CN108994861A - Long-range ultrasound procedure arm device and long-range ultrasonic testing system - Google Patents
Long-range ultrasound procedure arm device and long-range ultrasonic testing system Download PDFInfo
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- CN108994861A CN108994861A CN201810615912.8A CN201810615912A CN108994861A CN 108994861 A CN108994861 A CN 108994861A CN 201810615912 A CN201810615912 A CN 201810615912A CN 108994861 A CN108994861 A CN 108994861A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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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
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Abstract
A kind of long-range ultrasound procedure arm device provided by the invention, manipulator with ultrasonic probe shape, attitude transducer is equipped at the top of the manipulator to obtain its spatial attitude information, and the manipulator bottom is used to touch the position sensor acquisition spatial positional information of lower section, for obtaining contact force information, the spatial attitude information, the spatial positional information, the contact force information, which are merged by data converter and export controlling remote robotic ultrasound, beats figure for the manipulator bottom and/or position sensor setting force sensor.Present invention simulation sonographer beats figure gimmick, using ultrasonic probe as modelling manipulator, doctor not only can flexibly control the pose movement of remote patient end robot six-freedom degree, the contact force of energy real-time control patient end ultrasonic probe simultaneously, realize the double control of power and position, sufficiently simulation doctor really beats figure gimmick, improves the quality and efficiency of remote diagnosis.
Description
Technical field
The present invention relates to long-range ultrasonic technique fields, particularly relate to a kind of long-range ultrasound procedure arm device and long-range ultrasound inspection
Examining system.
Background technique
Background that this section is intended to provide an explanation of the embodiments of the present invention set forth in the claims or context.Herein
Description recognizes it is the prior art not because not being included in this section.
With the development of medical technology, ultrasonic detection technology is simple portable, at low cost and without side-effects with it, is curing
Institute using more and more extensive.But since economic development and high-quality medical resource are distributed uneven, the people in many areas
The ultrasonic examination of high quality can not also be carried out.Tele-robotic is configured in patient end by long-range ultrasonic testing system to be cured by expert
Raw remote control carries out ultrasound diagnosis and realizes resource-sharing, can solve the deficiency of remote Countryside scarcity of resources.
Existing system obtains 6DOF posture information using serial or parallel connection machinery operator and provides 3 dimension touch feedbacks.
For the system by acting as sole agent, cost is excessively high；System lock, while stability is poor, technical support is not in place；When operation position and
Posture range is all restricted, and designs not directed to long-range ultrasound, and physician feedback operation and experience effect be not good enough, is not able to satisfy super
Sound surgeon flexibility beats figure gimmick demand.
Summary of the invention
In view of the foregoing, it is necessary to provide a kind of improved long-range ultrasound procedure arm device, which being capable of true mould
Quasi- sonographer beats figure gimmick, effectively obtains position, posture and contact force information to control the operation of patient end robot, in fact
Now true efficient long-range ultrasound diagnosis.
Technical solution provided by the invention are as follows: a kind of long-range ultrasound procedure arm device, the operation with ultrasonic probe shape
Hand, the manipulator top is equipped with attitude transducer to obtain its spatial attitude information, and the manipulator bottom is for touching
To obtain the spatial positional information of the manipulator, the manipulator bottom and/or the position pass the position sensor of lower section
For obtaining contact force information, the spatial attitude information, described connects the spatial positional information sensor setting force sensor
Touch information, which is received by data converter, merged and exported to controlling remote robotic ultrasound, beats figure.The manipulator's
Contoured design can be effectively improved the operating experience that doctor uses robot remote compuscan, flexibly control remote patient
Hold the pose movement and contact force of robot six-freedom degree.
Further, the position sensor includes touch screen and bracket, the branch be set up in the touch screen bottom and
Surrounding is to support and protect the touch screen.
Further, the bracket includes the reinforcing rib contacted with the touch screen bottom, the reinforcing rib, the bracket
Ontology, the touch screen are mutually perpendicular to.
Further, the reinforcing rib section is triangle.
Further, the rack body section is L shape.
