CN109199445B - Intelligent ultrasonic fetal heart monitoring system - Google Patents
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- CN109199445B CN109199445B CN201811353411.3A CN201811353411A CN109199445B CN 109199445 B CN109199445 B CN 109199445B CN 201811353411 A CN201811353411 A CN 201811353411A CN 109199445 B CN109199445 B CN 109199445B
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- A61B8/02—Measuring pulse or heart rate
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
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Abstract
The invention provides an intelligent ultrasonic fetal heart monitoring system which can automatically determine and move to the position of a pregnant woman for fetal heart monitoring, wherein an ultrasonic probe holding device automatically adjusts the position and the posture of the ultrasonic probe according to the acquired fetal heart signal quality and force feedback information, and searches the position and the posture with the minimum stress of the ultrasonic probe on the premise of ensuring the fetal heart signal quality, so that the abdominal stress of the pregnant woman is minimum, the oppression and the uncomfortable feeling of the abdominal part of the pregnant woman are reduced, after the optimal position and posture are obtained, the ultrasonic probe is fixedly held by the holding device of a locking mechanism, so that the ultrasonic probe can be fixedly held for a long time, the workload of a detector is reduced, an ultrasonic couplant smearing device is arranged on the ultrasonic probe, the inspection procedure is simplified, the pregnant woman can conveniently use the system at home, and the uniform smearing of the couplant is realized, the problem of the best position of fetal heart monitoring that couplant scribbles inhomogeneous the result and confirms is solved.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to an intelligent ultrasonic fetal heart monitoring system.
Background
Fetal heart is the heartbeat of a fetus, fetal heart monitoring and examination is to monitor the condition of the fetus in the uterus by utilizing the principle of ultrasonic waves, and is a main detection means for correctly evaluating the condition of the fetus in the uterus. The heart rate of the fetus monitored by the fetal heart is regulated by sympathetic nerves and parasympathetic nerves, and the fetal heart reaction during fetal movement and uterine contraction can be known through a monitoring graph curve formed by signal tracing instant fetal heart change so as to infer whether oxygen deficiency exists in the fetus in the uterus. Normal fetal heart monitoring time takes approximately 20 minutes. The high-risk pregnant women can be monitored and protected for more than 1 hour. During monitoring, a pregnant woman lies on the examination bed and can lie on the side, a probe is arranged on the belly, and the probe is generally bound on the belly of the pregnant woman by using a bandage. The probe is bound on the belly, the pregnant woman can feel oppressed and uncomfortable when the probe is pressed against the belly, but the burden of the detecting personnel can be increased when the detecting personnel hold the probe for a long time, the fatigue of a doctor is caused, the probe can be moved possibly, signals are unstable, and the detection precision is reduced.
Patent document CN106455919A discloses an endoscope holding device that discloses a holding tool that holds an endoscope or the like, and can hold the endoscope or the like at a desired arbitrary position. However, this holding device is used for holding an endoscope and does not involve the problem of pressing of the ultrasonic probe.
The commonly used household fetal heart monitor is used for monitoring fetal heart sounds based on an ultrasonic Doppler effect, and although the fetal heart sounds can be calculated in real time by the fetal heart sound monitor, the fetal heart rate can be provided with an intuitive fetal heart beat sound. However, the fetal heart sound monitor needs to coat the couplant on the abdomen of the pregnant woman, the couplant is mainly extruded from a couplant bottle and smeared on an examination part, and then an ultrasonic probe is used for smearing examination in the prior art, and patent document CN204654980U discloses a medical ultrasonic couplant device, wherein a ball smearing head is embedded at one end of the medical ultrasonic couplant device, so that the couplant is uniformly smeared. However, the fetus can move in the abdomen at any time, the position of the fetal heart can change along with the movement, the ultrasonic probe needs to be moved in the detection process until the optimal monitoring position is found, and therefore the smearing of the couplant has a plurality of problems.
