CN109223046B - Mammary gland automated scanning auxiliary system - Google Patents
Mammary gland automated scanning auxiliary system Download PDFInfo
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- CN109223046B CN109223046B CN201811043462.6A CN201811043462A CN109223046B CN 109223046 B CN109223046 B CN 109223046B CN 201811043462 A CN201811043462 A CN 201811043462A CN 109223046 B CN109223046 B CN 109223046B
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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
- 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
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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
- 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
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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
- 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
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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
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
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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
- A61B8/54—Control of the diagnostic device
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Abstract
The invention discloses an automatic breast scanning auxiliary system, belonging to the technical field of medical equipment, and the auxiliary system comprises: a human-computer interaction interface configured to set scanning parameters required by the scanning assistance system; the control module is configured to receive scanning parameters set by the human-computer interaction interface and comprehensively analyze the scanning parameters to generate corresponding control pulse signals; the execution module is configured to receive the control pulse signal generated by the control module, generate corresponding action according to the control pulse signal and feed back the current action condition to the control module; and the detection feedback module is configured to detect the action generated by the execution module to obtain a detection result and feed the detection result back to the control module. The auxiliary system can realize full-automatic mammary gland scanning, has good operability, high operation stability and high reliability, and obviously improves the diagnosis efficiency and accuracy.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to an automatic breast scanning auxiliary system.
Background
With the improvement of health consciousness, the number of breast health examination in China is more and more, so that all hospitals are full of people, doctors are in an extremely nervous working state every day, physical strength and energy are greatly overdrawn, and diagnosis guiding effect is greatly reduced. The automatic breast scanning auxiliary system can assist the attending doctors to carry out automatic and all-round examination. The existing color Doppler ultrasound equipment for breast health examination in China is operated by both hands simultaneously, the labor amount of each day is huge, and the working efficiency is reduced.
Disclosure of Invention
The invention aims to provide an automatic mammary gland scanning auxiliary system which can realize full-automatic mammary gland scanning, has good operability and high operation stability and reliability and obviously improves the diagnosis efficiency and accuracy.
The invention also aims to provide a control method of the mammary gland automatic scanning auxiliary system, which realizes full-automatic mammary gland scanning through parameter setting and automatic control, has high scanning stability and high reliability, effectively reduces the pressure of doctors, overcomes manual shaking and improves the diagnosis efficiency and accuracy.
The scheme adopted by the invention for solving the technical problems is as follows: an automated breast scanning assistance system, comprising: a human-computer interaction interface configured to set scanning parameters required by the scanning assistance system;
the control module is configured to receive scanning parameters set by the human-computer interaction interface and comprehensively analyze the scanning parameters to generate corresponding control pulse signals;
the execution module is configured to receive the control pulse signal generated by the control module, generate corresponding action according to the control pulse signal and feed back the current action condition to the control module;
the detection feedback module is configured to detect the action generated by the execution module to obtain a detection result and feed the detection result back to the control module;
the comprehensive analysis performed by the control module is analysis performed according to the scanning parameters and by combining the current action condition and the detection result. The system sets scanning parameters required under different conditions through a human-computer interaction interface, the control module receives the scanning parameters and sends out control pulse signals to control the execution module to act, the current action condition is continuously fed back to the control module in the action process of the execution module to realize closed-loop position adjustment, the position control accuracy and stability of the system are improved, the breast scanning is prevented from being influenced, the detection feedback module carries out detection on the breast scanning action and feeds back the detection result to the control module to improve the breast scanning reliability, and the false detection is avoided. The automatic breast scanning auxiliary system is used for auxiliary scanning, has good operability, frees doctors from high-strength working environment, reduces physical expenditure of doctors, concentrates the attention of diagnosis, can improve the diagnosis efficiency, effectively overcomes the shaking generated by manual operation of the doctors, and improves the diagnosis accuracy.
