CN110379277A - A kind of human spine ultrasonic imaging scanning test platform with respiratory movement copying - Google Patents
A kind of human spine ultrasonic imaging scanning test platform with respiratory movement copying Download PDFInfo
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- CN110379277A CN110379277A CN201910666212.6A CN201910666212A CN110379277A CN 110379277 A CN110379277 A CN 110379277A CN 201910666212 A CN201910666212 A CN 201910666212A CN 110379277 A CN110379277 A CN 110379277A
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- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
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Abstract
The invention discloses a kind of human spine ultrasonic imaging scanning test platform with respiratory movement copying, the platform include that adjustable backbone skeleton and respiratory movement emulate mechanism two parts.The present invention realizes the simulation to human spine difference segment curve by adjustable backbone skeleton, the analogue simulation to human body respiration movement is realized by motor-driven four-bar mechanism, to on the one hand provide human spine scanning material abundant for robot-assisted medical ultrasonic imaging scanning, the fresh and alive simulation to ultrasonic scan process is on the other hand realized by the dynamic fluctuations of model.The present invention can be used as the test platform of robot assisted ultrasonic imaging scanning, be provided with effect card for reliability, safety and the ultrasonic imaging scanning effect of machine formula ultrasonic scan.
Description
Technical field
The present invention relates to the human spine ultrasonic scans of ultrasonic scan field, especially robot assisted, and in particular to one
Kind has the human spine ultrasonic imaging scanning test platform of respiratory movement copying.
Background technique
During robot assisted ultrasonic scan, existing experimental model is primarily present following deficiency: first, completely
Human spine model volume is necessarily large and bulky, and is generallyd use water and is imitated human muscle, has the longer filling time, Preparatory work of experiment is rather
It is inconvenient；Second, single model human body spine form is fixed, and scanning data are limited；Third, model is " dead " model, with true people
Body differs greatly, and what one of main difference was the respiratory movement experimental study of human body regularity and clinical practice docks problem,
Have high-precision commercialization human spine model at present, can precisely show the contoured skin and vertebrae structure of human body back
At, however its economic cost is higher, it is difficult to only by single modeling different age group, the human body of different building shape, it is more difficult to
Human body autonomous respiration campaign is simulated, it is even more impossible to obtain the data of enough sample sizes and survey based on this safety for carrying out practical studies
Examination and assessment.It is therefore desirable to be able to simulate real human body ultrasonic scan state, and diversified spine model state is provided, it is real
The now test platform of the backbone ultrasonic scan experimental study based on adequate data amount.
Summary of the invention
Present invention aims in view of the deficiencies of the prior art, propose a kind of human body ridge with respiratory movement copying
Column ultrasonic imaging scanning test platform, creatively designing one kind can be realized adjustable skeleton and simulation specific frequency and amplitude
Respirometric backbone ultrasonic imaging scanning test platform simulates real human body ultrasonic scan state, obtains pressure, angle, position
Appearance and image data, and diversified spine model state is provided, realize the backbone ultrasonic scan experiment based on adequate data amount
Research takes into account the potential risk of the science test and safety of feasibility.
The purpose of the present invention is achieved through the following technical solutions: a kind of human body with respiratory movement copying
Backbone ultrasonic imaging scanning test platform, including adjustable backbone skeleton and respiratory movement emulate mechanism two parts；
The adjustable backbone skeleton includes telescopic rod, knob, aqueous vapor interrupter, cabinet shell, spring, flexible board
Item, spine model, layer of silica gel and the outer layer of silica gel of imitation leather skin in imitation leather skin；
The aqueous vapor interrupter includes spacing block, blank cap and blocking, and the spacing block is mounted on cabinet enclosure interior,
The blocking is mounted on cabinet hull outside, corresponding with the position of spacing block, and blank cap is mounted on the outside of blocking, and be isolated
Block is fixedly connected on together on cabinet shell；
The top of the telescopic rod is spherical surface, is mounted in the rounded channels of flexible strips, and telescopic rod lower section and spacing block are solid
Fixed connection, bottom end are affixed with knob；
The spine model is cooperated in flexible strips by internal square hole, the flexible strips two sides by spring about
Beam is in the square slot of cabinet shell two sides inner wall；
Rectangular opening is provided at the top of the cabinet shell, layer of silica gel is bonded in cabinet case top in the imitation leather skin, imitates
The outer layer of silica gel of skin is fixed on layer of silica gel surface layer in imitation leather skin；
Respiratory movement emulation mechanism includes rocking bar, rack, motor and retarder group and crank disc；
The crank disk center connect with motor with the shaft coupling of retarder group, is provided at the different radii on crank disc
Several holes, and through hole and cabinet housing hinge, the rocking bar side and cabinet housing hinge, other side end and rack are cut with scissors
It connects, the motor and retarder group are fixed on the rack, and rocking bar, rack, crank disc and cabinet shell constitute four-bar mechanism.
