CN109223046A - Mammary gland automatic scanning auxiliary system - Google Patents
Mammary gland automatic scanning auxiliary system Download PDFInfo
- Publication number
- CN109223046A CN109223046A CN201811043462.6A CN201811043462A CN109223046A CN 109223046 A CN109223046 A CN 109223046A CN 201811043462 A CN201811043462 A CN 201811043462A CN 109223046 A CN109223046 A CN 109223046A
- Authority
- CN
- China
- Prior art keywords
- control module
- auxiliary system
- control
- arm
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0825—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the breast, e.g. mammography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
- A61B8/467—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient characterised by special input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
-
- 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
Abstract
The invention discloses mammary gland automatic scanning auxiliary systems, belong to technical field of medical equipment, and auxiliary system includes: human-computer interaction interface, sweep parameter needed for being configured to setting scanning auxiliary system；Control module is configured to receive sweep parameter set by human-computer interaction interface, and carries out comprehensive analysis to sweep parameter, to generate corresponding control wave；Execution module is configured to receive the control wave that control module generates, and generates corresponding movement according to control wave, and current action situation is fed back to control module；Feedback module is detected, movement caused by detection execution module is configured to and obtains testing result, and will test result and feed back to control module.This auxiliary system can realize full-automatic galactophore scanning, and operability is good, and auxiliary system operates stability height, high reliablity, significantly improve diagnosis efficiency and accuracy.
Description
Technical field
The invention belongs to technical field of medical equipment, and in particular to a kind of mammary gland automatic scanning auxiliary system.
Background technique
With the raising of health perception, the quantity that China carries out Breast health inspection is more and more, leads to various big hospital people
Full is to suffer from, and doctor overdraws significantly all in the working condition to put upon the full stretch, physical strength and energy daily, can lead diagnosis effect and beat greatly
Discount.Mammary gland automatic scanning auxiliary system can assist attending physician to carry out automatic, comprehensive check.China is existing
Color ultrasound equipment of some for Breast health inspection all uses both hands while operating, and the amount of labour of every day is very huge, work
Make efficiency decline.
Summary of the invention
One of the objects of the present invention is to provide a kind of mammary gland automatic scanning auxiliary system, this auxiliary system can be realized entirely
Automatic galactophore scanning, operability is good, and auxiliary system operates that stability is high, high reliablity, significantly improves diagnosis efficiency and accurate
Property.
The second object of the present invention is to provide a kind of control method of mammary gland automatic scanning auxiliary system, this controlling party
Method realizes full-automatic galactophore scanning by parameter setting and automation manipulation, and scanning stabilization is high, reliability is strong, effectively
It reduces surgeon stress and overcomes manual shake, improve diagnosis efficiency and accuracy.
The scheme that the present invention is taken to solve above-mentioned technical problem are as follows: mammary gland automatic scanning auxiliary system, comprising:
Human-computer interaction interface, sweep parameter needed for being configured to setting scanning auxiliary system；
Control module is configured to receive sweep parameter set by human-computer interaction interface, and carries out comprehensive point to sweep parameter
Analysis, to generate corresponding control wave；
Execution module is configured to receive the control wave that control module generates, and generates phase according to control wave
The movement answered, and current action situation is fed back into control module；
Feedback module is detected, movement caused by detection execution module is configured to and obtains testing result, and it is anti-to will test result
It is fed to control module；
Wherein, the comprehensive analysis that control module carries out is according to sweep parameter and current action situation and testing result to be combined to carry out
Analysis.Present system sets sweep parameter required under different situations by human-computer interaction interface, is received by control module
Sweep parameter simultaneously issues control execution module after control wave and is acted, and will constantly work as in execution module action process
Preceding action situation feeds back to control module to realize that closed loop location adjusts, and improves this system position control Stability and veracity,
It avoids influencing galactophore scanning, detection feedback module acts progress examinations and will test result to galactophore scanning feeds back to control
Module avoids the occurrence of erroneous detection to improve galactophore scanning reliability.Mammary gland automatic scanning auxiliary system of the invention is used to assist
Scanning, operability is good, and doctor is freed from high-intensitive working environment, reduces the physical strength expenditure of doctor, and concentration is examined
Disconnected attention, not only can be improved diagnosis efficiency, additionally it is possible to efficiently against the shake that doctor's manual operations generates, improve diagnosis
Accuracy.
To optimize above-mentioned technical proposal, the measure taken further include: human-computer interaction interface bottom is connected with removable base
Seat, control module is set to inside movable base, execution module be connected to movable base top side, movable base
Bottom is connected with universal caster wheel.Auxiliary system of the invention is integrated on movable base, and can pass through movable base bottom
Universal caster wheel realize mobile operation, be not limited by a space, be conducive to improve diagnosis efficiency.
Preferably, execution module includes:
Joint I is configured to receive the control wave that control module generates, and controls the arm I connecting with joint I and generate phase
The movement answered；
Joint II is configured to receive the control wave that control module generates, and controls the arm II connecting with joint II and produce
Raw corresponding movement；
Joint III is configured to receive the control wave that control module generates, and controls the hand connecting with joint III and generate
Corresponding movement.Joint I, joint II and joint III are used to carry out the component accordingly connected action control, and control is flexibly, surely
Qualitative height effectively improves the operational reliability of device.