Further, the bracket includes surrounding the framework of the touch screen profile for protecting the touch screen, described
Framework is not closed the disassembly in order to the touch screen, installation or replacement.
Further, the top of the rack body extends to and coincident along the edge of place touch screen.
Further, the bracket can also include support portion, and the support portion is contacted with the touch screen bottom, described
Framework, the support portion, the rack body are integrally formed.
Further, the touch screen is rectangle, and the branch is set up in the underface of the short side of the touch screen and residence
Middle setting.
Further, the manipulator bottom is arc, and the manipulator and the touch screen are point contact.Touch side
Hand has a support and sense of touch when formula makes doctor beat figure, more true and can reduce its wrist degree of fatigue.
Further, the manipulator bottom is equipped with the first force snesor, and first force snesor incudes the operation
The contact force that hand applies.
Further, the frame bottom is contacted with the top surface of the second force snesor one end and the two is fixedly linked, institute
It states the second force snesor and incudes the contact force that the touch screen is subject to.
Further, described device includes electronic system case, the other end of second force snesor far from the bracket
Portion is installed on the bottom cover of the electronic system case, and the bottom cover is equipped with protrusion, the protrusion and second force snesor
Bottom surface contact.
Further, the touch screen, the bracket, the electronic system case end part aligning and middle part are centrally located, institute
Data converter is stated on the bottom cover, and is arranged in parallel with second force snesor, the transmitting-receiving of the data converter
The top cover of the electronic system case is stretched out at end.
Further, the manipulator is configured with pedestal for placed, and the pedestal opens up groove to support the manipulator.
Further, calibration switch is equipped in the pedestal, the calibration switch is for realizing the attitude transducer
Calibration.
Further, the manipulator, which is equipped with, beats figure key, and the information is acquired or transmitted by wired or wireless way.
The present invention also provides a kind of long-range ultrasonic testing system, including it is long-range ultrasound procedure arm device, doctor's end main frame, remote
Hold robot, in which:
Described device has the manipulator of ultrasonic probe shape, and attitude transducer is equipped at the top of the manipulator to obtain it
Spatial attitude information, and the manipulator bottom is used to touch the position sensor acquisition of lower section with the space bit of the manipulator
Confidence breath, the manipulator bottom and/or position sensor setting force sensor are described for obtaining contact force information
Spatial attitude information, the spatial positional information, the contact force information received, merged by data converter and exported to
Controlling remote robotic ultrasound beats figure.The contoured design of the manipulator can be effectively improved doctor and use robot remote ultrasound
The operating experience of diagnostic system flexibly controls the pose movement and contact force of remote patient end robot six-freedom degree.
Further, the position sensor includes touch screen and bracket, the branch be set up in the touch screen bottom and
Surrounding is to support and protect the touch screen.
Further, the bracket includes the reinforcing rib contacted with the touch screen bottom, the reinforcing rib, the bracket
Ontology, the touch screen are mutually perpendicular to.
Further, the reinforcing rib section is triangle.
Further, the rack body section is L shape.
Further, the bracket includes surrounding the framework of the touch screen profile for protecting the touch screen, described
Framework is not closed the disassembly in order to the touch screen, installation or replacement.
Further, the top of the rack body extends to and coincident along the edge of place touch screen.
Further, the bracket can also include support portion, and the support portion is contacted with the touch screen bottom, described
Framework, the support portion, the rack body are integrally formed.
Further, the touch screen is rectangle, and the branch is set up in the underface of the short side of the touch screen and residence
Middle setting.
Further, the manipulator bottom is arc, and the manipulator and the touch screen are point contact.Touch side
Hand has a support and sense of touch when formula makes doctor beat figure, more true and can reduce its wrist degree of fatigue.
Further, the manipulator bottom is equipped with the first force snesor, and first force snesor incudes the operation
The contact force that hand applies.
Further, the frame bottom is contacted with the top surface of the second force snesor one end and the two is fixedly linked, institute
It states the second force snesor and incudes the contact force that the touch screen is subject to.
Further, described device includes electronic system case, the other end of second force snesor far from the bracket
Portion is installed on the bottom cover of the electronic system case, and the bottom cover is equipped with protrusion, the protrusion and second force snesor
Bottom surface contact.