In order to optimize the above technical solution, the measures further include: the bottom of the human-computer interaction interface is connected with a movable base, the control module is arranged inside the movable base, the execution module is connected to one side of the top of the movable base, and the bottom of the movable base is connected with universal casters. The auxiliary system is integrated on the movable base, can realize moving operation through the universal caster at the bottom of the movable base, is not limited by space, and is beneficial to improving the diagnosis efficiency.
Preferably, the execution module includes:
the joint I is configured to receive a control pulse signal generated by the control module and control an arm I connected with the joint I to generate corresponding action;
the joint II is configured to receive the control pulse signal generated by the control module and control an arm II connected with the joint II to generate corresponding action;
and the joint III is configured to receive the control pulse signal generated by the control module and control a hand connected with the joint III to generate corresponding actions. The joint I, the joint II and the joint III are used for controlling the action of correspondingly connected components, the control is flexible, the stability is high, and the operation reliability of the device is effectively improved.
Preferably, the joint i comprises: the driving module I is connected with the control module and used for generating a driving signal; the motor I is used for receiving the driving signal and providing power required by the corresponding action generated by the arm I; encoder I for the displacement volume that detects I output shaft of motor and with the information feedback that detects to control module, control module calculates arm I's current position according to the detection information of encoder I feedback, and contrast with the scanning parameter that sets up, thereby send out new control pulse signal, the rotational speed and the direction of motor I are in order to realize the accurate control of I displacement of arm, the optional servo motor that uses of motor I, its maneuverability is good, the precision is high.
Preferably, joint ii comprises: the driving module II is connected with the control module and used for generating a driving signal; and the motor II is used for receiving the driving signal and providing power required by corresponding action generated by the arm II, and the arrangement of the joint II can increase the degree of freedom of the whole movement of the system and improve the operation flexibility of the system, so that the system can be suitable for different crowds.
Preferably, the joint iii comprises: the driving module III is connected with the control module and used for generating a driving signal; the motor III is used for receiving the driving signal and providing power required by the corresponding action generated by the hand; and the encoder II is used for detecting the displacement of the output shaft of the motor III and feeding back the detected information to the control module. Control module calculates the current position of hand according to the detection information of II feedbacks of encoder to compare with the scanning parameter that sets up, thereby send out new control pulse signal, motor III's rotational speed and direction are in order to realize the accurate control of hand displacement, and motor III can select to use servo motor, and its maneuverability is good, the precision is high, can guarantee that the hand has higher stability, improves the accuracy of scanning result.
Preferably, the arm I is an internal hollow cylinder, the arm I is internally connected with a reinforcing structure, the reinforcing structure comprises baffle plates arranged on the inner surface of the vertical arm I, a center ball is arranged between the baffle plates, a sponge ball is wrapped in the center ball, the outer surface of the center ball is connected with a Mi-shaped column, the hollow arm I is favorable for reducing the self weight of the arm I, the control performance of the arm I is improved, the power consumption for overcoming self gravity to do work is reduced, the reinforcing structure connected with the arm I can ensure that the arm I has enough rigidity, the movement of the support arm II and a hand can be stabilized, the baffle plates in the reinforcing structure are used for limiting the occupied space of the reinforcing structure, the phenomena that the Mi-shaped column slides and the like are avoided, the Mi-shaped column is used for receiving the force received by the arm I and dispersedly supporting, the deformation possibility of the reinforcing structure is reduced, the pressure generated by the square column can be completely received, the center ball is wrapped by the sponge ball, the diameter ratio of the sponge ball to the center ball is 1: 1.8-2.4, under the arrangement of the proportion, the compression strength of the central ball is high, and the sponge ball can absorb the vibration generated in the supporting process of part of the arm I, obviously inhibit the low-frequency flexible vibration of the arm I, improve the motion stability of the arm I, and random acting force and counterforce are generated between the central ball and the sponge ball under the dispersing action of the square column to the central ball, so that the sponge ball can inhibit the low-frequency flexible vibration of the arm I and simultaneously avoid the stress concentration phenomenon generated at the stress point of the arm I, therefore, the fatigue strength of the arm I is improved, the auxiliary system still has good operability and high operation stability after multiple operations, and the scanning accuracy of the system is improved.