Disclosure of Invention
In order to solve the above problems, the present invention provides an intelligent ultrasound fetal heart monitoring system, which can automatically determine and move to the position of a pregnant woman for fetal heart monitoring, wherein an ultrasound probe holding device is used for holding the ultrasound probe, automatically adjust the position and posture of the ultrasound probe according to the acquired fetal heart signal quality and force feedback information, and search the position and posture with the minimum stress of the ultrasound probe under the premise of ensuring the fetal heart signal quality, so as to minimize the abdominal stress of the pregnant woman, reduce the compression and discomfort of the pregnant woman, and lock the joint by a locking mechanism after obtaining the optimal position and posture, so that the holding device fixedly holds the ultrasound probe, thereby fixedly holding the ultrasound probe for a long time, without manually holding the probe, and reducing the workload of a detector, an ultrasound couplant smearing device is arranged on the ultrasound probe, the examination procedure is simplified, the pregnant woman can use the couplant at home conveniently, the couplant is uniformly applied, and the problem of determining the optimal fetal heart monitoring position caused by nonuniform application of the couplant is solved.
The specific technical scheme of the invention is as follows:
the utility model provides an intelligence supersound fetal heart monitoring system, its characterized in that, the system automatic determination and remove the pregnant woman position and carry out fetal heart monitoring, the system includes control module, mobile module, ultrasonic probe and ultrasonic probe retaining device, control module with mobile module ultrasonic probe retaining device and ultrasonic probe connects, mobile module is used for adjusting the position of system, be provided with the ultrasonic couplant on the ultrasonic probe and paint the device, ultrasonic probe retaining device is used for keeping ultrasonic probe, its according to the fetal heart signal quality who obtains and ultrasonic probe's atress condition automatic adjustment ultrasonic probe's position and gesture.
Preferably, the system is provided with a wireless communication module capable of communicating with a wireless terminal device, and a user can control the operation of the system through the wireless terminal device such as a computer, a remote controller or a smart phone.
Preferably, the system comprises an intelligent image analysis device which can acquire surrounding images and analyze the position of the pregnant woman according to the surrounding images, and the moving module moves according to an analysis result and automatically moves to the position of the pregnant woman.
Optionally, the user may send the location of the pregnant woman to the system through the wireless terminal device, and the control module controls the movement of the moving module according to the location to automatically move to the location of the pregnant woman.
Preferably, the user can input personal information of the pregnant woman through the wireless terminal, the system can make a personalized monitoring scheme according to the personal information, and the system is further provided with an information storage library for storing fetal heart monitoring data every time.
Preferably, a fetal heart signal analysis module is arranged in the control module, and the fetal heart signal analysis module analyzes and processes the acquired fetal heart signals, judges whether fetal heart index information of the fetus meets the development condition of the fetus in the gestation period, and judges whether the fetus is anoxic or not. The analysis module can also perform personalized learning according to the previous data and optimize the judgment method.
Preferably, the system is connected to a cloud end, the detected fetal heart data is transmitted to the cloud end through the wireless communication module, and a fetal heart detection expert can call the fetal heart data through the cloud end.
The device comprises a holding device and a control device, wherein the holding device comprises an ultrasonic signal analysis mechanism, a force feedback mechanism, an ultrasonic probe position and posture adjusting mechanism and a locking mechanism, the signal analysis mechanism is used for analyzing the acquired ultrasonic signals to obtain fetal heart signal quality parameters, the force feedback mechanism is used for feeding back the stress condition of the ultrasonic probe, and the ultrasonic probe position and posture adjusting mechanism is used for adjusting the position and posture of the ultrasonic probe according to the fetal heart signal quality parameters and the stress information fed back by the force feedback mechanism, so that the position and posture with the minimum stress of the ultrasonic probe are searched on the premise of ensuring the fetal heart signal quality, the stress on the abdomen of the pregnant woman is minimum, and the compression and discomfort on the abdomen of the pregnant woman are reduced. After the optimal position and posture are obtained, the locking mechanism locks the joint, so that the holding device fixedly holds the ultrasonic probe, the ultrasonic probe can be fixedly held for a long time, the probe is not required to be manually held, and the workload of detection personnel is reduced. The pregnant woman may move in the monitoring process to influence the fetal heart signal quality, when the fetal heart signal quality is lower than a threshold value, the ultrasonic probe position and posture adjusting mechanism adjusts the position and posture of the ultrasonic probe, and the position where the fetal heart signal quality meets the requirement and the stress of the ultrasonic probe is minimum is searched again.