Further, the touch screen, the bracket, the electronic system case end part aligning and middle part are centrally located, institute
Data converter is stated on the bottom cover, and is arranged in parallel with second force snesor, the transmitting-receiving of the data converter
The top cover of the electronic system case is stretched out at end.
Further, the manipulator is configured with pedestal for placed, and the pedestal opens up groove to support the manipulator.
Further, calibration switch is equipped in the pedestal, the calibration switch is for realizing the attitude transducer
Calibration.
Further, the manipulator, which is equipped with, beats figure key, and the information is acquired or transmitted by wired or wireless way.
Compared with prior art, long-range ultrasound procedure arm device provided by the invention, the operation with ultrasonic probe shape
Hand, the manipulator top is equipped with attitude transducer to obtain its spatial attitude information, and the manipulator bottom passes through touch
To obtain the spatial positional information of the manipulator, the manipulator bottom and/or the position pass the position sensor of lower section
For obtaining contact force information, the spatial attitude information, described connects the spatial positional information sensor setting force sensor
Touch information, which is merged by data converter and exports controlling remote robotic ultrasound, beats figure.The present invention simulates sonographer
Beat figure gimmick, using ultrasonic probe as modelling manipulator, doctor not only can flexibly control remote patient end robot six
The pose of a freedom degree moves, while the contact force of energy real-time control patient end ultrasonic probe, realizes the dual control of power and position
System sufficiently simulates doctor and really beats figure gimmick, improves the quality and efficiency of remote diagnosis.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the structural schematic diagram of long-range ultrasound procedure arm device of the invention.
Fig. 2 is the structural schematic diagram of manipulator shown in FIG. 1.
Fig. 3 is another structural schematic diagram of manipulator shown in FIG. 1.
Fig. 4 is the structural schematic diagram of bracket shown in FIG. 1 and touch screen.
Fig. 5 is another structural schematic diagram of bracket shown in FIG. 1 and touch screen.
Fig. 6 is the structural schematic diagram of data converter of the invention.
Fig. 7 is the structural schematic diagram of electronic system case of the invention (removing top cover).
Fig. 8 is the assembly structure figure of the second force snesor in Fig. 6, Fig. 7 and Fig. 1.
Fig. 9 is the structural schematic diagram of electronic system case (only top cover) of the invention.
Figure 10 is the cross-sectional view of composite structure shown in Fig. 4, Fig. 8, Fig. 9.
Figure 11 is the cross-sectional view of pedestal for placed shown in FIG. 1.
Description of symbols:
The embodiment of the present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
In order to be more clearly understood that the above objects, features, and advantages of the embodiment of the present invention, with reference to the accompanying drawing and
The present invention will be described in detail for specific embodiment.It should be noted that in the absence of conflict, the embodiment party of the application
Feature in formula can be combined with each other.
Embodiment in the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, described reality
Applying mode is only some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work, belongs to this hair
The range of bright embodiment protection.
Unless otherwise defined, all technical and scientific terms used herein and the technology for belonging to the embodiment of the present invention
The normally understood meaning of the technical staff in field is identical.Term as used herein in the specification of the present invention is intended merely to
The purpose of specific embodiment is described, it is not intended that in the limitation embodiment of the present invention.
A kind of long-range 20 device 100 of ultrasound procedure hand of the invention, is used for sonographer hand-held, and the device 100 is true
Real simulation doctor beats figure gimmick, and the pose and force information so as to acquisition send a command to disease through doctor's side controller (such as computer)
Ren Duan robot realizes that true efficient long-range ultrasound beats figure.
Fig. 1 shows the overall structure of 20 device 100 of long-range ultrasound procedure hand of an embodiment, which includes
Manipulator 20, pedestal 10, position sensor 30, force snesor, top cover 40 and bottom cover 50 etc..
Manipulator 20 provided by an embodiment of the present invention is described in detail below in conjunction with Fig. 1, Fig. 2 and Fig. 3.
