CN109009211B - Intelligent equipment, ultrasonic detection-based method and device - Google Patents

Intelligent equipment, ultrasonic detection-based method and device Download PDF

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Publication number
CN109009211B
CN109009211B CN201810653521.5A CN201810653521A CN109009211B CN 109009211 B CN109009211 B CN 109009211B CN 201810653521 A CN201810653521 A CN 201810653521A CN 109009211 B CN109009211 B CN 109009211B
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body part
mechanical arm
ultrasonic
detected
controlling
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CN109009211A (en
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王秋霜
范小利
孙岷
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Lenovo Beijing Ltd
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Lenovo Beijing Ltd
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/54—Control of the diagnostic device
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • Radiology & Medical Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
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  • General Health & Medical Sciences (AREA)
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Abstract

The invention discloses an intelligent device, a method and a device based on ultrasonic detection, wherein the intelligent device comprises at least one mechanical arm and a processor, the processor can control the mechanical arm fixed with a corresponding target device to execute corresponding operation, for example, control the mechanical arm fixed with a three-dimensional optical scanning camera device to scan a body part to be detected of a first user so as to obtain a three-dimensional model of the body part, and the three-dimensional model of the body part comprises a contour of the body part to be detected; and controlling the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected, and obtaining an ultrasonic image. The intelligent device can be remotely controlled by a doctor, or can perform corresponding operation without manual control under the condition of no doctor, so that the doctor is not required to perform the operation on site.

Description

Intelligent equipment, ultrasonic detection-based method and device
Technical Field
The invention relates to the technical field of robots, in particular to intelligent equipment, and a method and a device based on ultrasonic detection.
Background
Based on the examination of ultrasonic waves, various sectional images of each organ and surrounding organs, such as color ultrasound, B-mode ultrasonic examination, etc., can be clearly obtained.
Current ultrasound-based examinations must be performed by a physician in situ.
Disclosure of Invention
In view of the above, the invention provides an intelligent device, and a method and a device based on ultrasonic detection.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an intelligent device based on ultrasonic detection, comprising:
at least one mechanical arm; wherein, any mechanical arm has a plurality of degrees of freedom; the end of either robotic arm is used to secure a target device, the target device comprising: at least one of an ultrasonic probe and a three-dimensional optical scanning camera device;
the processor is used for controlling the mechanical arm fixed with the three-dimensional optical scanning and imaging device to scan the body part to be detected of the first user so as to obtain a body part three-dimensional model, wherein the body part three-dimensional model comprises the outline of the body part to be detected;
the processor is also used for controlling the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected, and an ultrasonic image is obtained.
The processor is specifically configured to, when executing control to rotate the mechanical arm fixed with the ultrasonic probe so that the ultrasonic probe scans along the outline of the body part to be measured:
acquiring a scanning path for scanning the body part to be detected based on the body part three-dimensional model;
and controlling the mechanical arm fixed with the ultrasonic probe to rotate, so that the ultrasonic probe scans along the outline of the body part to be detected according to the scanning path.
The mechanical arm fixed with the ultrasonic probe is provided with a force feedback sensor, and the force feedback sensor is used for detecting the pressure of the mechanical arm fixed with the ultrasonic probe pressing a body part to be detected; the processor is further configured to:
and adjusting the moving state of the mechanical arm fixed with the ultrasonic probe so as to adjust the pressure of the mechanical arm fixed with the ultrasonic probe touching and pressing the body part to be measured.
Wherein the processor is further configured to:
controlling a mechanical arm fixed with a three-dimensional optical scanning and imaging device to rotate, so that the three-dimensional optical scanning and imaging device faces a display screen of ultrasonic control equipment, and the three-dimensional optical scanning and imaging device records an ultrasonic image displayed by the display screen;
and/or the number of the groups of groups,
and controlling one mechanical arm of the at least one mechanical arm to control the ultrasonic control equipment so as to switch to a corresponding functional mode.
Wherein the processor is further configured to:
based on the ultrasonic image, obtaining analysis information of the first user;
and/or the number of the groups of groups,
based on the ultrasonic image, acquiring a characteristic region meeting preset conditions in the body part to be detected, and controlling the mechanical arm fixed with the ultrasonic probe to rotate so as to scan the characteristic region by using the ultrasonic probe.
Wherein,,
the processor is further configured to: controlling the at least one mechanical arm to switch a target device fixed by the at least one mechanical arm;
or alternatively, the first and second heat exchangers may be,
the tail end of the at least one mechanical arm is respectively provided with a corresponding target device.
Wherein, still include:
the voice recognition device is used for recognizing voice information to obtain control instructions for respectively controlling the at least one mechanical arm;
and/or the number of the groups of groups,
the virtual reality device is used for displaying a virtual application scene, obtaining a control instruction for controlling the at least one mechanical arm based on the operation of a second user in the virtual application scene, wherein the virtual application scene comprises an operation scene of the intelligent equipment to the body part to be detected based on ultrasonic detection and/or the display of the ultrasonic image;
and/or the number of the groups of groups,
the remote mechanical arm control device comprises at least one physical operation component for controlling the at least one mechanical arm and a display screen for displaying the ultrasonic image; the control instruction is used for controlling the at least one mechanical arm based on the operation of the second user on the at least one physical operation component;
And/or the number of the groups of groups,
and the voice prompt device is used for prompting the first user to execute corresponding operation.
Wherein,,
the number of the mechanical arms fixed with the three-dimensional optical scanning and imaging device is one or more, and the three-dimensional optical scanning and imaging devices fixed on different mechanical arms are different;
and/or the number of the groups of groups,
the number of the mechanical arms fixed with the ultrasonic probes is one or more, and the types of the ultrasonic probes fixed on different mechanical arms are different.
An ultrasonic detection-based method is applied to intelligent equipment, and the intelligent equipment comprises: at least one mechanical arm; wherein, any mechanical arm has a plurality of degrees of freedom; the end of either robotic arm is used to secure a target device, the target device comprising: at least one of an ultrasonic probe and a three-dimensional optical scanning camera device; the ultrasonic detection method comprises the following steps:
controlling a mechanical arm fixed with a three-dimensional optical scanning and photographing device to scan a body part to be detected of a first user so as to obtain a body part three-dimensional model, wherein the body part three-dimensional model comprises a body part outline to be detected;
and controlling the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected, and obtaining an ultrasonic image.