Preferably, joint I includes: drive module I, it is connect with control module, for generating driving signal；Motor I is used
The power needed for receiving driving signal, and the generation corresponding actions of arm I are provided；Encoder I, for detecting I output shaft of motor
Displacement and the information that will test feed back to control module, and control module is calculated according to the detection information that encoder I is fed back
The current location of arm I, and compared with the sweep parameter of setting, so that new control wave is issued, the revolving speed of motor I
With direction to realize being precisely controlled for the displacement of arm I, servo motor is can be selected in motor I, and operability is good, precision is high.
Preferably, joint II includes: drive module II, it is connect with control module, for generating driving signal；Motor
II, for receiving driving signal, and power needed for arm II generates corresponding actions is provided, it is whole that the setting in joint II can increase system
Body freedom of movement improves system operation flexibility, so that system is applicable to different crowd.
Preferably, joint III includes: drive module III, it is connect with control module, for generating driving signal；Motor
III, for receiving driving signal, and provide power needed for hand generates corresponding actions；Encoder II, it is defeated for detecting motor III
The displacement of the shaft and information that will test feeds back to control module.The detection information that control module is fed back according to encoder II
The current location sold is calculated, and is compared with the sweep parameter of setting, so that new control wave is issued, motor III
Revolving speed and direction to realize that hand was displaced is precisely controlled, motor III can be selected servo motor, and operability is good, precision
It is high, it is ensured that hand stability with higher improves the accuracy of scanning result.
Preferably, arm I is inner hollow cylinder, arm I is internally connected with reinforced structure, and reinforced structure includes upright arm I
The baffle of inner surface setting is equipped with astrosphere between baffle, is enclosed with sponge ball inside astrosphere, center outer surface of ball is connected with
Rice font column, the arm I of hollow design are conducive to mitigate the own wt of arm I, improve the handling of arm I, and reduction overcomes itself
The power consumption of gravity acting, the reinforced structure connected inside arm I can guarantee that arm I has enough rigidity, can stablize support arm II with
And the movement of hand, the baffle in reinforced structure are used to limit the occupied space of reinforced structure, meter font column are avoided to generate sliding etc.
Phenomenon, rice font column reduce a possibility that reinforced structure deforms for power suffered by receiving arm I and dispensing support, improve system
It unites operational reliability, astrosphere has stronger hardness, can receive the pressure that meter font column generates it completely, inside astrosphere
It is enclosed with sponge ball, the diameter of sponge ball and the diameter ratio of astrosphere are 1:1.8 ~ 2.4, under this ratio setting, astrosphere
Compression strength is high, and the absorption of vibrations that sponge ball can generate part arm I during support, the low frequency for significantly inhibiting arm I are scratched
Property vibration, improve I kinetic stability of arm, and in the case where rice font column is used as power to the dispersion of astrosphere, astrosphere and sponge ball it
Between generate random active force and reaction force so that sponge ball while inhibiting I low frequency flexible vibration of arm also can avoid arm I
Stress site generate stress concentration phenomenon, to improve the fatigue strength of arm I, make this auxiliary system after multiple operating still
With preferable operability and higher run stability, the accuracy of system scanning is improved.
Preferably, hand head end is connect with joint III, hand end is connected with cavernous body, is connected with transverse slat in the middle part of hand inner wall,
Transverse slat end is connected with pressure sensor, and transverse slat lower end is equipped with the clamping plate connecting by spring with hand, and hand is for clamping color ultrasound spy
Head, cavernous body can reduce damage of the hand to color ultrasound probes, extend the service life of color ultrasound probes, preferably setting inside cavernous body
It is reliable to the clamping of color ultrasound probes that hand not only can be improved for monitoring hand in real time to the chucking power of color ultrasound probes in pressure sensor
Property, it avoids galactophore scanning process from the phenomenon that color ultrasound probes landing occur, can also reduce the extruding force to color ultrasound probes, extend color ultrasound
Probe service life improves scanning precision, and transverse slat is used to carry out longitudinal spacing to color ultrasound probes, and color ultrasound probes is avoided to use
Unnecessary displacement is generated in the process, improves accuracy of the pressure sensor to color ultrasound probes pressure detecting, and clamping plate passes through spring
To color ultrasound probes carry out cross spacing, avoid color ultrasound probes when carrying out galactophore scanning because when it is with skin contact moving resistance compared with
Greatly and there is a phenomenon where rocking, the case where color ultrasound probes detect same loci can be reduced, galactophore scanning validity is significantly improved.
Preferably, detection feedback module includes: pressure sensor, scanned position is treated for detecting detection execution module
Generated pressure simultaneously generates corresponding resistance change；Pressure detection circuit, for electricity caused by calculation pressure sensor
Change in resistance obtains testing result, and will test result and feed back to control module, when hand clamping color ultrasound probes carry out galactophore scanning
When, color ultrasound probes on the wire of sensor, make wire generation and pressure at just the pressure indirectly-acting of scanned position
The travel incognito of ratio becomes, and the resistance of pressure sensor is made to change, and detection feedback module carries out resistance variations calculating, and by calculated value
Control module is returned to, control module generates new control wave after receiving and comparing with sweep parameter to adjust
The movement of hand.