The signal analysis mechanism is used for analyzing the acquired ultrasonic signals to obtain the fetal heart signal quality parameters,
the ultrasonic probe position and posture adjusting mechanism is used for adjusting the position and posture of the ultrasonic probe according to the fetal heart signal quality parameters and the stress condition of the ultrasonic probe, and comprises a plurality of adjusting rods, the adjacent adjusting rods are connected through joints,
the locking mechanism is used for locking the joint, and when the locking mechanism is in a locking state, the holding device fixedly holds the ultrasonic probe.
The ultrasonic probe position and posture adjusting mechanism searches the position and posture with the minimum stress of the ultrasonic probe according to the fetal heart signal quality parameters and the stress condition of the ultrasonic probe on the premise of ensuring the fetal heart signal quality, so that the stress of the abdomen of the pregnant woman is minimum, and the compression and the uncomfortable feeling of the abdomen of the pregnant woman are reduced. After the optimal position and posture are obtained, the locking mechanism locks the joint, so that the holding device fixedly holds the ultrasonic probe, the ultrasonic probe can be fixedly held for a long time, the probe is not required to be manually held, and the workload of detection personnel is reduced. The pregnant woman may move in the monitoring process to influence the fetal heart signal quality, when the fetal heart signal quality is lower than a threshold value, the ultrasonic probe position and posture adjusting mechanism adjusts the position and posture of the ultrasonic probe, and the position where the fetal heart signal quality meets the requirement and the stress of the ultrasonic probe is minimum is searched again.
The ultrasonic probe position and posture adjusting mechanism can adjust the position and posture of multiple degrees of freedom, such as three degrees of freedom, five degrees of freedom and seven degrees of freedom.
Preferably, the ultrasonic probe position and posture adjusting mechanism comprises a seven-degree-of-freedom position and posture adjusting mechanism, and the seven-degree-of-freedom position and posture adjusting mechanism comprises seven adjusting rods and joints between the adjacent adjusting rods.
The ultrasonic probe is fixed on the adjusting rod at the most front end, so that the position and the posture of the ultrasonic probe can be freely adjusted to the maximum extent. The force feedback mechanism is arranged on the adjusting rod at the foremost end and feeds back the stress condition of the ultrasonic probe.
Preferably, the holding device is further provided with a pregnant woman compression feeling feedback device, the ultrasonic probe position and posture adjusting mechanism carries out self-adaptive learning according to pregnant woman feedback data, and the position and posture adjusting strategy of the ultrasonic probe is determined for a specific pregnant woman. Everybody is different to the sensitive degree of oppression sense, to the pregnant woman that the oppression sense is insensitive relatively, sets up higher fetal heart signal quality requirement, seeks the position and the gesture that the atress is minimum on the basis of guaranteeing higher signal quality, to the pregnant woman that the oppression sense is sensitive relatively, suitably reduces fetal heart signal quality requirement, seeks the position and the gesture that the atress is minimum on the basis of the signal quality requirement of some relatively low, realizes individualized adjustment, reduces abdominal oppression of pregnant woman, uncomfortable.
Preferably, the holding device is further provided with a position adjustment feedback device, when the pregnant woman feels oppressed and uncomfortable and needs to adjust the position and the posture of the ultrasonic probe, the position adjustment feedback device is used for feeding back, the position and the posture adjustment mechanism of the ultrasonic probe is used for readjusting the position and the posture of the ultrasonic probe after receiving the feedback, the fetal heart signal quality requirement is properly reduced, and the position and the posture with the minimum stress are searched on the basis of relatively low signal quality requirements.