An ultrasonic detection-based device applied to intelligent equipment, the intelligent equipment comprising: at least one mechanical arm; wherein, any mechanical arm has a plurality of degrees of freedom; the end of either robotic arm is used to secure a target device, the target device comprising: at least one of an ultrasonic probe and a three-dimensional optical scanning camera device; the ultrasonic detection-based device comprises:
the first control module is used for controlling the mechanical arm fixed with the three-dimensional optical scanning and imaging device to scan the body part to be detected of the first user so as to obtain a body part three-dimensional model, wherein the body part three-dimensional model comprises the outline of the body part to be detected;
and the second control module is used for controlling the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected, and an ultrasonic image is obtained.
As can be seen from the above technical solution, compared with the prior art, the present invention discloses an intelligent device based on ultrasonic detection, where the intelligent device includes at least one mechanical arm, and a processor, where the processor can control the mechanical arm to which a corresponding target device is fixed to perform a corresponding operation, for example, control the mechanical arm to which a three-dimensional optical scanning and imaging device is fixed to scan a body part to be detected of a first user, so as to obtain a three-dimensional model of the body part, where the three-dimensional model of the body part includes a contour of the body part to be detected; and controlling the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected, and obtaining an ultrasonic image. The intelligent device can be remotely controlled by a doctor, or can perform corresponding operation without manual control under the condition of no doctor, so that the doctor is not required to perform the operation on site.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is an internal block diagram of one implementation of an ultrasound inspection-based smart device provided in an embodiment of the present invention;
FIG. 2 is a block diagram of one implementation of an ultrasound inspection-based smart device provided by an example of the present invention;
FIG. 3 is a schematic diagram illustrating the cooperation of an implementation manner of an intelligent device and an ultrasonic control device based on ultrasonic inspection according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the cooperation of an intelligent device based on ultrasonic inspection and another implementation manner of an ultrasonic control device according to an embodiment of the present invention;
FIG. 5 is a block diagram of another implementation of an intelligent device according to an embodiment of the present invention;
FIG. 6 is a block diagram of yet another implementation of a remote control device according to an embodiment of the present invention;
Fig. 7a to 7b are block diagrams of another implementation manner of the smart device according to the embodiment of the present invention;
fig. 8a and 8b are schematic diagrams illustrating cooperation between an intelligent device and another implementation manner of an ultrasonic control device according to an embodiment of the present invention;
FIG. 9 is a flow chart of one implementation of a method based on ultrasound detection provided by an embodiment of the present invention;
fig. 10 is a block diagram of an implementation of an apparatus based on ultrasonic detection according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Based on the examination by the ultrasonic wave, various sectional images of each organ and surrounding organs can be clearly obtained. Taking heart color ultrasound as an example, a heart probe (which can be a lens of a camera) is placed in front of a chest of a user to move back and forth, and various structures of the heart can be clearly displayed on a screen along with rotation of the probe.
Currently, ultrasound-based examinations require a physician to manipulate an ultrasound device, such as a color ultrasound machine. When performing ultrasonic examination, the user is required to remove clothes, so that the privacy of the user is violated; for female testees, ultrasonic examination involves examination of private parts of the body, and a doctor may be disputed because the female is not psychologically difficult to accept the examination of a male doctor. In some remote areas, there is a lack of doctors who use ultrasonic equipment, and even if ultrasonic equipment is available, they cannot be used.
In order to solve the problems, the embodiment of the invention provides intelligent equipment based on ultrasonic examination.
As shown in fig. 1, an internal structure diagram of an implementation manner of an intelligent device based on ultrasonic inspection according to an embodiment of the present invention is shown.
An ultrasonic inspection-based intelligent device includes:
a bus, a processor 1, a memory 2, a communication interface 3, an input device 4 and an output device 5. The processor 1, the memory 2, the communication interface 3, the input device 4 and the output device 5 are connected to each other by a bus. Wherein:
the bus may comprise a path between the processor 1, the memory 2, the communication interface 3, the input device 4 and the output device 5. Information is transferred between processor 1, memory 2, communication interface 3, input device 4 and output device 5.
The processor 1 may be a general-purpose processor, such as a general-purpose Central Processing Unit (CPU), a network processor (Network Processor, NP), a microprocessor, etc., or may be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program according to the present invention. But may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
The processor 1 may comprise a main processor and may also comprise a baseband chip, a modem, etc.
The memory 2 stores programs for executing the technical scheme of the embodiment of the invention, and can also store an operating system and other key services. In particular, the program may include program code including computer-operating instructions. More specifically, the memory 2 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (random access memory, RAM), other types of dynamic storage devices that can store information and instructions, a disk memory, a flash, and so forth.
The input device 4 may be a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer or gravity sensor etc.
The output device 5 may be a display screen, a printer, a speaker, a wireless transmission device, etc.
The communication interface 3 may comprise means using any transceiver or the like for communicating with other devices or communication networks, such as ethernet, radio Access Network (RAN), wireless Local Area Network (WLAN), etc.
The processor 1 executes programs stored in the memory 2 and invokes other devices.
The intelligent device based on ultrasonic inspection (hereinafter referred to as intelligent device in the embodiment of the present invention) provided in the embodiment of the present invention may be applied to various application scenarios, and the intelligent device based on ultrasonic inspection is described below with reference to the internal structure shown in fig. 1 and different application scenarios.
First kind of application scenario, this smart machine is controlled to unmanned.
1. The intelligent device is integrated with an ultrasonic control device (the ultrasonic control device can be a color ultrasonic machine or a B ultrasonic machine and the like).
As shown in fig. 2, a block diagram of one implementation of an ultrasound inspection-based smart device is provided for an example of the present invention.
The intelligent device comprises at least one mechanical arm 11, a processor 1 and a memory 2; wherein the memory 2 is used for storing a program based on ultrasonic examination, and the processor 1 is used for executing the program so as to control at least one mechanical arm contained in the intelligent device to execute corresponding operation.
Any one of the mechanical arms 11 has a plurality of degrees of freedom, for example, any one of the mechanical arms 11 has a plurality of joints, and the plurality of joints can freely move, and can perform precise operations, for example, grasping/replacing an ultrasonic probe, applying an ultrasonic couplant, and the like. In an alternative embodiment, the end of the mechanical arm is a multi-joint mechanical finger imitating a human hand, and various precise operations such as grasping, clicking, twisting and the like can be performed.
The number of the at least one mechanical arm 11 may be one, two, three, …. Fig. 2 illustrates four mechanical arms, and fig. 2 is only an example, and does not limit the number of at least one mechanical arm 11 included in the ultrasonic inspection-based intelligent device provided in the embodiment of the present invention.