As shown in Figure 1, the manipulator 20, has ultrasonic probe shape, bottom is arc-shaped, and top surface is rectangle, from
The size at bottom to top successively becomes smaller, becomes larger, becomes smaller again, becomes larger again, and lesser " neck " portion of size closed on above bottom is set
It counts the gripping habit for meeting sonographer and beats figure gimmick convenient for acquisition sonographer；
Attitude transducer 21 is equipped at the top of the manipulator 20 to obtain its spatial attitude information, the attitude transducer 21
It is the high performance three-dimensional movement appearance based on MEMS (Microelectro Mechanical Systems, MEMS) technology
State measuring system realizes the real-time measurement of space six-freedom degree posture；
20 bottom of manipulator is arc, generally flat.
20 bottom of manipulator is equipped with the first force snesor 22, and first force snesor 22 incudes the manipulator 20
The contact force of application.
As shown in Figures 2 and 3, the lower section of the side of the manipulator 20 is equipped with fixed part 24,24 section of fixed part
For circle, which corresponds to the instruction point that the head side of ultrasonic probe is arranged, which can be presented in ultrasound simultaneously
It is used as the reference point (ultrasound mode, which can be set, is presented in right side or left side) of identification in image, in other words, it is super is used as resolution
The direction of sonic probe is to analyze ultrasound image information, thus direction of the fixed part 24 to distinguish the manipulator 20,
Also fixed with pedestal 10 simultaneously；
Ipsilateral be equipped with of the top of the fixed part 24 beats figure key 23, and the figure key 23 of beating is the convex of strip
It rises；
The manipulator 20 opens up a slot at the top of the side for beating figure key 23, and the slot is pressed for installing one
It compresses switch, and accommodates switch line.Push switch, which is used to control mechanical arm quickly, to be terminated to beat figure, works as push switch, mechanical arm meeting
It lifts certain altitude and leaves human body surface, beating figure terminates.
In other embodiments, the fixed part 24, the figure key 23 of beating can be not arranged in the same side；It is described solid
Determine portion 24 and is not limited to circle；The figure key 23 of beating is not limited to strip；It is described beat figure key 23 be also possible to touch or
Other induction modes, are not limited to present embodiment.The position of the slot, shape are not limited to present embodiment.
Pedestal for placed 10 provided by an embodiment of the present invention is described in detail below in conjunction with Fig. 1 and Figure 11.
As shown in Fig. 1 and Figure 11, the manipulator 20 is furnished with pedestal for placed 10, and it is whole that the pedestal 10 is placed in the device 100
For the right part of body convenient for taking, the pedestal 10 includes bottom plate 12, boss 11, mounting groove 13 and fixing groove 14,
Wherein:
The bottom plate 12, is placed in the bottom, contacts with holding plane, and bottom plate 12 described in present embodiment is rectangular；
The boss 11 is fixed on the bottom plate 12, is the major part for placing the manipulator 20, this implementation
Concave station described in mode is cuboid, the boss 11 and the 12 middle part align center of bottom plate；
The mounting groove 13, for the accommodating cavity that the concave station is internally opened up along central axes, the bottom surface of the mounting groove 13
For arc, cooperate with 20 bottom of manipulator；
The fixing groove 14, the side for 11 top of boss vertically open up, and the fixing groove 14 is used for institute
It states the insertion of fixed part 24 or removes the pedestal 10；
The calibration triggered in the fixing groove 14 when the fixed part 24 is inserted into 14 corresponding position of fixing groove is opened
15 are closed, the attitude transducer 21 starts automatic calibration operation, within 1 second calibration operation used time.The calibration switch 15
It is inconsistent with the fixed part 24.
In other embodiments, the shape of the pedestal 10 can be integrated molding；The bottom plate 12, the boss 11
Shape, size, positional relationship be not limited to present embodiment；The quantity of the fixing groove 14 can be 2, be set to symmetrical position
It sets, avoids directionality when placing, improve service efficiency.
Position sensor 30 provided by an embodiment of the present invention is described in detail below in conjunction with Fig. 4 and Fig. 5.