The couplant smearing device is a couplant smearing head detachably connected with the ultrasonic probe, a couplant storage cavity and a plurality of smearing head accommodating cavities are formed in the couplant smearing head, the smearing head is a ball type smearing head and is arranged in the accommodating cavities, and an accommodating cavity closing cover is arranged at the top of each accommodating cavity.
The handheld end on the couplant smearing head is provided with and holds chamber control switch that opens and shuts, when needing to smear the couplant, presses control switch, holds the chamber closing cap and opens, and the ball formula is smeared first top and is stretched out and hold the chamber, with ultrasonic probe surface parallel and level, along with the removal of probe, the couplant is by even smearing the pregnant woman belly. After the smearing is finished, the control switch is pressed down, the ball type smearing head returns to the accommodating cavity, the accommodating cavity is sealed, and the smearing head is prevented from being polluted by the outside.
Preferably, the couplant applicator head is of a hollow annular structure, and the ball type applicator heads are uniformly distributed on the annular structure. When the ultrasonic probe is used, the couplant is uniformly coated on the abdomen of a pregnant woman along with the movement of the probe, and the ultrasonic transmitting and receiving device on the ultrasonic probe can continuously work.
Compared with the prior art, the invention has the following beneficial effects:
1. the ultrasonic probe position and posture adjusting mechanism searches the position and posture with the minimum stress of the ultrasonic probe according to the fetal heart signal quality parameters and the stress condition of the ultrasonic probe on the premise of ensuring the fetal heart signal quality, so that the stress of the abdomen of the pregnant woman is minimum, and the compression and the uncomfortable feeling of the abdomen of the pregnant woman are reduced.
2. The ultrasonic probe is provided with the ultrasonic couplant smearing device, so that the examination procedure is simplified, the pregnant woman can conveniently use the ultrasonic probe at home, the couplant is evenly smeared, and the problem of determining the optimal fetal heart monitoring position caused by uneven smearing of the couplant is solved.
3. After the optimal position and posture are obtained, the locking mechanism locks the joint, so that the holding device fixedly holds the ultrasonic probe, the ultrasonic probe can be fixedly held for a long time, the probe is not required to be manually held, and the workload of detection personnel is reduced.
4. The pregnant woman may move in the monitoring process to influence the fetal heart signal quality, when the fetal heart signal quality is lower than a threshold value, the ultrasonic probe position and posture adjusting mechanism adjusts the position and posture of the ultrasonic probe, and the position where the fetal heart signal quality meets the requirement and the stress of the ultrasonic probe is minimum is searched again.
5. The maintaining device is also provided with a pregnant woman compression feeling feedback device, the ultrasonic probe position and posture adjusting mechanism carries out self-adaptive learning according to pregnant woman feedback data, and the position and posture adjusting strategy of the ultrasonic probe is determined for a specific pregnant woman. Everybody is different to the sensitive degree of oppression sense, to the pregnant woman that the oppression sense is insensitive relatively, sets up higher fetal heart signal quality requirement, seeks the position and the gesture that the atress is minimum on the basis of guaranteeing higher signal quality, to the pregnant woman that the oppression sense is sensitive relatively, suitably reduces fetal heart signal quality requirement, seeks the position and the gesture that the atress is minimum on the basis of the signal quality requirement of some relatively low, realizes individualized adjustment, reduces abdominal oppression of pregnant woman, uncomfortable.
Drawings
FIG. 1 is a schematic diagram of an intelligent ultrasonic fetal heart monitoring system according to the present invention;
FIG. 2 is a schematic structural view of an ultrasonic probe holding device;
FIG. 3 is a schematic view of a cavity for accommodating a couplant applicator head;
FIG. 4 is a schematic end view of a couplant application device;
description of the drawings: the method comprises the following steps of 1-an intelligent fetal heart monitoring system, 2-a control module, 3-a moving module, 4-an ultrasonic probe, 5-an ultrasonic probe holding device, 6-an ultrasonic signal analysis mechanism, 7-a force feedback mechanism, 8-an ultrasonic probe position and posture adjusting mechanism, 9-a locking mechanism, 10-a ball, 11-an accommodating cavity and 12-a conveying pipe.
