CN108994861B - Remote ultrasonic manipulator device and remote ultrasonic detection system - Google Patents
Remote ultrasonic manipulator device and remote ultrasonic detection system Download PDFInfo
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- CN108994861B CN108994861B CN201810615912.8A CN201810615912A CN108994861B CN 108994861 B CN108994861 B CN 108994861B CN 201810615912 A CN201810615912 A CN 201810615912A CN 108994861 B CN108994861 B CN 108994861B
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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
Abstract
The invention provides a remote ultrasonic manipulator device which is provided with a manipulator in an ultrasonic probe shape, wherein a posture sensor is arranged at the top of the manipulator to acquire space posture information of the manipulator, a position sensor at the bottom of the manipulator is used for touching the lower part of the manipulator to acquire space position information, a force sensor is arranged at the bottom of the manipulator and/or the position sensor and is used for acquiring contact force information, and the space posture information, the space position information and the contact force information are fused through a data converter and output to remotely control the remote robot to perform ultrasonic mapping. The invention simulates the mapping technique of an ultrasonic doctor, takes the ultrasonic probe as a model to design an operating hand, and the doctor can flexibly control the pose movement of the robot at the remote patient end with six degrees of freedom, and simultaneously can control the contact force of the ultrasonic probe at the patient end in real time, thereby realizing the dual control of force and position, fully simulating the real mapping technique of the doctor and improving the quality and efficiency of remote diagnosis.
Description
Technical Field
The invention relates to the technical field of remote ultrasound, in particular to a remote ultrasound manipulator device and a remote ultrasound detection system.
Background
This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
With the development of medical technology, the ultrasonic detection technology is applied to hospitals more and more widely due to the simplicity, portability, low cost and no side effect. However, due to economic development and uneven distribution of high-quality medical resources, people in many areas have not been able to perform high-quality ultrasound examinations. A remote robot is configured at a patient end through a remote ultrasonic detection system, and is remotely controlled by an expert doctor to carry out ultrasonic diagnosis so as to realize resource sharing, so that the defect of resource shortage in remote and basic regions can be overcome.
The existing system adopts a serial or parallel mechanical manipulator to obtain pose information with 6 degrees of freedom and provide 3-dimensional tactile feedback. The system is prepared by independent agents, and the cost is too high; the system is closed, meanwhile, the stability is poor, and the technical support is not in place; position and gesture scope all have the restriction during operation, and not to the design to long-range supersound, and doctor's feedback operation and experience effect are not good enough, can not satisfy the nimble technique demand of making a picture of supersound doctor.
Disclosure of Invention
In view of the above, there is a need for an improved remote ultrasonic manipulator device, which can truly simulate the mapping technique of an ultrasonic doctor, effectively acquire the position, posture and contact force information to control the operation of a patient-end robot, and realize true and efficient remote ultrasonic diagnosis.
The technical scheme provided by the invention is as follows: the utility model provides a long-range supersound manipulator device, has the manipulator of ultrasonic probe shape, the manipulator top is equipped with attitude sensor in order to acquire its space gesture information, just the manipulator bottom is used for touching the position sensor of below in order to acquire the space position information of manipulator, the manipulator bottom and/or position sensor sets up force sensor and is used for acquireing contact force information, space gesture information the space position information contact force information is received by data converter, is fused and exports the remote control telerobot supersound and makes a picture. The profiling design of the manipulator can effectively improve the operation experience of a doctor using the robot remote ultrasonic diagnosis system, and flexibly control the pose motion and contact force of the robot at the remote patient end in six degrees of freedom.
Further, the position sensor comprises a touch screen and a support, wherein the support is arranged at the bottom and around the touch screen to support and protect the touch screen.
Further, the support includes with the strengthening rib of touch-sensitive screen bottom contact, the strengthening rib, the support body, touch-sensitive screen mutually perpendicular.
Further, the cross section of the reinforcing rib is triangular.
Further, the cross section of the bracket body is L-shaped.
Further, the support includes a frame that surrounds the touch screen profile for protecting the touch screen, the frame not being closed to facilitate removal, installation, or replacement of the touch screen.
Further, the top of the bracket body extends along the edge of the touch screen to coincide with the edge.
Further, the support can also include a supporting portion, the supporting portion contacts with the bottom of the touch screen, and the frame body, the supporting portion and the support body are integrally formed.
Further, the touch screen is rectangular, and the support is arranged under the short side of the touch screen and arranged in the middle.