Preferably, the head end of the hand is connected with the joint III, the tail end of the hand is connected with the sponge body, the middle part of the inner wall of the hand is connected with the transverse plate, the tail end of the transverse plate is connected with the pressure sensor, the lower end of the transverse plate is provided with the clamping plate which is connected with the hand through the spring, the hand is used for clamping the color ultrasound probe, the sponge body can reduce the damage of the hand to the color ultrasound probe and prolong the service life of the color ultrasound probe, the pressure sensor can be preferably arranged in the sponge body and used for monitoring the clamping force of the hand to the color ultrasound probe in real time, the clamping reliability of the hand to the color ultrasound probe can be improved, the phenomenon that the color ultrasound probe slides off in the mammary gland scanning process can be avoided, the extrusion force to the color ultrasound probe can be reduced, the service life of the color ultrasound probe can be prolonged, the scanning accuracy can be improved, the transverse plate is, the clamp plate carries out transverse limiting on the color ultrasound probe through the spring, so that the phenomenon that the color ultrasound probe shakes due to large moving resistance when the color ultrasound probe is contacted with skin during mammary gland scanning is avoided, the condition that the color ultrasound probe detects the same position point can be reduced, and the mammary gland scanning effectiveness is obviously improved.
Preferably, the detection feedback module includes: the pressure sensor is used for detecting the pressure generated by the detection execution module on the part to be scanned and generating corresponding resistance value change; the pressure detection circuit is used for calculating the change of the resistance value generated by the pressure sensor to obtain a detection result and feeding the detection result back to the control module, when the color ultrasound probe is clamped by a hand to scan the mammary gland, the pressure of the scanning part of the color ultrasound probe indirectly acts on the metal wire of the sensor to enable the metal wire to generate micro-motion change in direct proportion to the pressure, the resistance of the pressure sensor is changed, the detection feedback module carries out resistance change calculation and feeds the calculation value back to the control module, and the control module generates a new control pulse signal after receiving and comparing the calculation value with the scanning parameter to adjust the action of the hand.
The control method of the mammary gland automatic scanning auxiliary system comprises the following steps:
setting scanning parameters required by a scanning auxiliary system through a human-computer interaction interface;
the control module receives scanning parameters set by the human-computer interaction interface and comprehensively analyzes the scanning parameters to generate corresponding control pulse signals;
the execution module receives the control pulse signal generated by the control module, generates corresponding action according to the control pulse signal and feeds back the current action condition to the control module;
the detection feedback module detects the action generated by the execution module to obtain a detection result and feeds the detection result back to the control module; the comprehensive analysis performed by the control module is analysis performed according to the scanning parameters and by combining the current action condition and the detection result;
and the scanning parameters comprise the rotation times of the arm II, the single rotation angle, the displacement and the moving speed of the hand and the pressure of the hand on the color ultrasonic probe. In the control detection process, the joint III controls the hand to swing, one radial scanning of the mammary gland is realized, after each radial scanning is finished, the joint II rotates by an angle theta, the angle theta is determined by the scanning parameter setting, and the joint II rotates for 4 times in total to finish one examination.
Compared with the prior art, the mammary gland automatic scanning auxiliary system has the beneficial effects that 1) the mammary gland automatic scanning auxiliary system is used for auxiliary scanning, has good operability, frees doctors from high-strength working environment, reduces the physical expenditure of doctors, concentrates the attention of diagnosis, not only can improve the diagnosis efficiency, but also can effectively overcome the shake generated by the manual operation of the doctors and improve the diagnosis accuracy; 2) the structural design of the arm I enables a sponge ball in the arm I to inhibit low-frequency flexible vibration of the arm I and simultaneously avoid stress concentration at a stress site of the arm I, so that the fatigue strength of the arm I is improved, and the auxiliary system still has good operability and high operation stability after multiple operations; 3) the structural design of the hand can realize stable limit on the color ultrasonic probe, reduce the damage to the color ultrasonic probe and obviously improve the effectiveness of mammary gland scanning; 4) the control method of the mammary gland automatic scanning auxiliary system is beneficial to freeing doctors from high-strength working environment, not only can concentrate the diagnosis attention of the doctors and improve the diagnosis efficiency, but also can overcome the shaking generated by manual operation and improve the diagnosis accuracy.