Detailed Description
In order to make the objects, technical solutions and advantageous technical effects of the present invention clearer, the present invention is further described in detail with reference to the following embodiments. It should be understood that the embodiments described in this specification are only for explaining the present invention and are not to be limited thereto, and the specific parameter settings and the like of the embodiments can be selected according to the circumstances without substantially affecting the results.
As shown in fig. 1, the invention provides an intelligent ultrasonic fetal heart monitoring system 1, wherein the system 1 automatically determines and moves to the position of a pregnant woman for fetal heart monitoring, the system 1 comprises a control module 2, a moving module 3, an ultrasonic probe 4 and an ultrasonic probe holding device 5, the control module 2 is connected with the moving module 3, the ultrasonic probe holding device 5 and the ultrasonic probe 4, the moving module 3 is used for adjusting the position of the system, an ultrasonic couplant smearing device is arranged on the ultrasonic probe 4, the ultrasonic probe holding device 5 is used for holding the ultrasonic probe 4, and the position and the posture of the ultrasonic probe 4 are automatically adjusted according to the quality of an obtained fetal heart signal and the stress condition of the ultrasonic probe.
The system 1 is provided with a wireless communication module capable of communicating with wireless terminal equipment, and a user can control the operation of the system through a smart phone. The system 1 comprises an intelligent image analysis device which can acquire surrounding images and analyze the position of the pregnant woman according to the surrounding images, and a moving module 3 moves according to an analysis result and automatically moves to the position of the pregnant woman.
The user can input the personal information of the pregnant woman through the wireless terminal, the system 1 can make an individualized monitoring scheme according to the personal information, and the system is further provided with an information storage library for storing fetal heart monitoring data every time.
The control module 2 is provided with a fetal heart signal analysis module which analyzes and processes the acquired fetal heart signals, judges whether the fetal heart index information of the fetus meets the development condition of the fetus in the gestation period or not, and judges whether the fetus is anoxic or not. The analysis module can also perform personalized learning according to the previous data and optimize the judgment method.
The system 1 is connected to a cloud end, the detected fetal heart data is transmitted to the cloud end through a wireless communication module, and a fetal heart detection expert can call the fetal heart data through the cloud end.
The holding device 5 comprises an ultrasonic signal analysis mechanism 6, a force feedback mechanism 7, an ultrasonic probe position and posture adjusting mechanism 8 and a locking mechanism 9, wherein the ultrasonic probe position and posture adjusting mechanism 8 searches the position and posture with the minimum stress of the ultrasonic probe on the premise of ensuring the fetal heart signal quality according to the fetal heart signal quality parameters and the stress condition of the ultrasonic probe 4 fed back by the force feedback mechanism 7, so that the stress of the abdomen of the pregnant woman is minimum, and the compression and the uncomfortable feeling of the abdomen of the pregnant woman are reduced. After the optimal position and posture are obtained, the locking mechanism 9 locks the joint, so that the holding device 5 fixedly holds the ultrasonic probe, the ultrasonic probe can be fixedly held for a long time, the probe is not required to be manually held, and the workload of a detector is reduced. During the monitoring process, the pregnant woman may move to influence the fetal heart signal quality, when the fetal heart signal quality is lower than a threshold value, the ultrasonic probe position and posture adjusting mechanism 8 adjusts the position and posture of the ultrasonic probe 4, and the position where the fetal heart signal quality meets the requirement and the stress of the ultrasonic probe is minimum is searched again.