The distal end of any of the robotic arms 11 may be used to secure a target device, including: at least one of an ultrasonic probe, an ultrasonic couplant bearing device, an object for erasing the ultrasonic couplant and a three-dimensional optical scanning camera device.
In an alternative embodiment, the three-dimensional optical scanning camera device includes an optical lens, at least one optical sensor, and for example, the three-dimensional optical scanning camera device may be a three-dimensional scanning camera lens. The three-dimensional optical scanning camera device can precisely detect various optical signals.
The process of obtaining an ultrasound image of a body part to be measured by the processor 1 based on the program stored in the memory 2 comprises:
the processor 1 controls the mechanical arm fixed with the three-dimensional optical scanning and imaging device to scan the body part to be detected of the first user so as to obtain a three-dimensional model of the body part, wherein the three-dimensional model of the body part comprises the outline of the body part to be detected.
The number of the mechanical arms fixed with the three-dimensional optical scanning and imaging device in the embodiment of the invention can be one, two, three or …; the moving track and/or the moving direction of the mechanical arm fixed with the three-dimensional optical scanning and imaging device can be controlled, and the orientation of the lens in the three-dimensional optical scanning and imaging device can be controlled, so that the body of the first user can be scanned, and a body three-dimensional model of the first user can be obtained.
In an alternative embodiment, if the number of the mechanical arms to which the three-dimensional optical scanning image capturing device is fixed is plural, the three-dimensional scanning image capturing devices fixed on different mechanical arms, for example, the scanning precision is different.
In an alternative embodiment, controlling the robotic arm to which the three-dimensional optical scanning camera device is fixed to scan the body part to be measured of the first user to obtain the three-dimensional model of the body part includes:
Controlling a mechanical arm fixed with a three-dimensional optical scanning camera device to scan the human body of a first user with low precision to obtain human body posture information and the position of a body part to be sideways, wherein the human body posture information comprises: the position of the human body and the posture of the human body.
And controlling the mechanical arm fixed with the three-dimensional optical scanning and imaging device to perform high-precision 3D scanning on the body part to be detected, and obtaining a body part three-dimensional model corresponding to the body part to be detected.
It will be appreciated that the first user may move his body, for example, turn left, turn right, lie flat, move left, move right, move forward or move backward.
The human body posture information is obtained to determine the current human body posture (left turn, right turn, lie) of the first user and the position of the human body; so as to obtain a corresponding three-dimensional model of the body part. For example, the three-dimensional model of the heart when the first user is in a lying human posture is different from the three-dimensional model of the heart when the first user is in a left turn-over state. After the first user moves the position, the position of the contour of the body part to be measured contained in the body part three-dimensional model also changes.
In an alternative embodiment, the body position and the body posture of the first user are obtained in real time, and whether the body position and the posture are adjusted is determined.
In an alternative embodiment, the processor 2 may control the application of the ultrasound couplant to the body part to be measured by a robotic arm to which the ultrasound couplant carrying device is secured.
Specifically, the memory 1 may store application paths corresponding to different body parts respectively; optionally, the same body part corresponds to different application paths under different human body postures. The processor 2 may obtain the application path of the body part to be measured from the pre-stored application paths. And controlling the mechanical arm fixed with the ultrasonic couplant bearing device to paint the ultrasonic couplant on the body part to be tested along the painting path.
After the body position and the body posture are adjusted, the application path may be adjusted, and in a preferred embodiment, the body posture and the body position of the first user need to be obtained in real time.
The processor 2 controls the rotation of the mechanical arm to which the ultrasonic probe is fixed, so that the ultrasonic probe scans along the outline of the body part to be detected, and an ultrasonic image is obtained.
In an alternative embodiment, the processor 2 is specifically configured to, when executing control to rotate the mechanical arm to which the ultrasonic probe is fixed, scan the ultrasonic probe along the contour of the body part to be measured to obtain the data to be measured:
Acquiring a scanning path for scanning the body part to be detected based on the body part three-dimensional model;
and controlling the mechanical arm fixed with the ultrasonic probe to rotate, so that the ultrasonic probe scans along the outline of the body part to be detected according to the scanning path.
In an alternative embodiment, the memory 2 may store in advance scan paths corresponding to different body parts, and the scan path processor 2 may obtain the scan path of the body part to be measured from the scan paths stored in advance.
After the body position and the body posture are adjusted, the scan path may be adjusted, and in a preferred embodiment, the body posture and the body position of the first user need to be obtained in real time.
In an alternative embodiment, the smart device further comprises a carrying means 12 for carrying the first user. The first user may be a patient.
In an alternative embodiment, the mechanical arm with the ultrasonic probe fixed is provided with a force feedback sensor, and the force feedback sensor is used for detecting the pressure of the mechanical arm with the ultrasonic probe fixed pressing the body part to be detected; the processor 1 is further configured to: and adjusting the moving state of the mechanical arm fixed with the ultrasonic probe so as to adjust the pressure of the mechanical arm fixed with the ultrasonic probe touching and pressing the body part to be measured.
In an alternative embodiment, the movement state of the mechanical arm includes: spatial position and/or direction of movement of the robotic arm.
In an alternative embodiment, the memory 1 may be preset with a pressure range detected by the force feedback sensor, and the processor 13 is specifically configured to, when executing adjustment of the movement state of the mechanical arm to which the ultrasonic probe is fixed, adjust the pressure of the body part to be measured when the mechanical arm to which the ultrasonic probe is fixed touches the body part to be measured:
and adjusting the moving state of the mechanical arm fixed with the ultrasonic probe so as to adjust the pressure value detected by the force feedback sensor, so that the pressure value belongs to the pressure range, and the aim of adjusting the pressure of the body part to be measured by touching the mechanical arm fixed with the ultrasonic probe is fulfilled.
In an alternative embodiment, if the smart device determines that it is necessary to again focus on examining the body part under test, the above operation may be performed again.
In an alternative embodiment, the smart device may further comprise a voice prompt device, which may prompt the first user to perform a corresponding operation, for example, prompt the first user to remove clothing, prompt the first user to turn over, or the like.
In an alternative embodiment, after the inspection is completed, the intelligent device may control the mechanical arm fixed with the object for wiping the ultrasonic couplant, and wipe the ultrasonic couplant of the body part to be tested.
In an alternative embodiment, after the inspection is completed, the intelligent device may control the mechanical arm to which the object for wiping the ultrasonic couplant is fixed, and wipe the ultrasonic couplant on the ultrasonic probe.