The invention adopts the technical scheme to provide the mammary gland automatic scanning auxiliary system, makes up the defects of the prior art, and has reasonable design and convenient operation.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention;
FIG. 3 is a schematic view of the connection between the hand and the color ultrasound probe according to the present invention;
fig. 4 is a cross-sectional view of an arm i of the present invention.
Description of reference numerals: 1, universal caster wheels; 2 a movable base; 3, a control module; 4, a human-computer interaction interface; 5, a bracket; 6, a joint I; 7, an arm I; 7a central ball; 7b a baffle plate; 7c a sponge ball; 7d of a cross-shaped column; 8, a joint II; 9 arm II; 10 a joint III; 11 hands; 12, clamping plates; 13 a sponge body; 14 color ultrasound probe; 15 springs; 16, a transverse plate; 17 a pressure sensor.
Detailed Description
The following is described in further detail with reference to the accompanying drawings and examples:
example 1:
as shown in fig. 1 to 3, an automated breast scanning assistance system includes:
a human-computer interaction interface 4 configured to set scanning parameters required by the scanning assistance system;
the control module 3 is configured to receive the scanning parameters set by the human-computer interaction interface 4 and comprehensively analyze the scanning parameters to generate corresponding control pulse signals;
the execution module is configured to receive the control pulse signal generated by the control module 3, generate a corresponding action according to the control pulse signal, and feed back the current action condition to the control module 3;
the detection feedback module is configured to detect the action generated by the execution module to obtain a detection result and feed the detection result back to the control module 3;
the comprehensive analysis performed by the control module 3 is an analysis performed according to the scanning parameters and by combining the current action condition and the detection result. The system of the invention sets scanning parameters required under different conditions through the human-computer interaction interface 4, the control module 3 receives the scanning parameters and sends out control pulse signals to control the execution module to act, the current action condition is continuously fed back to the control module 3 in the action process of the execution module to realize closed-loop position adjustment, the position control accuracy and stability of the system are improved, the breast scanning is prevented from being influenced, the detection feedback module carries out detection on the breast scanning action and feeds back the detection result to the control module 3 to improve the breast scanning reliability, and the occurrence of false detection is avoided. The automatic breast scanning auxiliary system is used for auxiliary scanning, has good operability, frees doctors from high-strength working environment, reduces physical expenditure of doctors, concentrates the attention of diagnosis, can improve the diagnosis efficiency, effectively overcomes the shaking generated by manual operation of the doctors, and improves the diagnosis accuracy.
The bottom of the human-computer interaction interface 4 is connected with the movable base 2, the control module 3 is arranged inside the movable base 2, the execution module is connected to one side of the top of the movable base 2, and the bottom of the movable base 2 is connected with the universal caster 1. The auxiliary system of the invention is integrated on the movable base 2, can realize the moving operation through the universal caster 1 at the bottom of the movable base 2, is not limited by space, and is beneficial to improving the diagnosis efficiency.
The execution module comprises: the joint I6 is configured to receive a control pulse signal generated by the control module 3 and control an arm I7 connected with the joint I6 to generate corresponding action;
the joint II 8 is configured to receive the control pulse signal generated by the control module 3 and control an arm II 9 connected with the joint II 8 to generate corresponding action;
and the joint III 10 is configured to receive the control pulse signal generated by the control module 3 and control the hand 11 connected with the joint III 10 to generate corresponding actions. The joint I6, the joint II 8 and the joint III 10 are used for controlling the action of correspondingly connected components, the control is flexible, the stability is high, and the operation reliability of the device is effectively improved.