Further, the blank cap and spacing block are bolted to connection on cabinet shell.
Further, the knob is for adjusting telescopic rod in the height of cabinet enclosure interior, to change flexible strips
Sag curve, and then change the integrated curved of adjustable backbone skeleton.
Further, the adjustable backbone skeleton further includes water blockoff plug, and the water blockoff plug is mounted on cabinet case top
Air hole on, the inside and outside air pressure for balance box shell.
Further, the adjustable backbone skeleton further includes valve, the water inlet and draining for cabinet shell.
Further, the spine model is according to real human body CT scan data as obtained by D printing.
Further, layer of silica gel is fixedly connected with the outer layer of silica gel of imitation leather skin by hold-down bolt in the imitation leather skin.
Further, by changing the thickness of layer of silica gel outside imitation leather skin, the thickness of the fat deposit of analog different building shape human body
Degree.
Further, the motor and retarder group are for driving four-bar mechanism to do cyclic movement, cabinet shell
For simulating back undulatory motion caused by human body respiration acts on, changes the revolving speed of motor, can simulate under different respiratory rates
Back undulatory motion different amplitude of respiration can be simulated by hole at different radii on crank disc and cabinet housing hinge
Under back undulatory motion.
Further, the crank disc is bonded by the keyway and motor and the shaft coupling of retarder group at center.
Compared with prior art, the invention has the benefit that provided by the invention have adjustable skeleton and breathing fortune
The backbone ultrasonic imaging scanning test platform of dynamic copying, real human body autonomous respiration fortune can not be simulated by solving the prior art
Safety evaluation problem in dynamic, spine model unification and experimental study.Advantages of the present invention mainly includes first, tool
Standby adjustable skeleton and simulating respiratory movement function；Second, the curvature of adjustable spine model, position, implementation model multiplicity
Change；Third can acquire the feasibility and safety that scanning is fully assessed including enriched datas such as pressure, angle, poses；
4th, the research that can navigate with spine and spinal cord promotes airmanship development with using seamless interfacing.
Detailed description of the invention
Fig. 1 is test platform architecture schematic diagram；
Fig. 2 is telescopic rod scheme of installation；
Fig. 3 is a kind of crank disc schematic diagram of the invention；
In figure: 1. telescopic rods, 2. knobs, 3. spacing blocks, 4. blank caps, 5. blockings, 6. cabinet shells, 7. springs, 8. is soft
Property lath, 9. single-unit spine models, 10. valves, 11. water blockoff plugs, layer of silica gel in 12. imitation leather skins, the outer layer of silica gel of 13. imitation leather skins,
14. 15. rocking bar of hold-down bolt, 16. racks, 17. motors and retarder group, 18. crank discs.
Specific embodiment
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1-3, the present invention provides a kind of human spine ultrasonic imagings with respiratory movement copying to sweep
Test platform is looked into, has the function of adjusting backbone integrated curved, continue the autonomous respiration campaign of automatic imitation human body calmness, including can
It adjusts backbone skeleton and respiratory movement emulates mechanism two parts.