In an alternative embodiment, the memory 2 may store the locations of at least one ultrasound probe, a device carrying an ultrasound couplant, an object for erasing the ultrasound couplant, and at least one three-dimensional optical scanning camera; the processor 1 can control the mechanical arm to take the corresponding device from the corresponding position and to put the device back into place after the utilization is completed.
In an alternative embodiment, the smart device may obtain the analysis information of the first user based on the ultrasound image.
In an alternative embodiment, the intelligent device may further upload the ultrasound image and the analysis information of the first user to a server in the cloud for further medical diagnosis or for backup.
2. The intelligent device is not integrated with an ultrasonic control device.
1. No one has manipulated the ultrasonic control device.
Fig. 3 is a schematic diagram illustrating the cooperation of an implementation manner of an intelligent device and an ultrasonic control device based on ultrasonic inspection according to an embodiment of the present invention.
The smart device comprises at least one robot arm 11, a processor 1 and a memory 2. A memory 2 for storing a program based on ultrasound examination, a processor 1 for executing said program, thereby controlling at least one robot arm comprised by the smart device to perform a corresponding operation.
In an alternative embodiment, the smart device further comprises a carrying means 12 for carrying the first user. The first user may be a patient.
The process of obtaining an ultrasound image of a body part to be measured by the smart device shown in fig. 3 based on the program stored in the memory 2 is different from that of the smart device shown in fig. 2 (see description of fig. 2 for the same points and not repeated here):
because the intelligent device is not integrated with the ultrasonic control device, the intelligent device does not have the function of obtaining an ultrasonic image; in order to obtain an ultrasound image, an ultrasound probe requiring the fixation of a robotic arm belongs to the ultrasound control device, i.e. one or more robotic arms may touch the body part to be measured of the first user with the ultrasound probe belonging to the ultrasound control device, thereby enabling the ultrasound control device 31 to obtain an ultrasound image.
In order for the intelligent device to obtain an ultrasound image displayed by the ultrasound control device 31, the processor 2 is further configured to: at least one mechanical arm fixed with a three-dimensional optical scanning and imaging device is controlled to record an ultrasonic image displayed by the ultrasonic control device 31, so that the intelligent device obtains the ultrasonic image.
Since the ultrasonic control apparatus 31 is not controlled by a person, the processor 2 is also configured to: the control of the at least one mechanical arm may be operated for the ultrasonic control device such that the ultrasonic control device switches to a corresponding functional mode, e.g. a key press on the ultrasonic control device is touched.
Except for the above differences, the process of obtaining the ultrasound image of the body part to be measured by the smart device shown in fig. 3 based on the program stored in the memory 2 is similar to that of the smart device shown in fig. 2, and the process of obtaining the ultrasound image of the body part to be measured by the smart device shown in fig. 2 based on the program stored in the memory 2 will not be repeated here.
2. The ultrasonic control device is controlled by someone.
Fig. 4 is a schematic diagram illustrating the cooperation of an intelligent device based on ultrasonic inspection and another implementation manner of an ultrasonic control device according to an embodiment of the present invention.
The process of obtaining an ultrasound image of a body part to be measured by the smart device shown in fig. 3 based on the program stored in the memory 2 is different from that of the smart device shown in fig. 4 (see description of fig. 3 for the same points and not repeated here):
since someone manipulates the ultrasonic control device, the processor 2 may not need to control at least one of the mechanical arms to operate the ultrasonic control device so that the ultrasonic control device switches to the corresponding functional mode.
And in the second application scenario, the second user remotely controls the intelligent device. The second user may be a doctor.
1. The intelligent device is integrated with an ultrasonic control device.
As shown in fig. 5, a block diagram of another implementation manner of the smart device according to an embodiment of the present invention is shown.
The intelligent device includes: a clinical examination device 51 and a remote control device 52. The clinical examination device 51 and the remote control device 52 are not in the same geographical location as indicated by the dashed lines in fig. 5.
The clinical examination apparatus 51 comprises at least one robot arm 11. The description of the at least one mechanical arm 11 may be referred to the description of the at least one mechanical arm 11 in fig. 2, and will not be repeated herein.
The remote control device 52 may generate a control instruction for the at least one robot arm 11 and transmit to the clinical examination device 51, and the clinical examination device 51 controls the corresponding robot arm to perform an operation based on the control instruction.
In an alternative embodiment, the remote control device 52 may include: a tele-robotic arm control device, and/or a voice recognition device; the second user may manipulate the robot arm 11 included in the clinical examination apparatus 51 by operating a remote robot arm control device, for example, a key and/or a joystick, thereby generating a corresponding manipulation instruction. Alternatively, the second user may issue a voice manipulation instruction for the voice recognition device.
The process of obtaining an ultrasound image of the body part to be measured by the processor 1 based on the control instructions issued by the remote control device 52 comprises:
the remote control device 52 generates a control instruction for controlling the robotic arm to which the three-dimensional optical scanning image pickup apparatus is fixed to scan the body part to be measured of the first user.
The processor 2 in the clinical examination apparatus 51 controls, based on the control instruction, the robot arm to which the three-dimensional optical scanning imaging device is fixed to scan the body part to be measured of the first user to obtain a body part three-dimensional model including the body part contour to be measured.
The number of the mechanical arms fixed with the three-dimensional optical scanning and imaging device in the embodiment of the invention can be one, two, three or …; the moving track and/or the moving direction of the mechanical arm fixed with the three-dimensional optical scanning and imaging device can be controlled, and the orientation of the lens in the three-dimensional optical scanning and imaging device can be controlled, so that the body of the first user can be scanned, and a body three-dimensional model of the first user can be obtained.
In an alternative embodiment, if the number of the mechanical arms to which the three-dimensional optical scanning image capturing device is fixed is plural, the three-dimensional scanning image capturing devices fixed on different mechanical arms, for example, the scanning precision is different.
In an alternative embodiment, controlling the robotic arm to which the three-dimensional optical scanning camera device is fixed to scan the body part to be measured of the first user to obtain the three-dimensional model of the body part includes:
controlling a mechanical arm fixed with a three-dimensional optical scanning camera device to scan the human body of a first user with low precision to obtain human body posture information and the position of a body part to be sideways, wherein the human body posture information comprises: the position of the human body and the posture of the human body.
And controlling the mechanical arm fixed with the three-dimensional optical scanning and imaging device to perform high-precision 3D scanning on the body part to be detected, and obtaining a body part three-dimensional model corresponding to the body part to be detected.
It will be appreciated that the first user may move his body, for example, turn left, turn right, lie flat, move left, move right, move forward or move backward.