Furthermore, the bottom of the operating hand is arc-shaped, and the operating hand is in point contact with the touch screen. The point touch mode enables hands to have support and touch feeling when a doctor figures, is more real and can reduce the fatigue degree of the wrists.
Further, a first force sensor is arranged at the bottom of the manipulator and senses the contact force applied by the manipulator.
Further, the bottom of the bracket is in contact with the top surface of one end of a second force sensor, the bracket and the second force sensor are fixedly connected, and the second force sensor senses the contact force applied to the touch screen.
Furthermore, the device comprises an electronic system box, the other end part, far away from the bracket, of the second force sensor is installed on a bottom cover of the electronic system box, a convex part is arranged on the bottom cover, and the convex part is in contact with the bottom surface of the second force sensor.
Furthermore, the touch screen, the support, the alignment of electronic system case tip and middle part set up in the middle, data converter locates on the bottom cover, and with second force sensor parallel arrangement, data converter's the end of receiving and dispatching stretches out the top cap of electronic system case.
Furthermore, the manipulator is matched with a placing base, and the base is provided with a groove for supporting the manipulator.
Furthermore, a calibration switch is arranged in the base and used for realizing calibration of the attitude sensor.
Furthermore, the manipulator is provided with a pattern-printing key, and the information is collected or transmitted in a wired or wireless mode.
The invention also provides a remote ultrasonic detection system, which comprises a remote ultrasonic manipulator device, a doctor end host and a remote robot, wherein:
the device has the operative hand of ultrasonic probe shape, the operative hand top is equipped with attitude sensor in order to acquire its space gesture information, just the operative hand bottom is used for touching the position sensor of below and acquires with the space position information of operative hand, operative hand bottom and/or position sensor sets up force sensor and is used for acquireing contact force information, space gesture information the space position information contact force information is received by data converter, is fused and is exported remote control telerobot supersound and is made a picture. The profiling design of the manipulator can effectively improve the operation experience of a doctor using the robot remote ultrasonic diagnosis system, and flexibly control the pose motion and contact force of the robot at the remote patient end in six degrees of freedom.
Further, the position sensor comprises a touch screen and a support, wherein the support is arranged at the bottom and around the touch screen to support and protect the touch screen.
Further, the support includes with the strengthening rib of touch-sensitive screen bottom contact, the strengthening rib, the support body, touch-sensitive screen mutually perpendicular.
Further, the cross section of the reinforcing rib is triangular.
Further, the cross section of the bracket body is L-shaped.
Further, the support includes a frame that surrounds the touch screen profile for protecting the touch screen, the frame not being closed to facilitate removal, installation, or replacement of the touch screen.
Further, the top of the bracket body extends along the edge of the touch screen to coincide with the edge.
Further, the support can also include a supporting portion, the supporting portion contacts with the bottom of the touch screen, and the frame body, the supporting portion and the support body are integrally formed.
Further, the touch screen is rectangular, and the support is arranged under the short side of the touch screen and arranged in the middle.
Furthermore, the bottom of the operating hand is arc-shaped, and the operating hand is in point contact with the touch screen. The point touch mode enables hands to have support and touch feeling when a doctor figures, is more real and can reduce the fatigue degree of the wrists.
Further, a first force sensor is arranged at the bottom of the manipulator and senses the contact force applied by the manipulator.
Further, the bottom of the bracket is in contact with the top surface of one end of a second force sensor, the bracket and the second force sensor are fixedly connected, and the second force sensor senses the contact force applied to the touch screen.
Furthermore, the device comprises an electronic system box, the other end part, far away from the bracket, of the second force sensor is installed on a bottom cover of the electronic system box, a convex part is arranged on the bottom cover, and the convex part is in contact with the bottom surface of the second force sensor.
Furthermore, the touch screen, the support, the alignment of electronic system case tip and middle part set up in the middle, data converter locates on the bottom cover, and with second force sensor parallel arrangement, data converter's the end of receiving and dispatching stretches out the top cap of electronic system case.
Furthermore, the manipulator is matched with a placing base, and the base is provided with a groove for supporting the manipulator.
Furthermore, a calibration switch is arranged in the base and used for realizing calibration of the attitude sensor.
Furthermore, the manipulator is provided with a pattern-printing key, and the information is collected or transmitted in a wired or wireless mode.