The signal analysis mechanism 6 is used for analyzing the acquired ultrasonic signals to obtain the fetal heart signal quality parameters,
the force feedback mechanism 7 is used for detecting the stress condition of the ultrasonic probe 4,
the ultrasonic probe position and posture adjusting mechanism 8 is used for adjusting the position and posture of the ultrasonic probe according to the fetal heart signal quality parameters and the stress condition of the ultrasonic probe, and comprises a plurality of adjusting rods, the adjacent adjusting rods are connected through joints,
the locking mechanism 9 is used for locking the joint, and when the locking mechanism 9 is in a locking state, the holding device fixedly holds the ultrasonic probe.
The ultrasonic probe position and posture adjusting mechanism 8 searches the position and posture with the minimum stress of the ultrasonic probe on the premise of ensuring the fetal heart signal quality according to the fetal heart signal quality parameters and the stress condition of the ultrasonic probe 4, so that the stress of the abdomen of the pregnant woman is minimum, and the compression and the uncomfortable feeling of the abdomen of the pregnant woman are reduced. After the optimal position and posture are obtained, the locking mechanism 9 locks the joint, so that the holding device 5 fixedly holds the ultrasonic probe 4, the ultrasonic probe 4 can be fixedly held for a long time, the probe does not need to be manually held, and the workload of detection personnel is reduced. During the monitoring process, the pregnant woman may move to influence the fetal heart signal quality, when the fetal heart signal quality is lower than a threshold value, the ultrasonic probe position and posture adjusting mechanism 8 adjusts the position and posture of the ultrasonic probe 4, and the position where the fetal heart signal quality meets the requirement and the stress of the ultrasonic probe is minimum is searched again.
The process of adjusting the position and the posture of the ultrasonic probe 4 by the holding device 5 comprises the following steps: the ultrasonic probe position and posture adjusting mechanism 8 adjusts the position and posture of the ultrasonic probe 4 to scan the abdomen of the pregnant woman, fetal heart signals are searched, after the fetal heart signals are found, scanning is carried out within the range of 3-5cm around the center of the point by the center of the point, and the position and posture, with the fetal heart signal quality not lower than the threshold value and with the minimum stress of the ultrasonic probe 4, are searched.
The ultrasonic probe position and posture adjusting mechanism 8 comprises a seven-degree-of-freedom position and posture adjusting mechanism, and the seven-degree-of-freedom position and posture adjusting mechanism comprises seven adjusting rods and joints between the adjacent adjusting rods.
The ultrasonic probe 4 is fixed on the adjusting rod at the most front end, so that the position and the posture of the ultrasonic probe can be freely adjusted to the maximum extent. The force feedback mechanism 7 is arranged on the adjusting rod at the foremost end and feeds back the stress condition of the ultrasonic probe 4.
The holding device 5 is also provided with a pregnant woman compression feeling feedback device, and the ultrasonic probe position and posture adjusting mechanism 8 carries out self-adaptive learning according to the pregnant woman feedback data and determines the position and posture adjusting strategy of the ultrasonic probe 4 aiming at a specific pregnant woman. Everybody is different to the sensitive degree of oppression sense, to the pregnant woman that the oppression sense is insensitive relatively, sets up higher fetal heart signal quality requirement, seeks the position and the gesture that the atress is minimum on the basis of guaranteeing higher signal quality, to the pregnant woman that the oppression sense is sensitive relatively, suitably reduces fetal heart signal quality requirement, seeks the position and the gesture that the atress is minimum on the basis of the signal quality requirement of some relatively low, realizes individualized adjustment, reduces abdominal oppression of pregnant woman, uncomfortable.
The holding device 5 is also provided with a position adjusting feedback device, when the pregnant woman feels oppressed and uncomfortable and needs to adjust the position and the posture of the ultrasonic probe, the position adjusting feedback device is used for feeding back, the position and the posture of the ultrasonic probe are re-adjusted after the ultrasonic probe position and posture adjusting mechanism receives the feedback, the fetal heart signal quality requirement is properly reduced, and the position and the posture with the minimum stress are searched on the basis of relatively lower signal quality requirements.