2 top one side of movable base is connected with support 5, and support 5 passes through I6 linking arm I7 in the joint, and arm I7 passes through II 8 linking arms II 9 in the joint, and arm II 9 passes through III 10 connecting hand 11 in the joint, and above-mentioned connected mode degree of freedom is high, and the control accuracy is high, is favorable to improving auxiliary system scanning accuracy.
The joint i 6 includes: the driving module I is connected with the control module 3 and used for generating a driving signal; the motor I is used for receiving a driving signal and providing power required by the corresponding action generated by the arm I7; encoder I for the displacement volume of detecting I output shaft of motor and with the information feedback that detects to control module 3, control module 3 calculates arm I7's current position according to the detection information of encoder I feedback, and contrast with the scanning parameter that sets up, thereby send out new control command, the rotational speed and the direction of motor I are in order to realize the accurate control of arm I7 displacement, I optional servo motor of motor, its maneuverability is good, the precision is high.
The joint ii 8 includes: the driving module II is connected with the control module 3 and used for generating a driving signal; and the motor II is used for receiving a driving signal and providing power required by corresponding action generated by the arm II 9, and the joint II 8 is arranged to increase the whole movement freedom of the system and improve the operation flexibility of the system, so that the system can be suitable for different crowds.
The joint iii 10 includes: the driving module III is connected with the control module 3 and used for generating a driving signal; the motor III is used for receiving the driving signal and providing power required by the corresponding action generated by the hand 11; encoder II, a displacement volume for detecting the III output shafts of motor and with the information feedback that detects to control module 3, control module 3 calculates out the current position of hand 11 according to the detection information of II feedbacks of encoder, and compare with the scanning parameter that sets up, thereby send out new control pulse signal, the rotational speed and the orientation of motor III are in order to realize the accurate control of 11 displacements of hand, motor III optional servo motor, its maneuverability is good, the precision is high, can guarantee that hand 11 has higher stability, improve the accuracy of scanning result.
The detection feedback module comprises: the pressure sensor 17 is used for detecting the pressure generated by the detection execution module on the part to be scanned and generating corresponding resistance value change; the pressure detection circuit is used for calculating the resistance value change generated by the pressure sensor 17 to obtain a detection result and feeding the detection result back to the control module 3, when the hand 11 clamps the color ultrasound probe 14 to scan the mammary gland, the color ultrasound probe 14 indirectly acts on the metal wire of the sensor to enable the metal wire to generate micro-motion change in proportion to the pressure, the resistance of the pressure sensor 17 is changed, the detection feedback module carries out resistance change calculation and feeds the calculated value back to the control module 3, and the control module 3 receives and compares the scanning parameter to generate a new control pulse signal to adjust the action of the hand 11.
Conventional techniques in this embodiment are known to those skilled in the art and will not be described in detail here.
Example 2:
this example is a further optimization scheme based on example 1: as shown in fig. 3, the head end of the hand 11 is connected with the joint iii 10, the tail end of the hand 11 is connected with the sponge body 13, the middle part of the inner wall of the hand 11 is connected with the transverse plate 16, the tail end of the transverse plate 16 is connected with the pressure sensor 17, the lower end of the transverse plate 16 is provided with the clamping plate 12 connected with the hand 11 through the spring 15, the hand 11 is used for clamping the color ultrasound probe 14, the sponge body 13 can reduce the damage of the hand 11 to the color ultrasound probe 14 and prolong the service life of the color ultrasound probe 14, the pressure sensor can be preferably arranged in the sponge body 13 and used for monitoring the clamping force of the hand 11 to the color ultrasound probe 14 in real time, so that not only can the clamping reliability of the hand 11 to the color ultrasound probe 14 be improved and the phenomenon that the color ultrasound probe 14 slides down in the breast scanning process be avoided, but also the extrusion force to the color ultrasound probe 14 can be reduced, the service life of the color ultrasound probe 14 can be, the accuracy of the pressure sensor 17 for detecting the pressure of the color ultrasound probe 14 is improved, the clamp plate 12 transversely limits the color ultrasound probe 14 through the spring 15, the phenomenon that the color ultrasound probe 14 shakes due to large moving resistance when contacting with skin during breast scanning is avoided, the condition that the color ultrasound probe 14 detects the same position point can be reduced, and the breast scanning effectiveness is obviously improved.