The human body posture information is obtained to determine the current human body posture (left turn, right turn, lie) of the first user and the position of the human body; so as to obtain a corresponding three-dimensional model of the body part. For example, the three-dimensional model of the heart when the first user is in a lying human posture is different from the three-dimensional model of the heart when the first user is in a left turn-over state. After the first user moves the position, the position of the contour of the body part to be measured contained in the body part three-dimensional model also changes.
In an alternative embodiment, the body position and the body posture of the first user are obtained in real time, and whether the body position and the posture are adjusted is determined.
The remote control device 52 may generate a control instruction for controlling the robotic arm to which the ultrasound couplant carrying device is fixed to apply ultrasound couplant to the body part to be measured.
The clinical examination apparatus 51 controls, based on the control instruction, the mechanical arm to which the ultrasound couplant carrying device is fixed to apply the ultrasound couplant to the body part to be measured.
In an alternative embodiment, remote control device 52 may also generate control instructions that instruct processor 2 to apply the application path of the ultrasound couplant; the processor 2 may apply an ultrasound couplant along the application path to the body part to be measured.
The remote control device 52 may generate control instructions for controlling the robotic arm to which the ultrasound probe is secured to scan the body part to be measured.
Based on the control instruction, the processor 2 controls the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected, and an ultrasonic image is obtained.
In an alternative embodiment, the remote control device 52 may generate control instructions instructing the processor 2 to scan the scan path of the contours of the body part to be measured. The processor 2 may scan the body part to be measured along a corresponding scan path to obtain an ultrasound image.
In an alternative embodiment, the remote control device 52 may also generate control instructions for controlling the pressure of the body part to be measured by the touch of the mechanical arm to which the ultrasound probe is fixed; the processor 2 is also configured to: and adjusting the moving state of the mechanical arm fixed with the ultrasonic probe so as to adjust the pressure of the mechanical arm fixed with the ultrasonic probe touching and pressing the body part to be measured.
In an alternative embodiment, the movement state of the mechanical arm includes: spatial position and/or direction of movement of the robotic arm.
In an alternative embodiment, the clinical examination device 51 may send the ultrasound image to the remote control device 52; the second user may determine, based on the ultrasound image, whether a re-focused examination of the body part to be examined is required, and if so, the above procedure may be repeated.
In an alternative embodiment, the smart device may further comprise a voice prompt device, which may prompt the first user to perform a corresponding operation, for example, prompt the first user to remove clothing, prompt the first user to turn over, or the like.
In an alternative embodiment, after the inspection is completed, the remote control device 52 may further generate a control instruction for controlling the mechanical arm fixed with the object for wiping the ultrasonic couplant, wiping the ultrasonic couplant of the body part to be tested, and based on the control instruction, the processor 2 controls the mechanical arm fixed with the object for wiping the ultrasonic couplant, and wiping the ultrasonic couplant of the body part to be tested.
In an alternative embodiment, after the inspection is completed, the remote control device 52 may further generate a control instruction for controlling the mechanical arm fixed with the object for wiping the ultrasonic couplant, wiping the ultrasonic couplant on the ultrasonic probe, and based on the control instruction, the processor 2 controls the mechanical arm fixed with the object for wiping the ultrasonic couplant, and wiping the ultrasonic couplant on the ultrasonic probe.
In an alternative embodiment, the remote control device 52 may also generate a control instruction for placing at least one ultrasound probe or an object carrying an ultrasound couplant device or erasing an ultrasound couplant or at least one three-dimensional optical scanning camera device at a corresponding position, or a control instruction for taking at least one ultrasound probe or an object carrying an ultrasound couplant device or erasing an ultrasound couplant or at least one three-dimensional optical scanning camera device at a corresponding position from a corresponding position, and the processor 2 controls the mechanical arm to take the corresponding device from the corresponding position based on the control instruction and to put it back to the original position after the use is completed.
After the clinical examination device 51 obtains the ultrasound image, the ultrasound image may be transmitted to the remote operation device 52, and the display screen of the remote operation device 52 may display the ultrasound image.
The second user may determine the condition of the first user in conjunction with the ultrasound image.
In an alternative embodiment, the remote control device, as a console for a second user (which may be a doctor), may precisely remotely control the motion of at least one mechanical arm 11 included in the clinical examination device, so that an ultrasonic examination operation may be performed.
The teleoperational device may include one or more displays through which the ultrasound images are displayed and/or the operating condition of at least one robotic arm of the clinical examination device; video communication with the first user is also possible.
Fig. 6 is a block diagram of still another implementation manner of the remote control device according to the embodiment of the present invention.
The remote control apparatus shown in fig. 6 is different from the remote control apparatus shown in fig. 5 in that the remote control apparatus shown in fig. 6 adopts a virtual reality technology, and the remote control apparatus shown in fig. 6 includes: a head mounted display device 62 and a data glove 63. The clinical examination device 51 and the teleoperational device are not in the same geographical location as indicated by the dashed lines in fig. 6.
The head-mounted display device 62 may display in real time an operation procedure image (e.g., a body part three-dimensional model of a body part to be measured, and/or the at least one mechanical arm 11, and/or a target apparatus) of the at least one mechanical arm 11 included in the clinical examination device 51 for the first user, and/or an ultrasound image obtained by the clinical examination device 51. The second user may operate the at least one robot arm 11 through the data glove 63, for example, the data glove 63 may generate a manipulation instruction for controlling the robot arm 11 based on the operation of the second user.
In an alternative embodiment, the second user may view the region of interest through a virtual image (three-dimensional color image, dynamic image, etc.) displayed by the head mounted display device 62, interactively using the data glove 63. For example, the head-mounted display device 62 may display a virtual finger of the second user, a three-dimensional model of the body part to be measured (for example, the heart), a 3D skin surface of the chest (almost transparent), and generate corresponding control instructions using the motion of the virtual finger, so that the corresponding mechanical arm performs corresponding operations, for example, operations such as adjusting the rotation direction of the 3D heart, designating a focus scanning area, capturing a picture, designating a section, recording a video, and the like.
In an alternative embodiment, the data glove 64 may also be closed, only the head mounted display device 62 is worn, the remote control device shown in fig. 5 is operated manually, and the second user generates corresponding control commands using a joystick or keys or the like.
The remote control device shown in fig. 6 may also comprise speech recognition means. The second user may also generate a manipulation instruction for controlling the robot arm 11 through voice.
The remote control apparatus shown in fig. 6 is similar to the remote control apparatus shown in fig. 5, and the generated control instruction is not described here again.