The adjustable backbone skeleton includes telescopic rod 1, knob 2, spacing block 3, blank cap 4, blocks 5, cabinet shell 6,
Spring 7, flexible strips 8, spine model 9, valve 10, water blockoff plug 11, the outer layer of silica gel 13 of layer of silica gel 12, imitation leather skin in imitation leather skin,
Hold-down bolt 14；
The top of the telescopic rod 1 is spherical surface, is mounted in the rounded channels of flexible strips 8,1 lower section of telescopic rod and spacing block
3 are threadedly engaged, and bottom end and knob 2 are affixed.The spacing block 3, blank cap 4, blocking 5 constitute aqueous vapor interrupter, when described
After telescopic rod 1 adjusts, which can be mounted on cabinet with the leakage of injected moisture in baffle box body, the spacing block 3
Inside shell 6, the blocking 5 is mounted on outside cabinet shell 6, and corresponding with the position of spacing block 3, blank cap 4 is mounted on blocking 5
Outside, and be bolted to connection on cabinet shell 6 together with spacing block 3；Existed by 2 adjustable retractable bar 1 of knob
The height of box house to change the sag curve of flexible strips 8, and then changes the integrated curved of backbone skeleton.
The spine model 9 as obtained by 3D printing, has simulation real human body ridge according to real human body CT scan data
The effect that the spinous process of the seventh cervical vertebra is constituted；Cooperate each section in flexible strips 8 by internal " side " type hole, and is consolidated by bolt
Fixed, 8 two sides of flexible strips are constrained in by spring 7 in " side " type groove of 6 two sides inner wall of cabinet shell；
The top of the cabinet shell 6 is provided with rectangular opening, and layer of silica gel 12 is bonded in 6 top of cabinet shell in the imitation leather skin
On the four edges of rectangular opening, the outer layer of silica gel 13 of imitation leather skin is fixed on 12 surface layer of layer of silica gel in imitation leather skin by hold-down bolt 14, leads to
Cross the thickness for changing the outer layer of silica gel 13 of imitation leather skin, the thickness of the fat deposit of analog different building shape human body；
The water blockoff plug 11 is mounted on the air hole at 6 top of cabinet shell, the inside and outside gas for balance box shell 6
Pressure.The valve 10 is used for the water inlet and draining of cabinet shell 6.
Respiratory movement emulation mechanism includes cabinet shell 6, rocking bar 15, rack 16, motor and retarder group 17, crank
Disk 18；
The 18 center keyway of crank disc is bonded with motor and the shaft coupling of retarder group 17, the difference on crank disc 18
Several holes are provided at radius, and through hole and cabinet shell (6) are hingedly, 15 side of rocking bar and cabinet shell 6 are hinged, separately
Side end and rack 16 are hinged, and the motor and retarder group 17 are fixed in rack 16.Rocking bar 15, rack 16, crank disc
18 and cabinet shell 6 constitute four-bar mechanism.
For driving four-bar mechanism to do cyclic movement, cabinet shell 6 is used for mould for the motor and retarder group 17
Back undulatory motion caused by anthropomorphic body respiration, changes the revolving speed of motor, can simulate the back under different respiratory rates
Undulatory motion, it is hinged with cabinet shell 6 by the hole at different radii on crank disc 18, it can simulate under different amplitude of respiration
Back undulatory motion.
In figure: 1. telescopic rods, 2. knobs, 3. spacing blocks, 4. blank caps, 5. blockings, 6. cabinet shells, 7. springs, 8. is soft
Property lath, 9. single-unit spine models, 10. valves, 11. water blockoff plugs, layer of silica gel in 12. imitation leather skins, the outer layer of silica gel of 13. imitation leather skins,
14. 15. rocking bar of hold-down bolt, 16. racks, 17. motors and retarder group, 18. crank discs.