The couplant smearing device is a couplant smearing head detachably connected with the ultrasonic probe, a couplant storage cavity and a plurality of smearing head accommodating cavities 11 are formed in the couplant smearing head, the smearing head 10 is a ball type smearing head and is arranged in the accommodating cavities 11, and accommodating cavity closing covers are arranged at the tops of the accommodating cavities 11.
The handheld end on the couplant smearing head is provided with and holds chamber control switch that opens and shuts, when needing to smear the couplant, presses control switch, holds the chamber closing cap and opens, and ball formula smearing head top stretches out and holds chamber 11, with ultrasonic probe surface parallel and level, along with the removal of probe, the couplant is by even smearing pregnant woman's belly. After the smearing operation is finished, the control switch is pressed down, the ball type smearing head 10 returns to the accommodating cavity, the accommodating cavity is sealed, and the smearing head is prevented from being polluted by the outside.
The couplant smearing head is of a hollow annular structure, and the ball type smearing heads are uniformly distributed on the annular structure. When the ultrasonic probe is used, the couplant is uniformly coated on the abdomen of a pregnant woman along with the movement of the probe, and the ultrasonic transmitting and receiving device on the ultrasonic probe can continuously work.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (8)
1. An intelligent ultrasonic fetal heart monitoring system is characterized in that the system automatically determines and moves to the position of a pregnant woman for fetal heart monitoring, the system comprises a control module, a moving module, an ultrasonic probe and an ultrasonic probe holding device, the control module is connected with the moving module, the ultrasonic probe holding device and the ultrasonic probe, the moving module is used for adjusting the position of the system, an ultrasonic couplant smearing device is arranged on the ultrasonic probe, the ultrasonic probe holding device is used for holding the ultrasonic probe, and the position and the posture of the ultrasonic probe are automatically adjusted according to the quality of an obtained fetal heart signal and the stress condition of the ultrasonic probe; the maintaining device comprises an ultrasonic signal analyzing mechanism, a force feedback device, an ultrasonic probe position and posture adjusting mechanism and a locking mechanism, wherein the signal analyzing mechanism is used for analyzing the obtained ultrasonic signals to obtain fetal heart signal quality parameters, the force feedback mechanism is used for feeding back the stress condition of the ultrasonic probe, and the ultrasonic probe position and posture adjusting mechanism is used for adjusting the position and posture of the ultrasonic probe according to the fetal heart signal quality parameters and the stress information fed back by the force feedback device; the maintaining device is also provided with a pregnant woman compression feeling feedback device, the ultrasonic probe position and posture adjusting mechanism carries out self-adaptive learning according to pregnant woman feedback data, and the position and posture adjusting strategy of the ultrasonic probe is determined for a specific pregnant woman.
2. A fetal heart monitoring system according to claim 1 wherein the system is provided with a wireless communication module capable of communicating with a wireless terminal device by which a user may control operation of the system.
3. The fetal heart monitoring system of claim 1, wherein the system includes an intelligent image analysis device capable of acquiring the peripheral images and analyzing the location of the pregnant woman based on the peripheral images.
4. The fetal heart monitoring system of claim 2, wherein a user sends a location of the pregnant woman to the system through the wireless terminal device, and the control module controls movement of the mobile module according to the location.
5. The fetal heart monitoring system of claim 2, wherein a user inputs personal information of the pregnant woman through the wireless terminal device.
6. The fetal heart monitoring system according to claim 1, wherein the control module is provided with a fetal heart signal analysis module, and the fetal heart signal analysis module analyzes and processes the acquired fetal heart signals.
7. The fetal heart monitoring system of claim 1, wherein the system is connected to a cloud that transmits the detected fetal heart data to the cloud via the wireless communication module.
8. The fetal heart monitoring system according to claim 1, wherein the couplant smearing device is a couplant smearing head detachably connected with the ultrasonic probe, a couplant storage cavity and a plurality of smearing head accommodating cavities are arranged on the couplant smearing head, the smearing head is a ball type smearing head and is arranged in the accommodating cavities, and an accommodating cavity closing cover is arranged at the tops of the accommodating cavities.
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