For example, the remote control device 62 may generate a control instruction for controlling the robotic arm to which the three-dimensional optical scanning imaging apparatus is fixed to scan the body part to be measured of the first user, or a control instruction for controlling the robotic arm to which the ultrasound probe is fixed to rotate, or a control instruction for controlling one or more robotic arms to replace the target device to which it is fixed; or, a control instruction for instructing one or more mechanical arms to which the ultrasonic probe is fixed to scan a scan path of the body part to be measured.
The clinical examination apparatus 51 may perform the corresponding operation based on the control instruction of the remote control apparatus 62.
The clinical examination device 51 may send the ultrasound image to the head mounted display device 62 to enable the second user to diagnose the condition of the first user in conjunction with the ultrasound image.
2. The intelligent device is not integrated with an ultrasonic control device.
1. No one has manipulated the ultrasonic control device.
Fig. 7a to fig. 7b are block diagrams of another implementation manner of the smart device according to the embodiment of the present invention.
The intelligent device includes: remote control equipment and clinical examination equipment.
The remote control device shown in fig. 7a comprises the functionality of the remote control device shown in fig. 5, and the remote control device shown in fig. 7b comprises the functionality of the remote control device shown in fig. 6.
The clinical examination apparatus shown in fig. 7a and 7b corresponds to the clinical examination apparatus shown in fig. 5.
The dashed lines in fig. 7a and 7b indicate that the clinical examination device and the remote control device are not in the same geographical location.
The clinical examination apparatus shown in fig. 7a and 7b has the following differences from the clinical examination apparatus shown in fig. 5 (the same points are described with reference to fig. 5, and are not described here:
because the clinical examination apparatus is not integrated with the ultrasonic control apparatus, the clinical examination apparatus does not have a function of obtaining an ultrasonic image; in order to obtain an ultrasound image, the processor in the clinical examination apparatus needs to control the mechanical arm to which the ultrasound probe belonging to the ultrasound control apparatus is fixed to touch the body part to be measured of the first user, so that the ultrasound control apparatus 31 can obtain the ultrasound image.
In order for the clinical examination apparatus to obtain an ultrasound image displayed by the ultrasound control apparatus 31, the processor 2 is further configured to: at least one mechanical arm fixed with a three-dimensional optical scanning and imaging device is controlled to record an ultrasonic image displayed by the ultrasonic control device 31, so that the intelligent device obtains the ultrasonic image.
Since the ultrasonic control apparatus 31 is not controlled by a person, the processor 2 is also configured to: the control of the at least one mechanical arm may be operated for the ultrasonic control device such that the ultrasonic control device switches to a corresponding functional mode, e.g. a key press on the ultrasonic control device is touched.
The remote control device shown in fig. 7a and 7b also has the following functions:
generating a control instruction for recording the ultrasonic image displayed by the acoustic wave control device 31; and/or generating a control instruction for switching the functional mode of the ultrasonic control device.
2. The ultrasonic control device is controlled by someone.
Fig. 8a and 8b are schematic diagrams illustrating the cooperation of an intelligent device and another implementation manner of an ultrasonic control device according to an embodiment of the present invention.
The intelligent device includes: remote control equipment and clinical examination equipment.
The remote control device is shown in fig. 8a and 8b in a different geographical location than the clinical examination device by dashed lines.
The remote control device shown in fig. 8a and 8b differs from fig. 7a and 7b in that:
the remote control apparatus does not need to generate a control instruction to switch the functional mode of the ultrasonic control apparatus.
In summary, any of the smart devices shown in fig. 2 to 8b may implement an inspection operation of a body part to be inspected of a patient in the case where the smart device is not operated by a person or is operated by a person remotely. Since no person is required to be present, the privacy of the user is not violated even if the user removes the clothing. But also in remote areas lacking doctors who would use ultrasonic equipment.
In another alternative embodiment, if a person remotely controls the smart device, as shown in fig. 5, 6, 7a, 7b, 8a, and 8b, the second user (person remotely controlling the smart device or doctor) may determine the condition of the first user through the ultrasound image.
If no one remotely controls the smart device, as shown in fig. 2 to 4, the processor 1 in the smart device may obtain the analysis information of the first user based on the ultrasound image.
Alternatively, the memory 2 may store medical data related to ultrasound technology; the processor 1 may combine medical data relating to ultrasound technology to derive analysis information for the first user.
In an alternative embodiment, the number of the mechanical arms fixed with the three-dimensional optical scanning and imaging device is one or more, and the three-dimensional optical scanning and imaging devices fixed on different mechanical arms are different; and/or the number of the mechanical arms fixed with the ultrasonic probes is one or more, and the types of the ultrasonic probes fixed on different mechanical arms are different.
As shown in fig. 9, a flowchart of an implementation manner of a method based on ultrasonic detection according to an embodiment of the present invention is provided, where the method may be applied to any of the intelligent devices based on ultrasonic detection shown in fig. 1 to 8b, and the method includes:
Step S901: and controlling the mechanical arm fixed with the three-dimensional optical scanning and imaging device to scan the body part to be detected of the first user so as to obtain a three-dimensional model of the body part, wherein the three-dimensional model of the body part comprises the outline of the body part to be detected.
Step S902: and controlling the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected, and obtaining an ultrasonic image.
In an alternative embodiment, the method further comprises: and controlling the mechanical arm fixed with the ultrasonic couplant bearing device to smear ultrasonic couplant on the body part to be measured.
In an alternative embodiment, the method further comprises: and controlling a mechanical arm fixed with an object for wiping the ultrasonic couplant, and wiping the ultrasonic couplant of the body part to be tested.
In an alternative embodiment, the method further comprises: based on the ultrasound image, analysis information of the first user is obtained.
In an alternative embodiment, the method further comprises: and uploading the ultrasonic image and the analysis information of the first user to a server in the cloud for further medical diagnosis or backup.
In an alternative embodiment, a mechanical arm with an ultrasonic probe fixed in the intelligent device is provided with a force feedback sensor, and the force feedback sensor is used for detecting the pressure of the mechanical arm with the ultrasonic probe fixed pressing a body part to be detected; the method further comprises the following steps: and adjusting the moving state of the mechanical arm fixed with the ultrasonic probe so as to adjust the pressure of the mechanical arm fixed with the ultrasonic probe touching and pressing the body part to be measured.
In an alternative embodiment, the method further comprises: controlling a mechanical arm fixed with a three-dimensional optical scanning and imaging device to rotate, so that the three-dimensional optical scanning and imaging device faces a display screen of ultrasonic control equipment, and the three-dimensional optical scanning and imaging device records an ultrasonic image displayed by the display screen;
and/or the number of the groups of groups,
and controlling one mechanical arm of the at least one mechanical arm to control the ultrasonic control equipment so as to switch to a corresponding functional mode.