As shown in fig. 4, the arm i 7 is an internal hollow cylinder, a reinforcing structure is connected inside the arm i 7, the reinforcing structure includes baffles 7b arranged on the inner surface of the vertical arm i 7, a center ball 7a is arranged between the baffles 7b, a sponge ball 7c is wrapped inside the center ball 7a, a cross-shaped column 7d is connected on the outer surface of the center ball 7a, the hollow arm i 7 is favorable for reducing the self weight of the arm i 7, the control performance of the arm i 7 is improved, the power consumption for overcoming self gravity to do work is reduced, the reinforcing structure connected inside the arm i 7 can ensure that the arm i 7 has enough rigidity, the movement of the support arm ii 9 and the hand 11 can be stabilized, the baffles 7b in the reinforcing structure are used for limiting the occupied space of the reinforcing structure, the phenomena of slippage and the like of the cross-shaped column 7d are avoided, the cross-shaped column 7d is used for receiving the force received by the arm, the possibility of deformation of a reinforcing structure is reduced, the operation reliability of a system is improved, the central ball 7a has strong hardness and can completely receive pressure generated by the Mi-shaped column 7d, the sponge ball 7c is wrapped in the central ball 7a, the diameter ratio of the diameter of the sponge ball 7c to the diameter of the central ball 7a is preferably 1:2, under the condition that the ratio is set, the compressive strength of the central ball 7a is high, the sponge ball 7c can absorb vibration generated by a part of arms I7 in the supporting process, low-frequency flexible vibration of the arms I7 is obviously inhibited, the motion stability of the arms I7 is improved, and under the dispersing action of the Mi-shaped column 7d on the central ball 7a, irregular acting force and counterforce are generated between the central ball 7a and the sponge ball 7c, so that the stress concentration phenomenon of stress points of the arms I7 can be avoided while the low-frequency flexible vibration of the arms I7 is inhibited by the sponge ball 7c, therefore, the fatigue strength of the arm I7 is improved, and the auxiliary system still has good operability and high operation stability after multiple operations.
The sponge ball 7c is made of sponge materials, and the preferable preparation method of the sponge ball 7c is as follows: according to the weight portion, 55 portions of trimethylolpropane polyether, 33 portions of toluene diisocyanate, 42 portions of polyether polyol and 23 portions of toluene diisocyanate are put into a mixer to be mixed, evenly stirred and heated to 25 ℃, 9 portions of nano sepiolite powder, 12 portions of E-12 epoxy resin, 1.2 portions of stannous octoate and 0.4 portion of zinc acetate are put into the mixer to be mixed, heated to 52 ℃, 0.01 portion of alpha-methylbenzylamine is added, the mixture is poured into a mould to be foamed and cured after being stirred at high speed for 10 seconds, and then sponge balls 7c are obtained, in the preparation method, the mass ratio of (S) -alpha-methylbenzylamine and (R) -alpha-methylbenzylamine of the alpha-methylbenzylamine is 1: 0.34, the alpha-methylbenzylamine and the polyether polyol with special proportion have synergistic effect, and not only can low molecular weight monomers in the sponge preparation process be promoted to form high molecular weight polymers through a chain growth process, the preparation speed of the sponge ball 7c is accelerated, the interference of the external environment is reduced, the mechanical characteristics of the sponge ball 7c are improved, the problem that the sponge has overlarge pore diameter or porous connection in the foaming process can be solved, the prepared sponge has excellent elasticity and is not easy to cause the phenomenon of hollow collapse inside, the prepared sponge ball 7c can be filled with the inner wall of the central ball 7a all the time and can keep better force transmission with the central ball 7a all the time, the effect that the sponge ball 7c inhibits the low-frequency flexible vibration of the arm I7 and disperses the stress of the stress point of the arm I7 is improved, and the arm I7 can have unexpected vibration reduction and the characteristics of improving the fatigue resistance and the rigidity under the condition of reducing the self gravity, so that the auxiliary system has lower power consumption, better operability and higher running stability.