Compared with the prior art, the remote ultrasonic manipulator device provided by the invention is provided with a manipulator in an ultrasonic probe shape, the top of the manipulator is provided with a posture sensor to acquire spatial posture information of the manipulator, the bottom of the manipulator touches a position sensor below the manipulator to acquire spatial position information of the manipulator, the bottom of the manipulator and/or the position sensor is provided with a force sensor to acquire contact force information, and the spatial posture information, the spatial position information and the contact force information are fused through a data converter and output to remotely control the remote robot to perform ultrasonic mapping. The invention simulates the mapping technique of an ultrasonic doctor, takes the ultrasonic probe as a model to design an operating hand, and the doctor can flexibly control the pose movement of the robot at the remote patient end with six degrees of freedom, and simultaneously can control the contact force of the ultrasonic probe at the patient end in real time, thereby realizing the dual control of force and position, fully simulating the real mapping technique of the doctor and improving the quality and efficiency of remote diagnosis.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural view of a remote ultrasonic manipulator apparatus of the present invention.
Fig. 2 is a schematic structural diagram of the manipulator shown in fig. 1.
Fig. 3 is another schematic structural diagram of the manipulator shown in fig. 1.
Fig. 4 is a schematic structural diagram of the bracket and the touch screen shown in fig. 1.
Fig. 5 is another schematic structural diagram of the bracket and the touch screen shown in fig. 1.
FIG. 6 is a schematic diagram of a data converter according to the present invention.
Fig. 7 is a schematic structural diagram of the electronic system box (except for the top cover) of the invention.
FIG. 8 is an assembled block diagram of the second force sensor of FIGS. 6, 7, and 1.
Fig. 9 is a schematic structural view of an electronic system box (top cover only) of the present invention.
Fig. 10 is a cross-sectional view of the combined structure shown in fig. 4, 8 and 9.
Fig. 11 is a cross-sectional view of the placement base shown in fig. 1.
Description of reference numerals:
the following detailed description further illustrates embodiments of the invention in conjunction with the above-described figures.
Detailed Description
So that the manner in which the above recited objects, features and advantages of embodiments of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. In addition, the features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of embodiments of the invention, and the described embodiments are merely a subset of embodiments of the invention, rather than a complete embodiment. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the embodiments of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the present invention belong. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the invention.
The device 100 is used for handheld operation of an ultrasonic doctor, the device 100 truly simulates a doctor mapping method, and therefore collected pose and force information is sent to a patient-end robot through a doctor-end controller (such as a computer) to achieve real and efficient remote ultrasonic mapping.
Fig. 1 shows the overall structure of an embodiment of a remote ultrasonic manipulator 20 device 100, and the device 100 comprises a manipulator 20, a base 10, a position sensor 30, a force sensor, a top cover 40, a bottom cover 50 and the like.
The manipulator 20 according to an embodiment of the present invention will be described in detail with reference to fig. 1, 2 and 3.
As shown in fig. 1, the operating hand 20 has an ultrasonic probe shape, the bottom of the operating hand is arc-shaped, the top surface of the operating hand is rectangular, the size from the bottom to the top is sequentially reduced, enlarged, reduced and enlarged, and a small neck part is designed to meet the holding habit of an ultrasonic doctor and facilitate the collection of the drawing technique of the ultrasonic doctor;
the top of the manipulator 20 is provided with an attitude sensor 21 to acquire spatial attitude information of the manipulator, and the attitude sensor 21 is a high-performance three-dimensional motion attitude measurement system based on an MEMS (micro electro Mechanical Systems) technology, so that real-time measurement of spatial six-degree-of-freedom attitude is realized;
the bottom of the operating hand 20 is arc-shaped and is flat as a whole.
The bottom of the operating hand 20 is provided with a first force sensor 22, and the first force sensor 22 senses the contact force applied by the operating hand 20.
As shown in fig. 2 and 3, a fixing portion 24 is provided below one side of the manipulator 20, the cross section of the fixing portion 24 is circular, and the circular protrusion corresponds to an indication point arranged on the head side of the ultrasonic probe, and the indication point is simultaneously presented in the ultrasonic image as a reference point for identification (an ultrasonic mode can be arranged and presented on the right side or the left side), that is, used for resolving the direction of the ultrasonic probe to analyze ultrasonic image information, so that the fixing portion 24 is used for distinguishing the direction of the manipulator 20 and is also fixed with the base 10;
a drawing button 23 is arranged on the same side above the fixing part 24, and the drawing button 23 is a long strip-shaped bulge;
the top of the side of the operator 20 away from the drawing button 23 is provided with a groove, and the groove is used for installing a press switch and accommodating a wire for a switch. The press switch is used for controlling the mechanical arm to finish drawing quickly, and when the press switch is pressed, the mechanical arm can be lifted to a certain height to be away from the surface of a human body, and drawing is finished.