As shown in Figure 4 and Figure 5, the position sensor 30 includes touch screen 32, bracket 33；
Wherein:
The touch screen 32 is tabular；
The bracket 33 includes:
Framework 31 is surrounded on outside 32 profile of touch screen, and for protecting the touch screen 32, the framework 31 is not closed
In order to the disassembly, installation or replacement of the touch screen 32；
Reinforcing rib 34 is contacted with 32 bottom of touch screen, and the section of reinforcing rib 34 described in present embodiment is triangle；
33 ontology of bracket, section is L-shaped, and close to 32 1 edge of touch screen, top is along the side of place touch screen 32
Edge extends to and coincident；
In present embodiment, the reinforcing rib 34,33 ontology of the bracket, the touch screen 32 are mutually perpendicular to.The frame
33 body 31, the reinforcing rib 34, bracket body by integral forming.The touch screen 32 shown in Fig. 4 and Fig. 5 is rectangle, institute
It states 33 body end of bracket to be overlapped with a short side of the touch screen 32,33 ontology of bracket, the reinforcing rib 34, the touching
Touch screen 32 align centers setting.
In other embodiments, the bracket 33 can also include support portion, set off under 32 bottom of touch screen
Side, the reinforcing rib 34 are contacted with the support portion bottom.The touch screen 32 can be the other shapes such as rectangular or round；Institute
Stating 34 section of reinforcing rib can be hollow frame shape, be not limited to present embodiment；It is the framework 31, the reinforcing rib 34, described
33 ontology of bracket can combine fixation, not necessarily be integrally formed.
Electronic system case provided by an embodiment of the present invention is described in detail below in conjunction with Fig. 1, Fig. 7 and Fig. 9.
Fig. 1 shows the device 100 equipped with electronic system case, and the electronic system case includes top cover 40 (Fig. 9) and bottom cover
50 (Fig. 7)；
Wherein:
The bottom cover 50, is rectangular parallelepiped structure, including integrally formed bottom surface and side wall,
The bottom surface, comprising:
Protrusion 52 is set on the bottom surface, is connected to the middle part of the shorter side wall of length；
The side wall, at the top of short side higher than long side be arranged,
And the middle top of the side wall far from the protrusion 52 opens up the first opening 53, first opening 53 is used for institute
State the installation of bracket 33.
The top cover 40, is rectangle structure, including integrally formed top surface and flange 44,
The top surface, including the second opening 41 and third opening 43,
Second opening 41, sending and receiving end 71 for the data converter 70 is pierced by.
The third opening 43, internally opens up set on the middle part of short side, the third opening 43 and first opening
53 cooperations are for installing the bracket 33；
The flange 44, the long side set on the top surface extend towards the bottom cover 50, and the flange 44 is elongated, described
Flange 44 and side wall cooperation are convenient for quick, lean and correct assembly.
In other embodiments, the top cover 40, the bottom cover 50 can be composed, and the combination of the two is not limited to
44 clamp-close type of flange.
Below in conjunction with Fig. 8 and Figure 10 to electronic system case internal element provided by an embodiment of the present invention and the dress
100 partly or wholly assembly relation is set to be described in detail.
Referring to Fig. 8, the device 100 further includes data converter 70 and the second force snesor 60,
Second force snesor 60 is contacted with the protrusion 52 and the side wall, second force snesor 60 with
The overlapping region of the protrusion 52 offers 2 through-holes through the bottom cover 50, can fix described using screw or pin
Two force snesors 60 and the bottom cover 50.Second force snesor 60 is cuboid.Second force snesor 60 it is another
End (far from the protrusion 52) equally offers 2 through-holes, for being connected to (the figure of connecting hole 35 of 33 bottom of bracket
10)。
The data converter 70 is placed on the bottom cover 50, and vertical side is parallel to second force snesor
Between the side wall of 60 side, the data converter 70 and second force snesor 60 and the bottom cover 50 has centainly
Gap is not directly contacted with, and heat is avoided to gather.The data converter 70 includes data transmit-receive end 71 and extension 72, the receipts
Originator 71 stretches out outside the top cover 40.The extension 72 is delta wing, 72 surface of extension, the data converter
70 are parallel to second force snesor 60, and the extension 72 and deviates from second power close to the side wall of the bottom cover 50
Sensor 70.