In an alternative embodiment, the method further comprises:
based on the ultrasonic image, acquiring a characteristic region meeting preset conditions in the body part to be detected, and controlling the mechanical arm fixed with the ultrasonic probe to rotate so as to scan the characteristic region by using the ultrasonic probe.
In an alternative embodiment, the method further comprises:
controlling the at least one mechanical arm to switch a target device fixed by the at least one mechanical arm;
or alternatively, the first and second heat exchangers may be,
the tail end of the at least one mechanical arm is respectively provided with a corresponding target device.
As shown in fig. 10, a block diagram of an implementation manner of an apparatus based on ultrasonic detection according to an embodiment of the present invention is applied to any of the intelligent devices based on ultrasonic detection shown in fig. 1 to 8b, where the apparatus includes:
A first control module 1001, configured to control a mechanical arm to which a three-dimensional optical scanning and imaging device is fixed to scan a body part to be measured of a first user, so as to obtain a three-dimensional model of the body part, where the three-dimensional model of the body part includes a contour of the body part to be measured;
the second control module 1002 is configured to control the mechanical arm to which the ultrasound probe is fixed to rotate, so that the ultrasound probe scans along the outline of the body part to be measured, so as to obtain an ultrasound image.
Optionally, the second control module includes:
a first acquisition unit for acquiring a scanning path for scanning the body part to be measured based on the body part three-dimensional model;
and the first control unit is used for controlling the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected according to the scanning path.
Optionally, the mechanical arm fixed with the ultrasonic probe is provided with a force feedback sensor, and the force feedback sensor is used for detecting the pressure of the mechanical arm fixed with the ultrasonic probe pressing the body part to be detected; further comprises:
the adjusting module is used for adjusting the moving state of the mechanical arm fixed with the ultrasonic probe so as to adjust the pressure of the body part to be measured touched by the mechanical arm fixed with the ultrasonic probe.
Optionally, the method further comprises:
the third control module is used for controlling the mechanical arm fixed with the three-dimensional optical scanning and imaging device to rotate, so that the three-dimensional optical scanning and imaging device faces the display screen of the ultrasonic control equipment, and the three-dimensional optical scanning and imaging device records the ultrasonic image displayed by the display screen;
and/or the number of the groups of groups,
and the fourth control module is used for controlling one mechanical arm of the at least one mechanical arm to control the ultrasonic control equipment so as to switch to a corresponding functional mode.
Optionally, the method further comprises:
the first acquisition module is used for acquiring analysis information of the first user based on the ultrasonic image;
and/or the number of the groups of groups,
the second acquisition module is used for acquiring a characteristic region meeting preset conditions in the body part to be detected based on the ultrasonic image, and controlling the mechanical arm fixed with the ultrasonic probe to rotate so as to scan the characteristic region by using the ultrasonic probe.
Optionally, the tail end of the at least one mechanical arm is respectively provided with a corresponding target device, or further comprises: and the fifth control module is used for controlling the at least one mechanical arm to switch the self-fixed target device.
Optionally, the method further comprises:
the voice recognition device is used for recognizing voice information to obtain control instructions for respectively controlling the at least one mechanical arm;
And/or the number of the groups of groups,
the virtual reality device is used for displaying a virtual application scene, obtaining a control instruction for controlling the at least one mechanical arm based on the operation of a second user in the virtual application scene, wherein the virtual application scene comprises an operation scene of the intelligent equipment to the body part to be detected based on ultrasonic detection and/or the display of the ultrasonic image;
and/or the number of the groups of groups,
the remote mechanical arm control device comprises at least one physical operation component for controlling the at least one mechanical arm and a display screen for displaying the ultrasonic image; the control instruction is used for controlling the at least one mechanical arm based on the operation of the second user on the at least one physical operation component;
and/or the number of the groups of groups,
and the voice prompt device is used for prompting the first user to execute corresponding operation.
Optionally, the number of the mechanical arms fixed with the three-dimensional optical scanning and imaging device is one or more, and the three-dimensional optical scanning and imaging devices fixed on different mechanical arms are different;
and/or the number of the groups of groups,
the number of the mechanical arms fixed with the ultrasonic probes is one or more, and the types of the ultrasonic probes fixed on different mechanical arms are different.
It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. For device or system class embodiments, the description is relatively simple as it is substantially similar to method embodiments, with reference to the description of method embodiments in part.
It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. Intelligent device based on ultrasonic detection, characterized by comprising:
at least one mechanical arm; wherein, any mechanical arm has a plurality of degrees of freedom; the end of either robotic arm is used to secure a target device, the target device comprising: at least one of an ultrasonic probe and a three-dimensional optical scanning camera device;
the processor is used for controlling the mechanical arm fixed with the three-dimensional optical scanning and imaging device to scan the body part to be detected of the first user so as to obtain a body part three-dimensional model, wherein the body part three-dimensional model comprises the outline of the body part to be detected; wherein, control the mechanical arm fixed with three-dimensional optical scanning camera device and scan the body position that awaits measuring of first user to obtain the three-dimensional model of body position, include:
Controlling a mechanical arm fixed with a three-dimensional optical scanning camera device to scan the human body of a first user with low precision to obtain human body posture information and the position of a body part to be detected; based on the position of the body part to be detected, controlling a mechanical arm fixed with a three-dimensional optical scanning and imaging device to scan the body part to be detected with high precision, and obtaining a body part three-dimensional model corresponding to the body part to be detected based on the body posture information;
the processor is also used for controlling the mechanical arm fixed with the ultrasonic probe to rotate so as to scan the ultrasonic probe along the outline of the body part to be detected, so that an ultrasonic image is obtained;
the processor is specifically configured to, when executing control to rotate the mechanical arm fixed with the ultrasonic probe so that the ultrasonic probe scans along the outline of the body part to be measured:
acquiring a scanning path for scanning the body part to be detected based on the body part three-dimensional model;
controlling the mechanical arm fixed with the ultrasonic probe to rotate, so that the ultrasonic probe scans along the outline of the body part to be detected according to the scanning path;
the processor is further configured to: and controlling one mechanical arm of the at least one mechanical arm to control the ultrasonic control equipment so as to switch to a corresponding functional mode.