In other embodiments, the fixing portion 24 and the image button 23 may not be disposed on the same side; the fixing portion 24 is not limited to a circular shape; the drawing key 23 is not limited to be in a long strip shape; the pattern-pressing key 23 may be a touch or other sensing method, and is not limited to this embodiment. The position and shape of the groove are not limited to those in the present embodiment.
The placement base 10 provided in accordance with one embodiment of the present invention will be described in detail with reference to fig. 1 and 11.
As shown in fig. 1 and 11, the handler 20 is provided with a placement base 10, the base 10 is placed at the right side portion of the whole device 100 for easy access, the base 10 includes a bottom plate 12, a boss 11, a mounting groove 13 and a fixing groove 14,
wherein:
the bottom plate 12 is arranged at the bottommost layer and is in contact with the placing plane, and the bottom plate 12 is square in the embodiment;
the boss 11 is fixed on the bottom plate 12 and is a main part for placing the manipulator 20, in this embodiment, the boss is a rectangular parallelepiped, and the boss 11 is aligned with the middle part of the bottom plate 12;
the mounting groove 13 is an accommodating cavity formed in the concave station along the central axis and facing inwards, and the bottom surface of the mounting groove 13 is arc-shaped and matched with the bottom of the operating handle 20;
the fixing groove 14 is formed at one side of the top of the boss 11 along a vertical direction, and the fixing groove 14 is used for inserting or removing the fixing part 24 into or from the base 10;
when the fixing part 24 is inserted into the corresponding position of the fixing groove 14, the calibration switch 15 in the fixing groove 14 is triggered, and the attitude sensor 21 starts the automatic calibration operation, wherein the calibration operation takes less than 1 second. The calibration switch 15 abuts against the fixing portion 24.
In other embodiments, the base 10 may be integrally formed in shape; the shape, size, and positional relationship of the base plate 12 and the boss 11 are not limited to the present embodiment; the number of the fixing grooves 14 can be 2, and the fixing grooves are arranged at symmetrical positions, so that the directivity during placement is avoided, and the use efficiency is improved.
The position sensor 30 provided in one embodiment of the present invention will be described in detail with reference to fig. 4 and 5.
As shown in fig. 4 and 5, the position sensor 30 includes a touch screen 32, a bracket 33;
wherein:
the touch screen 32 is flat;
the bracket 33 includes:
a frame 31 surrounding the outline of the touch screen 32 for protecting the touch screen 32, wherein the frame 31 is not closed so as to facilitate the detachment, installation or replacement of the touch screen 32;
a rib 34 contacting the bottom of the touch screen 32, wherein the rib 34 has a triangular cross section in the present embodiment;
the support 33 body is L-shaped in cross section, is close to one edge of the touch screen 32, and the top of the support extends along the edge of the touch screen 32 to be overlapped with the edge;
in this embodiment, the rib 34, the bracket 33 body, and the touch panel 32 are perpendicular to each other. The frame 31, the reinforcing ribs 34, and the bracket 33 are integrally formed. The touch screen 32 shown in fig. 4 and 5 is rectangular, an end of the main body of the bracket 33 coincides with a short side of the touch screen 32, and the main body of the bracket 33, the reinforcing ribs 34, and the touch screen 32 are aligned in the center.
In other embodiments, the bracket 33 may further include a support portion, which is supported below the bottom of the touch screen 32, and the stiffener 34 contacts the bottom of the support portion. The touch screen 32 may be square or round; the section of the reinforcing rib 34 may be a hollow frame shape, and is not limited to the embodiment; the frame 31, the reinforcing ribs 34, and the bracket 33 may be combined and fixed, and are not necessarily integrally formed.
An electronic system box according to an embodiment of the present invention will be described in detail with reference to fig. 1, 7 and 9.