The control method of mammary gland automatic scanning auxiliary system, comprising:
Sweep parameter needed for scanning auxiliary system is set by human-computer interaction interface；
Control module receives sweep parameter set by human-computer interaction interface, and carries out comprehensive analysis to sweep parameter, to generate
Corresponding control wave；
Execution module receives the control wave that control module generates, and generates corresponding movement according to control wave,
And current action situation is fed back into control module；
Movement caused by detection feedback module detection execution module obtains testing result, and will test result and feed back to control mould
Block；
Wherein, the comprehensive analysis that control module carries out is according to sweep parameter and current action situation and testing result to be combined to carry out
Analysis；
Wherein, sweep parameter is the rotation angle of II number of revolutions of arm and single, the displacement of hand and movement speed and hand pair
The pressure of color ultrasound probes.In control detection process, joint III controls hand and swings, and realizes a radial scan to mammary gland, and
Each time after radial scan, joint II rotates an angleθ, angleθIt determines when being arranged by sweep parameter, rotates altogether
It is secondary, primary inspection is completed, above-mentioned control method can realize full-automatic galactophore scanning, and scanning stabilization is high, reliability is strong, helps
In freeing doctor from high-intensitive working environment, diagnosis attention can be not only concentrated, improves diagnosis efficiency, also
The shake that manual operations can be overcome to generate improves diagnostic accuracy.
Compared with prior art, the invention has the benefit that 1) mammary gland automatic scanning auxiliary system of the invention is used
Carry out sub-scanning, operability is good, and doctor is freed from high-intensitive working environment, the physical strength expenditure of doctor is reduced,
The attention for concentrating diagnosis, not only can be improved diagnosis efficiency, additionally it is possible to efficiently against the shake that doctor's manual operations generates, mention
High diagnostic accuracy；2) structure of arm I designs so that its internal sponge ball may be used also while inhibiting I low frequency flexible vibration of arm
Avoiding the stress site of arm I from generating stress concentration phenomenon is transporting this auxiliary system repeatedly to improve the fatigue strength of arm I
Still there is preferable operability and higher run stability after turning；3) the structure design of hand can realize color ultrasound probes
Stablize limit, and reduce the damage to color ultrasound probes, significantly improves galactophore scanning validity；4) mammary gland automatic scanning auxiliary system
The control method of system helps to free doctor from high-intensitive working environment, can not only diagnosis be concentrated to pay attention to
Power improves diagnosis efficiency, and the shake that can also overcome manual operations to generate improves diagnostic accuracy.
Present invention employs above-mentioned technical proposals to provide mammary gland automatic scanning auxiliary system, compensates for the prior art not
Foot, reasonable design, easy operation.
Detailed description of the invention
Fig. 1 is system block diagram of the invention；
Fig. 2 is system structure diagram of the invention；
Fig. 3 is the connection schematic diagram of hand of the present invention and color ultrasound probes；
Fig. 4 is the sectional view of arm I of the present invention.
Description of symbols: 1 universal caster wheel；2 movable bases；3 control modules；4 human-computer interaction interfaces；5 brackets；6 close
Section I；7 arms I；7a astrosphere；7b baffle；7c sponge ball；7d meters of font columns；8 joints II；9 arms II；10 joints III；11 hands；12 folders
Plate；13 cavernous bodies；14 color ultrasound probes；15 springs；16 transverse slats；17 pressure sensors.
Specific embodiment
It is described in further detail below in conjunction with drawings and examples:
Embodiment 1:
As shown in Fig. 1 ~ 3, mammary gland automatic scanning auxiliary system, comprising:
Human-computer interaction interface 4, sweep parameter needed for being configured to setting scanning auxiliary system；
Control module 3 is configured to receive sweep parameter set by human-computer interaction interface 4, and integrates to sweep parameter
Analysis, to generate corresponding control wave；
Execution module is configured to receive the control wave that control module 3 generates, and generates phase according to control wave
The movement answered, and current action situation is fed back into control module 3；
Feedback module is detected, movement caused by detection execution module is configured to and obtains testing result, and it is anti-to will test result
It is fed to control module 3；
Wherein, the comprehensive analysis that control module 3 carries out be according to sweep parameter and combine current action situation and testing result into
Capable analysis.Present system sets sweep parameter required under different situations by human-computer interaction interface 4, by control module 3
Control execution module is acted after receiving sweep parameter and issuing control wave, in execution module action process constantly
Current action situation is fed back into control module 3 to realize that closed loop location adjusts, improves this system position control accuracy and steady
It is qualitative, it avoids influencing galactophore scanning, detection feedback module, which acts galactophore scanning, to carry out examinations and will test result feedback
To control module 3 to improve galactophore scanning reliability, erroneous detection is avoided the occurrence of.Mammary gland automatic scanning auxiliary system of the invention is used
Carry out sub-scanning, operability is good, and doctor is freed from high-intensitive working environment, the physical strength expenditure of doctor is reduced,
The attention for concentrating diagnosis, not only can be improved diagnosis efficiency, additionally it is possible to efficiently against the shake that doctor's manual operations generates, mention
High diagnostic accuracy.
4 bottom of human-computer interaction interface is connected with movable base 2, and control module 3 is set to inside movable base 2,
Execution module is connected to 2 top side of movable base, and 2 bottom of movable base is connected with universal caster wheel 1.Auxiliary of the invention
The system integration can realize mobile operation on movable base 2 by the universal caster wheel 1 of 2 bottom of movable base, not by sky
Between limit, be conducive to improve diagnosis efficiency.