2. The intelligent device based on ultrasonic detection according to claim 1, wherein the mechanical arm with the ultrasonic probe fixed is provided with a force feedback sensor for detecting the pressure of the mechanical arm with the ultrasonic probe fixed pressing the body part to be detected; the processor is further configured to:
and adjusting the moving state of the mechanical arm fixed with the ultrasonic probe so as to adjust the pressure of the mechanical arm fixed with the ultrasonic probe touching and pressing the body part to be measured.
3. The ultrasonic detection-based smart device of claim 1, wherein the processor is further configured to:
and controlling the mechanical arm fixed with the three-dimensional optical scanning and imaging device to rotate, so that the three-dimensional optical scanning and imaging device faces towards the display screen of the ultrasonic control equipment, and the three-dimensional optical scanning and imaging device records the ultrasonic image displayed by the display screen.
4. The ultrasonic detection-based smart device of claim 1, wherein the processor is further configured to:
based on the ultrasonic image, obtaining analysis information of the first user;
and/or the number of the groups of groups,
based on the ultrasonic image, acquiring a characteristic region meeting preset conditions in the body part to be detected, and controlling the mechanical arm fixed with the ultrasonic probe to rotate so as to scan the characteristic region by using the ultrasonic probe.
5. The ultrasonic detection-based intelligent device of claim 1, wherein the ultrasonic detection-based intelligent device comprises a plurality of sensors,
the processor is further configured to: controlling the at least one mechanical arm to switch a target device fixed by the at least one mechanical arm;
or alternatively, the first and second heat exchangers may be,
the tail end of the at least one mechanical arm is respectively provided with a corresponding target device.
6. The ultrasonic detection-based smart device of claim 1, further comprising:
the voice recognition device is used for recognizing voice information to obtain control instructions for respectively controlling the at least one mechanical arm;
and/or the number of the groups of groups,
the virtual reality device is used for displaying a virtual application scene, obtaining a control instruction for controlling the at least one mechanical arm based on the operation of a second user in the virtual application scene, wherein the virtual application scene comprises an operation scene of the intelligent equipment to the body part to be detected based on ultrasonic detection and/or the display of the ultrasonic image;
and/or the number of the groups of groups,
the remote mechanical arm control device comprises at least one physical operation component for controlling the at least one mechanical arm and a display screen for displaying the ultrasonic image; the control instruction is used for controlling the at least one mechanical arm based on the operation of the second user on the at least one physical operation component;
And/or the number of the groups of groups,
and the voice prompt device is used for prompting the first user to execute corresponding operation.
7. The ultrasonic detection-based intelligent device of claim 1, wherein the ultrasonic detection-based intelligent device comprises a plurality of sensors,
the number of the mechanical arms fixed with the three-dimensional optical scanning and imaging device is one or more, and the three-dimensional optical scanning and imaging devices fixed on different mechanical arms are different;
and/or the number of the groups of groups,
the number of the mechanical arms fixed with the ultrasonic probes is one or more, and the types of the ultrasonic probes fixed on different mechanical arms are different.
8. A method based on ultrasonic detection, characterized by being applied to an intelligent device, the intelligent device comprising: at least one mechanical arm; wherein, any mechanical arm has a plurality of degrees of freedom; the end of either robotic arm is used to secure a target device, the target device comprising: at least one of an ultrasonic probe and a three-dimensional optical scanning camera device; the ultrasonic detection method comprises the following steps:
controlling a mechanical arm fixed with a three-dimensional optical scanning and photographing device to scan a body part to be detected of a first user so as to obtain a body part three-dimensional model, wherein the body part three-dimensional model comprises a body part outline to be detected; wherein, control the mechanical arm fixed with three-dimensional optical scanning camera device and scan the body position that awaits measuring of first user to obtain the three-dimensional model of body position, include:
Controlling a mechanical arm fixed with a three-dimensional optical scanning camera device to scan the human body of a first user with low precision to obtain human body posture information and the position of a body part to be detected; based on the position of the body part to be detected, controlling a mechanical arm fixed with a three-dimensional optical scanning and imaging device to scan the body part to be detected with high precision, and obtaining a body part three-dimensional model corresponding to the body part to be detected based on the body posture information; controlling the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected to obtain an ultrasonic image;
when the mechanical arm fixed with the ultrasonic probe is controlled to rotate so as to scan the ultrasonic probe along the outline of the body part to be tested, the method specifically comprises the following steps:
acquiring a scanning path for scanning the body part to be detected based on the body part three-dimensional model;
controlling the mechanical arm fixed with the ultrasonic probe to rotate, so that the ultrasonic probe scans along the outline of the body part to be detected according to the scanning path;
further comprises: and controlling one mechanical arm of the at least one mechanical arm to control the ultrasonic control equipment so as to switch to a corresponding functional mode.
9. An apparatus based on ultrasonic detection, characterized in that is applied to intelligent device, the intelligent device includes: at least one mechanical arm; wherein, any mechanical arm has a plurality of degrees of freedom; the end of either robotic arm is used to secure a target device, the target device comprising: at least one of an ultrasonic probe and a three-dimensional optical scanning camera device; the ultrasonic detection-based device comprises:
the first control module is used for controlling the mechanical arm fixed with the three-dimensional optical scanning and imaging device to scan the body part to be detected of the first user so as to obtain a body part three-dimensional model, wherein the body part three-dimensional model comprises the outline of the body part to be detected; wherein, control the mechanical arm fixed with three-dimensional optical scanning camera device and scan the body position that awaits measuring of first user to obtain the three-dimensional model of body position, include:
controlling a mechanical arm fixed with a three-dimensional optical scanning camera device to scan the human body of a first user with low precision to obtain human body posture information and the position of a body part to be detected; based on the position of the body part to be detected, controlling a mechanical arm fixed with a three-dimensional optical scanning and imaging device to scan the body part to be detected with high precision, and obtaining a body part three-dimensional model corresponding to the body part to be detected based on the body posture information; the second control module is used for controlling the mechanical arm fixed with the ultrasonic probe to rotate so that the ultrasonic probe scans along the outline of the body part to be detected to obtain an ultrasonic image;
When the mechanical arm fixed with the ultrasonic probe is controlled to rotate so as to scan the ultrasonic probe along the outline of the body part to be tested, the method specifically comprises the following steps:
acquiring a scanning path for scanning the body part to be detected based on the body part three-dimensional model;
controlling the mechanical arm fixed with the ultrasonic probe to rotate, so that the ultrasonic probe scans along the outline of the body part to be detected according to the scanning path;
further comprises: and controlling one mechanical arm of the at least one mechanical arm to control the ultrasonic control equipment so as to switch to a corresponding functional mode.
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