FIG. 1 shows the apparatus 100 provided with an electronic system box comprising a top cover 40 (FIG. 9) and a bottom cover 50 (FIG. 7);
wherein:
the bottom cover 50 is a rectangular parallelepiped structure, and includes a bottom surface and a side wall formed integrally,
the bottom surface, including:
a protrusion 52 formed on the bottom surface and connected to the middle of the shorter side wall;
the short edge of the top of the side wall is higher than the long edge,
and a first opening 53 is opened at the middle upper part of the side wall far away from the convex part 52, and the first opening 53 is used for installing the bracket 33.
The top cover 40, which is a rectangular structure, includes a top surface and a flange 44 that are integrally formed,
the top surface, including the second opening 41 and the third opening 43,
the second opening 41 is used for the exit of the transceiving end 71 of the data converter 70.
The third opening 43 is formed in the middle of the short side and opened inwards, and the third opening 43 is matched with the first opening 53 to mount the bracket 33;
the flange 44 is arranged on the long side of the top surface and extends towards the bottom cover 50, the flange 44 is in a long strip shape, and the flange 44 is matched with the side wall to facilitate quick and accurate assembly.
In another embodiment, the top cover 40 and the bottom cover 50 may be combined, and the combination of the two is not limited to the snap-fit type flange 44.
The following describes the internal components of the electronic system box and the partial or whole assembly relationship of the device 100 according to an embodiment of the present invention with reference to fig. 8 and 10.
Referring to fig. 8, the apparatus 100 further includes a data transducer 70 and a second force sensor 60,
the second force sensor 60 contacts with the convex portion 52 and the side wall, 2 through holes penetrating the bottom cover 50 are formed in an overlapping area of the second force sensor 60 and the convex portion 52, and the second force sensor 60 and the bottom cover 50 can be fixed by screws or pins. The second force sensor 60 is a cuboid. The other end of the second force sensor 60 (far from the convex portion 52) is also provided with 2 through holes for connecting to the connecting hole 35 at the bottom of the bracket 33 (fig. 10).
The data converter 70 is disposed on the bottom cover 50, the vertical side of the data converter 70 is parallel to the side of the second force sensor 60, and a certain gap exists between the data converter 70 and the second force sensor 60 and the side wall of the bottom cover 50, so that heat accumulation is avoided. The data converter 70 includes a data transceiving end 71 and an extension portion 72, wherein the transceiving end 71 extends out of the top cover 40. The extension 72 is a triangular wing, the surface of the extension 72 and the data converter 70 are parallel to the second force sensor 60, and the extension 72 is close to the side wall of the bottom cover 50 and faces away from the second force sensor 70.
The assembly sequence of the device 100 may be, in order:
the manipulator 20 is arranged on the base 10;
the second force sensor 60 and the bottom cover 50 are fixedly installed through a through hole;
the data converter 70 is mounted on the bottom cover 50, and in practical applications, a groove may be formed on the bottom cover 50 for accommodating the data converter 70;
the position sensor 30 and the second force sensor 60 are fixedly installed through the connection hole 35;
the top cover 40 is snap-fitted to the bottom cover 50.
The information acquisition process of the remote ultrasonic manipulator device 100 according to an embodiment of the present invention will be described in detail below.
Spatial attitude information acquisition of the apparatus 100:
the sonographer holds the manipulator 20 to operate according to a drawing manipulation, and the gesture sensor 21 arranged in the manipulator 20 collects three-dimensional spatial gesture information of the manipulator.
Spatial position information acquisition of the apparatus 100:
fig. 1 shows that the bottom of the manipulator 20 touches the position sensor 30 below to acquire the spatial position information of the manipulator 20, wherein:
the operating hand 20 is in point contact with the touch screen 32 shown in fig. 1, the operating hand 20 touches any position on the touch screen 32, spatial position information is collected, and meanwhile, the point contact mode enables a doctor to have hand support and touch feeling during drawing, so that the wrist fatigue degree of the doctor is more real and can be reduced.
Contact force information acquisition for the device 100:
the first method is as follows: the first force sensor 22 at the bottom of the manipulator 20 directly collects contact force information of the manipulator 20 and the touch screen 32;
the second method comprises the following steps: the second force sensor 60 collects information about the deformation of the touch screen 32 and the contact force between the hand 20 and the touch screen 32.
The third method comprises the following steps: and acquiring contact force information in a first comprehensive mode and a second comprehensive mode.
The operation of the device 100 of the remote ultrasonic manipulator 20 according to an embodiment of the present invention will be further described.