Execution module includes: joint I 6, be configured to receive control module 3 generate control wave, and control with
The arm I 7 that joint I 6 connects generates corresponding movement；
Joint II 8 is configured to receive the control wave that control module 3 generates, and controls the arm II connecting with joint II 8
9 generate corresponding movement；
Joint III 10 is configured to receive the control wave that control module 3 generates, and controls the hand connecting with joint III 10
11 generate corresponding movement.Joint I 6, joint II 8 and joint III 10 are used to carry out action control to the component accordingly connected,
Control is flexible, stability is high, effectively improves the operational reliability of device.
2 top side of movable base is connected with bracket 5, and bracket 5 passes through joint II by I 6 linking arm I 7 of joint, arm I 7
8 linking arms II 9, arm II 9 connect hand 11 by joint III 10, and above-mentioned connection type freedom degree is high, and precise control is high, favorably
Accuracy is scanned in improving auxiliary system.
Joint I 6 includes: drive module I, is connect with control module 3, for generating driving signal；Motor I, for receiving
Driving signal, and power needed for arm I 7 generates corresponding actions is provided；Encoder I, for detecting the displacement of I output shaft of motor
And the information that will test feeds back to control module 3, control module 3 calculates arm I 7 according to the detection information that encoder I is fed back
Current location, and compared with the sweep parameter of setting, to issue new control instruction, the revolving speed of motor I and direction
To realize being precisely controlled for the displacement of arm I 7, servo motor is can be selected in motor I, and operability is good, precision is high.
Joint II 8 includes: drive module II, is connect with control module 3, for generating driving signal；Motor II, for connecing
Driving signal is received, and power needed for arm II 9 generates corresponding actions is provided, the setting in joint II 8 can increase system mass activity
Freedom degree improves system operation flexibility, so that system is applicable to different crowd.
Joint III 10 includes: drive module III, is connect with control module 3, for generating driving signal；Motor III, is used for
Driving signal is received, and power needed for hand 11 generates corresponding actions is provided；Encoder II, for detecting III output shaft of motor
Displacement and the information that will test feed back to control module 3, and control module 3 is calculated according to the detection information that encoder II is fed back
Sell 11 current location, and compared with the sweep parameter of setting, to issue new control wave, motor III
To realize that hand 11 was displaced is precisely controlled, motor III can be selected servo motor for revolving speed and direction, and operability is good, precision
It is high, it is ensured that the stability with higher of hand 11 improves the accuracy of scanning result.
Detecting feedback module includes: pressure sensor 17, is treated produced by scanned position for detecting detection execution module
Pressure and generate corresponding resistance change；Pressure detection circuit, for resistance value caused by calculation pressure sensor 17
Variation obtains testing result, and will test result and feed back to control module 3, carries out galactophore scanning when hand 11 clamps color ultrasound probes 14
When, color ultrasound probes 14 to the pressure indirectly-acting of scanned position on the wire of sensor, make wire generate and pressure at
The travel incognito of direct ratio becomes, and the resistance of pressure sensor 17 is made to change, and detection feedback module carries out resistance variations calculating, and will meter
Calculation value returns to control module 3, and control module 3 generates new control wave after receiving and comparing with sweep parameter
To adjust the movement of hand 11.
The prior art of routine techniques dawn known to those skilled in the art in the present embodiment, is not chatted in detail herein
It states.
Embodiment 2:
The present embodiment be on the basis of embodiment 1 advanced optimize scheme: as shown in figure 3,11 head end of hand and joint III 10
Connection, 11 end of hand are connected with cavernous body 13, are connected with transverse slat 16 in the middle part of 11 inner wall of hand, 16 end of transverse slat is connected with pressure sensing
Device 17,16 lower end of transverse slat are equipped with the clamping plate 12 connecting by spring 15 with hand 11, and hand 11 is for clamping color ultrasound probes 14, cavernous body
13 can reduce damage of the hand 11 to color ultrasound probes 14, extend the service life of color ultrasound probes 14, and 13 inside of cavernous body is preferably set
Pressure sensor is set, for monitoring hand 11 in real time to the chucking power of color ultrasound probes 14, hand 11 not only can be improved to color ultrasound probes 14
Clamping reliability, avoid galactophore scanning process occur color ultrasound probes 14 landing the phenomenon that, can also reduce to color ultrasound probes 14
Extruding force extends 14 service life of color ultrasound probes, improves scanning precision, and transverse slat 16 is for carrying out longitudinal limit to color ultrasound probes 14
Position avoids color ultrasound probes 14 from generating unnecessary displacement in use, improves pressure sensor 17 and presses color ultrasound probes 14
The accuracy of power detection, clamping plate 12 carry out cross spacing to color ultrasound probes 14 by spring 15, color ultrasound probes 14 are avoided to carry out
There is a phenomenon where rocking due to moving resistance is larger when it is with skin contact when galactophore scanning, color ultrasound probes 14 can be reduced and detected
The case where same loci, significantly improves galactophore scanning validity.