Conventional techniques in this embodiment are known to those skilled in the art and will not be described in detail here.
Example 3:
as shown in fig. 1 to 3, the method for controlling an auxiliary system for automated breast scanning includes:
setting scanning parameters required by the scanning auxiliary system through a human-computer interaction interface 4;
the control module 3 receives the scanning parameters set by the human-computer interaction interface 4 and comprehensively analyzes the scanning parameters to generate corresponding control pulse signals;
the execution module receives the control pulse signal generated by the control module 3, generates corresponding action according to the control pulse signal, and feeds the current action condition back to the control module 3;
the detection feedback module detects the action generated by the execution module to obtain a detection result, and feeds the detection result back to the control module 3;
the comprehensive analysis performed by the control module 3 is analysis performed according to the scanning parameters and by combining the current action condition and the detection result;
the scanning parameters include the rotation times and single rotation angle of the arm II 9, the displacement and moving speed of the hand 11, and the pressure of the hand 11 on the color ultrasound probe 14. In the control detection process, the joint III 10 controls the hand 11 to swing, one radial scanning of the mammary gland is realized, after each radial scanning is finished, the joint II 8 rotates by an angle theta determined by the scanning parameter setting, and rotates for 4 times in total to finish one examination.
Conventional techniques in this embodiment are known to those skilled in the art and will not be described in detail here.
Example 4:
as shown in fig. 1 to 4, the working principle of the auxiliary system is as follows: when the color ultrasonic probe 14 is required to be checked, the color ultrasonic probe 14 is placed in the hand 11, the control joint III 10 clamps the color ultrasonic probe 14, the position of the color ultrasonic probe 14 is adjusted to enable the pressure borne by the pressure sensor 17 to be close to zero, a worker sets scanning parameters through the man-machine interaction interface 4, after the parameters are set, a starting button is pressed, the joint I6 and the joint II 8 control arm I7 and the arm II 9 are slowly descended and generate a horizontal position, the hand 11 is located right above the initial position where mammary gland scanning is required to be carried out, then the motor I control arm I7 is slowly descended, the descending speed of the arm is determined by the rotating speed of the motor I, when the color ultrasonic probe 14 touches a checked part, namely mammary gland, the resistance of the pressure sensor 17 of the hand 11 is changed, the pressure detection circuit feeds back the information to the control module 3, the control module 3 determines that the mechanical arm stops or continues descending according to, when the color Doppler ultrasound probe 14 descends to a proper position, the joint III 10 is controlled to enable the hand 11 to swing, one radial scanning of the mammary gland is achieved, after one radial scanning is completed, the joint II 8 rotates by 30 degrees, the joint III 10 controls the hand 11 again to complete one radial scanning, and after 4 times of scanning, the mammary gland examination is completed.
Conventional techniques in this embodiment are known to those skilled in the art and will not be described in detail here.
The above embodiments are merely illustrative, and not restrictive, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention, and the protection scope of the present invention should be defined by the claims.