The assemble sequence of the device 100 can be successively are as follows:
The manipulator 20 is placed on the pedestal 10；
Second force snesor 60 is fixedly mounted with the bottom cover 50 by through-hole；
The data converter 70 is installed on the bottom cover 50, and groove use can be opened up on bottom cover 50 described in practical application
To accommodate the data converter 70；
The position sensor 30 is fixedly mounted with second force snesor 60 by the connecting hole 35；
The top cover 40 engages installation with the bottom cover 50.
Below by the information gathering process to long-range ultrasound procedure arm device 100 provided by an embodiment of the present invention into
Row is described in detail.
The spatial attitude acquisition of information of the device 100:
Sonographer holds the manipulator 20 by figure manipulation is beaten, and passes through the posture built in the manipulator 20
Sensor 21 acquires its three-dimensional space posture information.
The spatial positional information of the device 100 obtains:
Fig. 1 shows 20 bottom of manipulator by touching the position sensor 30 of lower section to obtain the manipulator 20
Spatial positional information, in which:
The touch screen 32 shown in described manipulator 20 and Fig. 1 is point contact, and the manipulator 20 touches the touching
Any position on screen 32 is touched, spatial positional information is collected, while touch mode makes doctor beat hand when scheming support
And sense of touch, it is more true and can reduce its wrist degree of fatigue.
The contact force information of the device 100 obtains:
Mode one: first force snesor 22 of 20 bottom of manipulator directly acquire the manipulator 20 with it is described
The contact force information of touch screen 32；
Mode two: the deformation that second force snesor 60 acquires the touch screen 32 is converted to the manipulator 20 and institute
State the contact force information of touch screen 32.
Mode three: comprehensive method one and mode two obtain contact force information.
Further below to the operating mechanism of 20 device 100 of long-range ultrasound procedure hand provided by an embodiment of the present invention
It is described in detail.
The operating mechanism of the device 100:
1) signal acquisition
The attitude transducer 21 acquires spatial attitude information；
The force snesor acquires contact force information；
The position sensor 30 acquires spatial positional information；
2) data fusion
All data informations of acquisition are merged by the data converter 70 with sensor fusion algorithm；
3) data communication
Fused data are sent to doctor's end main frame (such as computer) by wired or wireless way；
4) ultrasound beats figure
The host computer gives patient end tele-robotic by transmitted data on network information, and robot receives information simulation
The posture of long-range sonographer, dynamics and beats figure position and carry out ultrasonic beating figure.
The present invention also applies above-mentioned apparatus 100 to construct long-range ultrasonic testing system, the system further include doctor's end main frame and
REMOTE MACHINE people, the contoured design based on the manipulator 20 can be effectively improved doctor and use robot remote ultrasound diagnosis system
The operating experience of system, by setting Position and attitude sensor and force snesor acquisition, fusion, transmission information flexibly to control remote patient
The pose movement and contact force for holding robot six-freedom degree, are suitable for distal end ultrasonic testing system, the system detection process
It is true efficient.
Embodiment of above is only to illustrate the technical solution of the embodiment of the present invention rather than limits, although referring to above preferable
The embodiment of the present invention is described in detail in embodiment, those skilled in the art should understand that, it can be to this hair
The technical solution of bright embodiment is modified or equivalent replacement should not all be detached from the embodiment of the present invention technical solution spirit and
Range.
Claims (10)
1. a kind of long-range ultrasound procedure arm device, it is characterised in that: the manipulator with ultrasonic probe shape, the manipulator top
Portion is equipped with attitude transducer to obtain its spatial attitude information, and the manipulator bottom is used to touch the position sensor of lower section
To obtain the spatial positional information of the manipulator, the manipulator bottom and/or the strong sensing of position sensor setting
Device is turned for obtaining contact force information, the spatial attitude information, the spatial positional information, the contact force information by data
Parallel operation, which is received, merged and exported to controlling remote robotic ultrasound, beats figure.