As shown in figure 4, arm I 7 is inner hollow cylinder, arm I 7 is internally connected with reinforced structure, and reinforced structure includes vertical
It is equipped with astrosphere 7a between the baffle 7b of I 7 inner surface of arm setting, baffle 7b, is enclosed with sponge ball 7c, center inside astrosphere 7a
The outer surface ball 7a is connected with a meter font column 7d, and the arm I 7 of hollow design is conducive to mitigate the own wt of arm I 7, improves arm I 7
Handling reduces the power consumption for overcoming self gravity to do work, and it is enough that the reinforced structure that I 7 inside of arm connects can guarantee that arm I 7 has
Rigidity, the movement of support arm II 9 and hand 11 can be stablized, the baffle 7b in reinforced structure is used to limit the occupancy of reinforced structure
Space avoids meter font column 7d from generating phenomena such as sliding, and rice font column 7d is used for power suffered by receiving arm I 7 and dispensing support,
A possibility that reducing reinforced structure deformation, system operation reliability is improved, astrosphere 7a has stronger hardness, can receive completely
The pressure that generates to it of rice font column 7d is enclosed with sponge ball 7c, the diameter and astrosphere 7a of sponge ball 7c inside astrosphere 7a
Diameter than being preferably 1:2, under this ratio setting, the compression strength of astrosphere 7a is high, and sponge ball 7c can be by part arm I 7
The absorption of vibrations generated during support, significantly inhibits the low frequency flexible vibration of arm I 7, improves I 7 kinetic stability of arm, and
Rice font column 7d is used as under power the dispersion of astrosphere 7a, and random active force and anti-is generated between astrosphere 7a and sponge ball 7c
Active force, so that the stress site that sponge ball 7c also can avoid arm I 7 while inhibiting I 7 low frequency flexible vibration of arm generates stress
Concentration phenomenon, to improve the fatigue strength of arm I 7, having this auxiliary system still preferably after multiple operating can be operated
Property and higher run stability.
Sponge ball 7c is sponge material, and sponge ball 7c's is preferred the preparation method comprises the following steps: by weight, taking 55 parts of trihydroxy methyls
42 parts, 23 parts propane polyethers, 33 parts of toluene di-isocyanate(TDI), polyether polyol toluene di-isocyanate(TDI)s put into mixers and mix
Close, stir evenly, and be heated to 25 DEG C, then take 9 parts of Nano sepiolite powders, 12 parts of E-12 epoxy resin, 1.2 parts of stannous octoates,
0.4 part of zinc acetate puts into mixer and mixes, is heated to 52 DEG C, 0.01 part of Alpha-Methyl benzylamine is added, after high-speed stirred 10 seconds
Pour into after mold foams and solidify, obtain sponge ball 7c, in above-mentioned preparation method (S)-Alpha-Methyl benzylamine of Alpha-Methyl benzylamine and
(R)-Alpha-Methyl benzylamine mass ratio is 1:0.34, and the Alpha-Methyl benzylamine with specific proportions has with polyether polyol cooperates with work
With not only can promote the polymer that low molecular weight monomers in sponge preparation process form high molecular weight by propagation process, add
The preparation speed of fast sponge ball 7c, reduces the interference of external environment, promotes sponge ball 7c mechanical property, also can avoid sponge and is sending out
Occur the problem of excessive aperture or porous connection during bubble, makes in obtained sponge has excellent elasticity and be less prone to
The phenomenon that hollow collapsing in portion, remain obtained sponge ball 7c can with astrosphere 7a full of astrosphere 7a inner wall and always
The transmitting of preferable power promotes the effect that sponge ball 7c inhibits I 7 low frequency flexible vibration of arm and disperses the stress in the stress site of arm I 7
Fruit, thus make arm I 7 can have in the case where reducing self gravity unexpected reduction vibration, improve fatigue resistance with
And the characteristic of rigidity, to make this auxiliary system not only and have lower power consumption, and there is preferable operability and higher
Run stability.
The prior art of routine techniques dawn known to those skilled in the art in the present embodiment, is not chatted in detail herein
It states.
Embodiment 3:
As shown in Fig. 1 ~ 3, the control method of mammary gland automatic scanning auxiliary system, comprising:
Sweep parameter needed for scanning auxiliary system is set by human-computer interaction interface 4；
Control module 3 receives sweep parameter set by human-computer interaction interface 4, and carries out comprehensive analysis to sweep parameter, to produce
Raw corresponding control wave；
Execution module receives the control wave that control module 3 generates, and generates corresponding move according to control wave
Make, and current action situation is fed back into control module 3；
Movement caused by detection feedback module detection execution module obtains testing result, and will test result and feed back to control mould
Block 3；
Wherein, the comprehensive analysis that control module 3 carries out be according to sweep parameter and combine current action situation and testing result into
Capable analysis；
Wherein, sweep parameter is the rotation angle of II 9 number of revolutions of arm and single, the displacement of hand 11 and movement speed and hand
The pressure of 11 pairs of color ultrasound probes 14.In control detection process, joint III 10 controls hand 11 and swings, and realizes a diameter to mammary gland
To scanning, and each time after radial scan, joint II 8 rotates an angleθ, angleθIt is determined when being arranged by sweep parameter,
Primary inspection is completed in rotation time altogether, and above-mentioned control method can realize full-automatic galactophore scanning, and scanning stabilization is high, reliable
Degree is strong, helps to free doctor from high-intensitive working environment, can not only concentrate diagnosis attention, raising is examined
Disconnected efficiency, the shake that can also overcome manual operations to generate improve diagnostic accuracy.
The prior art of routine techniques dawn known to those skilled in the art in the present embodiment, is not chatted in detail herein
It states.