Claims (6)
1. An automated breast scanning assistance system, comprising:
a human-computer interaction interface configured to set scanning parameters required by the scanning assistance system;
the control module is configured to receive the scanning parameters set by the human-computer interaction interface and comprehensively analyze the scanning parameters to generate corresponding control pulse signals;
the execution module is configured to receive the control pulse signal generated by the control module, generate a corresponding action according to the control pulse signal, and feed back the current action condition to the control module;
a detection feedback module configured to detect the action generated by the execution module to obtain a detection result and feed the detection result back to the control module;
the comprehensive analysis performed by the control module is analysis performed according to the scanning parameters and by combining the current action condition and the detection result;
the bottom of the human-computer interaction interface is connected with a movable base, the control module is arranged in the movable base, the execution module is connected to one side of the top of the movable base, and the bottom of the movable base is connected with universal casters;
the execution module comprises:
the joint I is configured to receive the control pulse signal generated by the control module and control an arm I connected with the joint I to generate corresponding action;
the joint II is configured to receive the control pulse signal generated by the control module and control an arm II connected with the joint II to generate corresponding action;
the joint III is configured to receive the control pulse signal generated by the control module and control a hand connected with the joint III to generate corresponding actions;
the arm I is a hollow cylinder, a reinforcing structure is connected to the inside of the arm I, the reinforcing structure comprises baffle plates perpendicular to the inner surface of the arm I, a center ball is arranged between the baffle plates, a sponge ball is wrapped inside the center ball, and a cross-shaped column is connected to the outer surface of the center ball;
the hand head end is connected with joint III, hand end-to-end connection has the cavernosum, hand inner wall middle part is connected with the diaphragm, diaphragm end-to-end connection has pressure sensor, the diaphragm lower extreme is equipped with the splint of being connected through spring and hand, the hand is used for the various probe that surpasses of centre gripping.
2. The automated breast scanning assistance system of claim 1, wherein: the joint I comprises: the driving module I is connected with the control module and used for generating a driving signal; the motor I is used for receiving the driving signal and providing power required by the corresponding action generated by the arm I; and the encoder I is used for detecting the displacement of the output shaft of the motor I and feeding back the detected information to the control module.
3. The automated breast scanning assistance system of claim 1, wherein: the joint II comprises: the driving module II is connected with the control module and used for generating a driving signal; and the motor II is used for receiving the driving signal and providing power required by the corresponding action generated by the arm II.
4. The automated breast scanning assistance system of claim 1, wherein: the joint III comprises: the driving module III is connected with the control module and used for generating a driving signal; the motor III is used for receiving the driving signal and providing power required by the corresponding action generated by the hand; and the encoder II is used for detecting the displacement of the output shaft of the motor III and feeding back the detected information to the control module.
5. The automated breast scanning assistance system of claim 1, wherein: the detection feedback module comprises: the pressure sensor is used for detecting the pressure generated by the execution module on the part to be scanned and generating corresponding resistance value change; and the pressure detection circuit is used for calculating the resistance value change generated by the pressure sensor to obtain a detection result and feeding the detection result back to the control module.
6. A control method for applying the breast automatic scanning auxiliary system of any one of claims 1 to 5, comprising the following steps:
setting scanning parameters required by a scanning auxiliary system through a human-computer interaction interface;
the control module receives the scanning parameters set by the human-computer interaction interface and comprehensively analyzes the scanning parameters to generate corresponding control pulse signals;
the execution module receives the control pulse signal generated by the control module, generates corresponding action according to the control pulse signal, and feeds back the current action condition to the control module;
the detection feedback module detects the action generated by the execution module to obtain a detection result, and feeds the detection result back to the control module;
the comprehensive analysis performed by the control module is analysis performed according to the scanning parameters and by combining the current action condition and the detection result;
and the scanning parameters comprise the rotation times of the arm II, the single rotation angle, the displacement and the moving speed of the hand and the pressure of the hand on the color ultrasound probe.
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| CN201811043462.6A CN109223046B (en) | 2018-09-07 | 2018-09-07 | Mammary gland automated scanning auxiliary system |
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| CN201811043462.6A CN109223046B (en) | 2018-09-07 | 2018-09-07 | Mammary gland automated scanning auxiliary system |
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| CN109846514B (en) * | 2019-04-08 | 2020-04-28 | 浙江大学 | Medical ultrasonic scanning, compressing and following device with self-adaptive pressure-regulating capability |
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