The operation mechanism of the apparatus 100:
1) signal acquisition
The attitude sensor 21 collects spatial attitude information;
the force sensor collects contact force information;
the position sensor 30 collects spatial position information;
2) data fusion
All the collected data information is fused by the data converter 70 through a sensor fusion algorithm;
3) data communication
The fused data is sent to a doctor end host (such as a computer) in a wired or wireless mode;
4) ultrasonic imaging
The host computer transmits data information to the patient-end remote robot through the network, and the robot receives the information to simulate the posture, the force and the mapping position of a remote ultrasonic doctor to perform ultrasonic mapping.
The invention also applies the device 100 to construct a remote ultrasonic detection system, the system also comprises a doctor end host and a remote robot, the operation experience of a doctor using the robot remote ultrasonic diagnosis system can be effectively improved based on the profiling design of the operating hand 20, the pose motion and contact force of six degrees of freedom of the remote patient end robot can be flexibly controlled by setting the pose sensor and the force sensor to collect, fuse and transmit information, the system is suitable for the remote ultrasonic detection system, and the detection process of the system is real and efficient.
Although the embodiments of the present invention have been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the embodiments of the present invention.
Claims (8)
1. A remote ultrasonic manipulator device, characterized in that: manipulator with ultrasonic probe shape, the manipulator top is equipped with attitude sensor in order to acquire its space gesture information including six degrees of freedom gestures in space in real time, just the manipulator bottom is used for touching the position sensor of below in order to acquire the spatial position information of manipulator, the manipulator bottom is provided with first force sensor, first force sensor response the first contact force information that the manipulator applied, position sensor is provided with second force sensor, position sensor includes touch-sensitive screen and support, the support bottom with the top surface contact of second force sensor tip and both are fixed continuous, second force sensor response the second contact force information that the touch-sensitive screen received, spatial gesture information the spatial position information first contact force information and second contact force information are received by data converter, And fusing and outputting the images to a remote control remote robot to simulate the image shooting method of an ultrasonic doctor for ultrasonic image shooting.
2. The remote ultrasonic manipulator apparatus of claim 1, wherein: the support is arranged at the bottom and around the touch screen to support and protect the touch screen.
3. The remote ultrasonic manipulator apparatus of claim 2, wherein: the bottom of the operating hand is arc-shaped, and the operating hand is in point contact with the touch screen.
4. The remote ultrasonic manipulator apparatus of claim 1, wherein: the device comprises an electronic system box, the other end part, far away from the support, of the second force sensor is installed on a bottom cover of the electronic system box, a convex part is arranged on the bottom cover, and the convex part is in contact with the bottom surface of the second force sensor.
5. The remote ultrasonic manipulator apparatus of claim 4, wherein: the touch screen, the support, the alignment of electronic system case tip and middle part set up between two parties, data converter locates on the bottom cover, and with second force sensor parallel arrangement, data converter's the end of receiving and dispatching stretches out the top cap of electronic system case.
6. The remote ultrasonic manipulator apparatus of claim 1, wherein: the manipulator is matched with and places the base, the recess is seted up in order to support to the base the manipulator, be equipped with calibration switch in the base, calibration switch is used for realizing attitude sensor's calibration.
7. The remote ultrasonic manipulator apparatus of claim 1, wherein: the manipulator is provided with a pattern-printing key, and the information is collected or transmitted in a wired or wireless mode.
8. A remote ultrasonic testing system, characterized by: comprising a doctor end host, a remote robot and a remote ultrasonic manipulator apparatus as claimed in any one of claims 1 to 7.
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| CN201810615912.8A CN108994861B (en) | 2018-06-14 | 2018-06-14 | Remote ultrasonic manipulator device and remote ultrasonic detection system |
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| CN201810615912.8A CN108994861B (en) | 2018-06-14 | 2018-06-14 | Remote ultrasonic manipulator device and remote ultrasonic detection system |
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| WO2023061113A1 (en) | 2021-10-14 | 2023-04-20 | 合肥合滨智能机器人有限公司 | Portable remote ultrasound scanning system and compliance control method for safe ultrasound scanning |
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| CN111904465A (en) * | 2020-09-02 | 2020-11-10 | 郭润民 | Remote ultrasonic diagnosis device |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| WO2023061113A1 (en) | 2021-10-14 | 2023-04-20 | 合肥合滨智能机器人有限公司 | Portable remote ultrasound scanning system and compliance control method for safe ultrasound scanning |
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