Embodiment 4:
As shown in Fig. 1 ~ 4, the working principle of this auxiliary system are as follows: when needing to check, color ultrasound probes 14 are placed in hand 11, are controlled
Joint III 10 clamps color ultrasound probes 14, and the position for adjusting color ultrasound probes 14 makes pressure suffered by pressure sensor 17 close
In zero, sweep parameter is arranged by human-computer interaction interface 4 in staff, presses start button, I 6 He of joint after parameter setting is good
II 8 control arm I 7 of joint and arm II 9 slowly decline, and generate the position of horizontal direction, make to go smoothly 11 in needing to carry out mammary gland
The surface of the initial position of scanning, after by I control arm I 7 of motor, slowly decline, decrease speed are determined by the revolving speed of motor I,
When color ultrasound probes 14 touch examined position-mammary gland, the resistance of the pressure sensor 17 of hand 11 changes, pressure detecting
The information is fed back to control module 3 by circuit, and control module 3 determines mechanical arm stopping according to pressure size or continues to decline, when
When color ultrasound probes 14 drop to suitable location, control joint III 10 swings hand 11, a radial scan of the realization to mammary gland, and one
After the completion of secondary radial scan, joint II 8 rotates 30 ° of posterior joints III 10 and controls the radial scan of completion of hand 11 again, when progress 4
After secondary scanning, breast examination is completed.
The prior art of routine techniques dawn known to those skilled in the art in the present embodiment, is not chatted in detail herein
It states.
The above embodiments are only used to illustrate the present invention, and not limitation of the present invention, the ordinary skill people of this field
Member can also make a variety of changes and modification without departing from the spirit and scope of the present invention.Therefore, all equivalent
Technical solution also belong to scope of the invention, scope of patent protection of the invention should be defined by the claims.
Claims (10)
1. mammary gland automatic scanning auxiliary system, comprising:
Human-computer interaction interface, sweep parameter needed for being configured to setting scanning auxiliary system；
Control module is configured to receive the sweep parameter set by the human-computer interaction interface, and joins to the scanning
Number carries out comprehensive analysis, to generate corresponding control wave；
Execution module is configured to receive the control wave that the control module generates, and according to the control arteries and veins
It rushes signal and generates corresponding movement, and current action situation is fed back into the control module；
Feedback module is detected, is configured to detect the movement caused by the execution module and obtains testing result, and by institute
It states testing result and feeds back to the control module；
Wherein, the comprehensive analysis that the control module carries out is according to the sweep parameter and in conjunction with the current action feelings
The analysis that condition and the testing result carry out.
2. mammary gland automatic scanning auxiliary system according to claim 1, it is characterised in that: the human-computer interaction interface bottom
Portion is connected with movable base, and the control module is set to inside movable base, and the execution module is connected to removable
Moving base top side, the movable base bottom are connected with universal caster wheel.
3. mammary gland automatic scanning auxiliary system according to claim 1, it is characterised in that: the execution module includes:
Joint I is configured to receive the control wave that the control module generates, and controls and connect with the joint I
The arm I connect generates corresponding movement；
Joint II is configured to receive the control wave that the control module generates, and controls and the joint II
The arm II of connection generates corresponding movement；
Joint III is configured to receive the control wave that the control module generates, and controls and the joint III
The hand of connection generates corresponding movement.
4. mammary gland automatic scanning auxiliary system according to claim 3, it is characterised in that: the joint I includes: driving
Module I is connect with control module, for generating driving signal；Motor I for receiving the driving signal, and provides the arm
Power needed for I generation corresponding actions；Encoder I, for detecting the displacement of I output shaft of motor and the information that will test is anti-
It is fed to control module.
5. mammary gland automatic scanning auxiliary system according to claim 3, it is characterised in that: the joint II includes: to drive
Dynamic model block II, connect with control module, for generating driving signal；Motor II for receiving the driving signal, and provides institute
State power needed for arm II generates corresponding actions.
6. mammary gland automatic scanning auxiliary system according to claim 3, it is characterised in that: the joint III includes: to drive
Dynamic model block III, connect with control module, for generating driving signal；Motor III for receiving the driving signal, and provides institute
State power needed for hand generates corresponding actions；Encoder II, for detecting the displacement of III output shaft of motor and will test
Information feeds back to control module.
7. mammary gland automatic scanning auxiliary system according to claim 3, it is characterised in that: the arm I is inner hollow
Cylinder, the arm I are internally connected with reinforced structure, and the reinforced structure includes the baffle of I inner surface of upright arm setting, the gear
It is equipped with astrosphere between plate, is enclosed with sponge ball inside the astrosphere, the center outer surface of ball is connected with a meter font column.
8. mammary gland automatic scanning auxiliary system according to claim 3, it is characterised in that: the hand head end and joint III
Connection, the hand end are connected with cavernous body, and transverse slat is connected in the middle part of the hand inner wall, and the transverse slat end is connected with pressure biography
Sensor, the transverse slat lower end are equipped with the clamping plate connecting by spring with hand, and the hand is for clamping color ultrasound probes.
9. mammary gland automatic scanning auxiliary system according to claim 1, it is characterised in that: the detection feedback module packet
Include: pressure sensor treats pressure caused by scanned position and generates corresponding resistance change for detecting execution module；
Pressure detection circuit obtains testing result for calculating resistance change caused by the pressure sensor, and will test knot
Fruit feeds back to control module.
