | 2018-12-15 | 2020-06-23 | 刘世坚 | Remote ultrasonic diagnosis system and use method thereof |
| CN111317505A (en) * | 2018-12-15 | 2020-06-23 | 刘世坚 | Remote ultrasonic diagnosis system and use method thereof |
| CN111317504A (en) * | 2018-12-15 | 2020-06-23 | 刘世坚 | Information and control terminal and remote ultrasonic diagnosis system and using method thereof |
| CN111407414A (en) * | 2020-04-07 | 2020-07-14 | 上海市第一人民医院 | Multifunctional remote robot for clinical diagnosis and treatment |
| CN112147935A (en) * | 2020-09-25 | 2020-12-29 | 劢微机器人科技(深圳)有限公司 | Method, device and equipment for controlling fork arm of unmanned forklift and storage medium |
| CN113057591A (en) * | 2021-03-17 | 2021-07-02 | 重庆大学附属三峡医院 | Mobile remote monitoring and diagnosing robot for sickbed guardrail |
| CN115174460A (en) * | 2022-08-02 | 2022-10-11 | 国能锅炉压力容器检验有限公司 | System and method for realizing remote diagnosis |
| CN116725493A (en) * | 2023-08-08 | 2023-09-12 | 首都医科大学附属北京积水潭医院 | Joint diagnosis and rehabilitation integrated equipment and joint diagnosis and rehabilitation method |
| CN116725493B (en) * | 2023-08-08 | 2023-11-07 | 首都医科大学附属北京积水潭医院 | Joint diagnosis and rehabilitation integrated equipment and joint diagnosis and rehabilitation method |
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