2. long-range ultrasound procedure arm device according to claim 1, it is characterised in that: the position sensor includes touching
Screen and bracket, the branch are set up in the touch screen bottom and surrounding to support and protect the touch screen.
3. long-range ultrasound procedure arm device according to claim 2, it is characterised in that: the manipulator bottom is arc,
The manipulator and the touch screen are point contact.
4. long-range ultrasound procedure arm device according to claim 3, it is characterised in that: the manipulator bottom is equipped with first
Force snesor, first force snesor incude the contact force that the manipulator applies.
5. long-range ultrasound procedure arm device according to claim 3, it is characterised in that: the frame bottom and the second power pass
The top surface of sensor one end contacts and the two is fixedly linked, and second force snesor incudes the contact that the touch screen is subject to
Power.
6. long-range ultrasound procedure arm device according to claim 5, it is characterised in that: described device includes electronic system
Case, second force snesor are installed on the bottom cover of the electronic system case far from the other end of the bracket, the bottom
It covers and is equipped with protrusion, the protrusion is contacted with second force snesor bottom surface.
7. long-range ultrasound procedure arm device according to claim 6, it is characterised in that: the touch screen, the bracket, institute
It states electronic system case end part aligning and middle part is centrally located, the data converter is set on the bottom cover, and with described second
Force snesor is arranged in parallel, and the top cover of the electronic system case is stretched out in the sending and receiving end of the data converter.
8. long-range ultrasound procedure arm device according to claim 1, it is characterised in that: the manipulator, which is configured with, places bottom
Seat, the pedestal open up groove to support the manipulator, calibration switch are equipped in the pedestal, the calibration switch is for real
The calibration of the existing attitude transducer.
9. long-range ultrasound procedure arm device according to claim 1, it is characterised in that: the manipulator is equipped with and beats figure and press
Key, the information are acquired or are transmitted by wired or wireless way.
10. a kind of long-range ultrasonic testing system as claimed in any one of claims 1-9 wherein, it is characterised in that: including described remote
Journey ultrasound procedure arm device, doctor's end main frame, REMOTE MACHINE people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810615912.8A CN108994861B (en) | 2018-06-14 | 2018-06-14 | Remote ultrasonic manipulator device and remote ultrasonic detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810615912.8A CN108994861B (en) | 2018-06-14 | 2018-06-14 | Remote ultrasonic manipulator device and remote ultrasonic detection system |
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| CN108994861A true CN108994861A (en) | 2018-12-14 |
| CN108994861B CN108994861B (en) | 2021-01-05 |
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| CN201810615912.8A Active CN108994861B (en) | 2018-06-14 | 2018-06-14 | Remote ultrasonic manipulator device and remote ultrasonic detection system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849006A (en) * | 2019-01-12 | 2019-06-07 | 长春工业大学 | Support film manipulator |
| CN109998590A (en) * | 2019-04-15 | 2019-07-12 | 深圳华大智造科技有限公司 | The control method of long-range ultrasound operating system and long-range ultrasound operating system |
| CN111481231A (en) * | 2019-01-29 | 2020-08-04 | 昆山华大智造云影医疗科技有限公司 | Ultrasonic detection control method and device and computer readable storage medium |
| CN111904465A (en) * | 2020-09-02 | 2020-11-10 | 郭润民 | Remote ultrasonic diagnosis device |
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| CN113288204B (en) * | 2021-04-21 | 2023-09-29 | 佛山纽欣肯智能科技有限公司 | Semi-autonomous B ultrasonic detection system of robot |
| WO2023061112A1 (en) * | 2021-10-14 | 2023-04-20 | 合肥合滨智能机器人有限公司 | Portable teleoperation handheld device for remote uhrasonography |
| CN116509448A (en) * | 2023-07-03 | 2023-08-01 | 深圳华大智造云影医疗科技有限公司 | Control method and device of ultrasonic probe, electronic equipment and storage medium |
| CN116509448B (en) * | 2023-07-03 | 2023-12-12 | 深圳华大智造云影医疗科技有限公司 | Control method and device of ultrasonic probe, electronic equipment and storage medium |
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