10. a kind of control method of mammary gland automatic scanning auxiliary system described in application claim 1 ~ 9, comprising:
Sweep parameter needed for scanning auxiliary system is set by human-computer interaction interface；
Control module receives the sweep parameter set by the human-computer interaction interface, and integrates to the sweep parameter
Analysis, to generate corresponding control wave；
Execution module receives the control wave that the control module generates, and is produced according to the control wave
Raw corresponding movement, and current action situation is fed back into the control module；
Detection feedback module detects the movement caused by the execution module and obtains testing result, and by the testing result
Feed back to the control module；
Wherein, the comprehensive analysis that the control module carries out is according to the sweep parameter and in conjunction with the current action feelings
The analysis that condition and the testing result carry out；
Wherein, the sweep parameter be the rotation angle of II number of revolutions of arm and single, the displacement of hand and movement speed and
Pressure of the hand to color ultrasound probes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043462.6A CN109223046B (en) | 2018-09-07 | 2018-09-07 | Mammary gland automated scanning auxiliary system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043462.6A CN109223046B (en) | 2018-09-07 | 2018-09-07 | Mammary gland automated scanning auxiliary system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109223046A true CN109223046A (en) | 2019-01-18 |
| CN109223046B CN109223046B (en) | 2021-04-20 |
Family
ID=65060952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811043462.6A Expired - Fee Related CN109223046B (en) | 2018-09-07 | 2018-09-07 | Mammary gland automated scanning auxiliary system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109223046B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846514A (en) * | 2019-04-08 | 2019-06-07 | 浙江大学 | A kind of medical ultrasonic scanning compression and hunting gear with voltage adaptive controlling ability |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6413254B1 (en) * | 2000-01-19 | 2002-07-02 | Medtronic Xomed, Inc. | Method of tongue reduction by thermal ablation using high intensity focused ultrasound |
| CN2598289Y (en) * | 2002-12-26 | 2004-01-07 | 功学社教育用品股份有限公司 | Vibration damper for microphone stand |
| CN1812868A (en) * | 2003-04-28 | 2006-08-02 | 斯蒂芬·詹姆斯·克兰普顿 | CMM arm with exoskeleton |
| WO2007130526A2 (en) * | 2006-05-02 | 2007-11-15 | U-Systems, Inc. | Ultrasound scanning and ultrasound- assisted biopsy |
| US7594912B2 (en) * | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
| US20100030078A1 (en) * | 2008-07-31 | 2010-02-04 | Fujifilm Corporation | Medical imaging apparatus |
| WO2010092565A1 (en) * | 2009-02-13 | 2010-08-19 | Helix Medical Systems Ltd. | A method and a system for medical imaging |
| US8096949B2 (en) * | 2008-07-02 | 2012-01-17 | U-Systems, Inc. | User interface for ultrasound mammographic imaging |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
| CN104352251A (en) * | 2014-11-07 | 2015-02-18 | 汕头市超声仪器研究所有限公司 | Control device of ultrasonic diagnosis equipment |
| WO2015099849A1 (en) * | 2013-12-23 | 2015-07-02 | U-Systems, Inc. | Medical ultrasound scanning with control over pressure/force exerted by an ultrasound probe and/or a compression/scanning assembly |
| US9095346B2 (en) * | 2010-11-05 | 2015-08-04 | Ethicon Endo-Surgery, Inc. | Medical device usage data processing |
| CN105628793A (en) * | 2015-12-22 | 2016-06-01 | 吉林大学 | Handheld passive flexible beam positioning ultrasonic scanning detection method and detection device |
| CN106236137A (en) * | 2016-08-12 | 2016-12-21 | 赵凤燕 | Vertical color supersonic diagnostic appts |
| CN106539597A (en) * | 2016-12-23 | 2017-03-29 | 汕头市超声仪器研究所有限公司 | A kind of Breast ultrasonography instrument |
| CN107157512A (en) * | 2016-03-07 | 2017-09-15 | 东芝医疗系统株式会社 | Diagnostic ultrasound equipment and ultrasonic diagnosis assisting system |
| CN107253125A (en) * | 2017-07-05 | 2017-10-17 | 东北大学 | A kind of hand-held sand paper grinder with dust suction and vibration-damping function |
| CN206663287U (en) * | 2017-05-05 | 2017-11-24 | 黄培康 | A kind of mechanical arm damping device |
| US20180028146A1 (en) * | 2009-11-27 | 2018-02-01 | Qview Medical, Inc. | Automated breast ultrasound equipment and methods using enhanced navigator aids |
| CN107961037A (en) * | 2017-11-16 | 2018-04-27 | 无锡声亚医疗科技有限公司 | Breast ultrasound detects ancillary equipment |
| CN107981888A (en) * | 2017-12-21 | 2018-05-04 | 浙江深博医疗技术有限公司 | Computer galactophore scanning automation alignment system |
| CN108312132A (en) * | 2018-04-25 | 2018-07-24 | 阜阳盛东智能制造技术研发有限公司 | A kind of multi-joint mechanical arm |
-
2018
- 2018-09-07 CN CN201811043462.6A patent/CN109223046B/en not_active Expired - Fee Related
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6413254B1 (en) * | 2000-01-19 | 2002-07-02 | Medtronic Xomed, Inc. | Method of tongue reduction by thermal ablation using high intensity focused ultrasound |
| CN2598289Y (en) * | 2002-12-26 | 2004-01-07 | 功学社教育用品股份有限公司 | Vibration damper for microphone stand |
| CN1812868A (en) * | 2003-04-28 | 2006-08-02 | 斯蒂芬·詹姆斯·克兰普顿 | CMM arm with exoskeleton |
| US7594912B2 (en) * | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
| WO2007130526A2 (en) * | 2006-05-02 | 2007-11-15 | U-Systems, Inc. | Ultrasound scanning and ultrasound- assisted biopsy |
| US8096949B2 (en) * | 2008-07-02 | 2012-01-17 | U-Systems, Inc. | User interface for ultrasound mammographic imaging |
| US20100030078A1 (en) * | 2008-07-31 | 2010-02-04 | Fujifilm Corporation | Medical imaging apparatus |
| WO2010092565A1 (en) * | 2009-02-13 | 2010-08-19 | Helix Medical Systems Ltd. | A method and a system for medical imaging |
| US20180028146A1 (en) * | 2009-11-27 | 2018-02-01 | Qview Medical, Inc. | Automated breast ultrasound equipment and methods using enhanced navigator aids |
| US9095346B2 (en) * | 2010-11-05 | 2015-08-04 | Ethicon Endo-Surgery, Inc. | Medical device usage data processing |
| CN202716271U (en) * | 2012-08-04 | 2013-02-06 | 合肥泰禾光电科技股份有限公司 | Joint-type medium-duty intelligent control palletizing robot |
| WO2015099849A1 (en) * | 2013-12-23 | 2015-07-02 | U-Systems, Inc. | Medical ultrasound scanning with control over pressure/force exerted by an ultrasound probe and/or a compression/scanning assembly |
| CN104352251A (en) * | 2014-11-07 | 2015-02-18 | 汕头市超声仪器研究所有限公司 | Control device of ultrasonic diagnosis equipment |
| CN105628793A (en) * | 2015-12-22 | 2016-06-01 | 吉林大学 | Handheld passive flexible beam positioning ultrasonic scanning detection method and detection device |
| CN107157512A (en) * | 2016-03-07 | 2017-09-15 | 东芝医疗系统株式会社 | Diagnostic ultrasound equipment and ultrasonic diagnosis assisting system |
| CN106236137A (en) * | 2016-08-12 | 2016-12-21 | 赵凤燕 | Vertical color supersonic diagnostic appts |
| CN106539597A (en) * | 2016-12-23 | 2017-03-29 | 汕头市超声仪器研究所有限公司 | A kind of Breast ultrasonography instrument |
| CN206663287U (en) * | 2017-05-05 | 2017-11-24 | 黄培康 | A kind of mechanical arm damping device |
| CN107253125A (en) * | 2017-07-05 | 2017-10-17 | 东北大学 | A kind of hand-held sand paper grinder with dust suction and vibration-damping function |
| CN107961037A (en) * | 2017-11-16 | 2018-04-27 | 无锡声亚医疗科技有限公司 | Breast ultrasound detects ancillary equipment |
| CN107981888A (en) * | 2017-12-21 | 2018-05-04 | 浙江深博医疗技术有限公司 | Computer galactophore scanning automation alignment system |
| CN108312132A (en) * | 2018-04-25 | 2018-07-24 | 阜阳盛东智能制造技术研发有限公司 | A kind of multi-joint mechanical arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846514A (en) * | 2019-04-08 | 2019-06-07 | 浙江大学 | A kind of medical ultrasonic scanning compression and hunting gear with voltage adaptive controlling ability |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109223046B (en) | 2021-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103271720B (en) | A kind of adjustable electropulsograph of ram position of measuring | |
| CN103040448A (en) | Pulse apparatus | |
| WO2018036110A1 (en) | Robotic probe device | |
| CN109788934A (en) | Gynemetrics's diagnostic device and the gynemetrics's diagnostic method for using it | |
| CN102988031A (en) | Remote pulse diagnosis apparatus | |
| CN108113705A (en) | It is long-range to check control device | |
| CN109223046A (en) | Mammary gland automatic scanning auxiliary system | |
| CN100566663C (en) | A kind of probe frame for brain bloodstream detection | |
| CN109157246A (en) | A kind of intelligent fetal rhythm monitoring device for gynemetrics | |
| CN203138463U (en) | Pulse condition instrument | |
| CN109893158A (en) | Mammary gland compressorium and method | |
| CN210811164U (en) | Intelligent blood vessel ultrasonic probe for difficult and complicated blood vessel puncture and diagnosis | |
| CN205749197U (en) | A kind of liquid surface tension coefficient measures integration analyzer | |
| CN202154700U (en) | Ultrasonic linear scanning device | |
| CN1317995C (en) | Integral soft tissue dynamic load response parameter collection system | |
| CN209122276U (en) | A kind of wireless ultrasound diagnostic equipment | |
| CN108430316A (en) | Pressure pulse wave measurement device and biological information measurement device | |
| JP5027633B2 (en) | Ultrasonic transducer | |
| CN203314939U (en) | Pulse condition apparatus with measuring pressure head capable of being adjusted in position | |
| CN213155998U (en) | Ultrasonic detection probe | |
| CN205514554U (en) | Three -dimensional adjustable traditional chinese medical science pulse manifestation collection system | |
| CN108430315A (en) | Pressure pulse wave measurement device and biological information measurement device | |
| CN211723227U (en) | Automatic scanning auxiliary device of ultrasonic transducer | |
| CN210631244U (en) | Ultrasonic examination device | |
| CN102085103B (en) | Three-dimensional type-B ultrasound device for realizing conical scanning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210420 Termination date: 20210907 |