[embodiment 1]
The coupled relation of probe and human body back in the case of live ultrasound scanning is simulated by the test platform, and is acquired super
The various data that sonic probe is coupled with different human body back, the test method of the platform include the following steps:
1) prepare before test.Knob 2 is adjusted to change height of the telescopic rod 1 inside cabinet shell 6 respectively, to change flexibility
The sag curve of lath 8, and then change the integrated curved of backbone skeleton；Change the thickness of the outer layer of silica gel 13 of imitation leather skin, simulation is not
With the thickness of the fat deposit of figure human body；Open valve 10 injects enough pure water and close with water blockoff plug 11 into cabinet shell 6
Envelope；Start motor and retarder group 17, makes it that crank disc 18 be driven to rotate, so that four-bar mechanism be driven to do periodic reverse fortune
It is dynamic, and then back undulatory motion caused by human body respiration acts on is simulated, by changing motor speed and crank disc 18 and cabinet shell
The respiratory movement under different frequency and amplitude is simulated in the hinged hole of body 6；
2) it is tested with medical supersonic cooperation.Operator with medical ultrasonic professional experiences passes through medical ultrasonic probe
The 13 surface scanning spine model of layer of silica gel outside the imitation leather skin on 6 top of cabinet shell adjusts ultrasonic imaging ginseng according to imaging contexts
Number, until obtaining high quality ultrasound image, the ultrasonic imaging parameter includes frequency, depth, gain, shown high quality ultrasound figure
It seem to refer to imaging clearly, the spinous process comprising each vertebra stage, transverse process, articular process, vertebral plate these anatomical structures, the medical supersonic
Probe chooses the high-frequency linear array probe for carrying magnetic orientation pose recording device and six axis torque sensors, the ultrasonic scan mistake
Cheng Xuanyong multifunction manipulator clamping probe carries out automatic scanning；
3) test data is recorded.During ultrasonic scan, test platform related data, packet are recorded by each sensor
It includes: simulating respiratory movement amplitude and frequency, the ultrasonic probe position at each time point, six axis deflection angles and pressure during scanning
Power；According to ultrasonograph quality height, each test data is adjusted, until obtaining high quality ultrasound image；
4) change adjustable backbone skeleton and simulate different building shape human body, retest.By adjusting telescopic rod 1 in cabinet
Thickness, motor speed and the crank disc 18 of the outer layer of silica gel 13 of the height in portion, imitation leather skin and the hinged hole of cabinet shell 6, to change
Become curvature, respirometric frequency and the amplitude of backbone skeleton, realize the human body simulation to all ages and classes, different building shape, repeats
Above-mentioned test and data recording process obtain required data.
[embodiment 2]
Real human body ultrasonic scan situation is simulated by the test platform, carries out ultrasonic imaging and interpretation imaging results, tool
Body includes the following steps:
1) three knobs being adjusted respectively and adjusting telescopic rod, the adjustable backbone skeleton of 3D printing is made to maintain specific curvature；Choosing
The imitation leather skin layer of silica gel for selecting one piece of specific thicknesses is fixed on cabinet housing tip, simulates the fat deposit thickness of human body；Open valve
Enough pure water are injected into cabinet and are sealed with water blockoff plug；The hole of crank disc and cabinet housing hinge is adjusted, selection is suitable
Crank length selects specific rotation speeds, starts motor, and cabinet is driven to do periodic reverse motion.
2) ultrasonic probe is clamped by multifunction manipulator, according to the range of required scanning spinal segments, adjusts and determine and visit
Initiation site of the head outside the imitation leather skin on cabinet at silica gel layer surface, starts automatic scanning.During ultrasonic scan, pass through
The ultrasound image for the frame frame that image pick-up card collects, and carry out interpretation.
Provided verbal description, attached drawing and claims can hold those skilled in the art very much according to the present invention
Easily in the case where not departing from thought and range of condition of the invention defined by claims, a variety of variations and change can be made.
All technical ideas according to the present invention and the substantive any modification carried out to above-described embodiment, equivalent variations, belong to this hair
Bright claim is within the limits of the protection.
Claims (10)
1. a kind of human spine ultrasonic imaging scanning test platform with respiratory movement copying, which is characterized in that this is flat
Platform includes that adjustable backbone skeleton and respiratory movement emulate mechanism two parts；
The adjustable backbone skeleton include telescopic rod (1), knob (2), aqueous vapor interrupter, cabinet shell (6), spring (7),
Flexible strips (8), spine model (9), layer of silica gel (12) and the outer layer of silica gel (13) of imitation leather skin etc. in imitation leather skin.
The aqueous vapor interrupter includes that spacing block (3), blank cap (4) and blocking (5), the spacing block (3) are mounted on cabinet
Shell (6) is internal, and the blocking (5) is mounted on cabinet shell (6) outside, blank cap (4) corresponding with the position of spacing block (3)
It is mounted on the outside of blocking (5), and is fixedly connected on cabinet shell (6) together with spacing block (3).
The top of the telescopic rod (1) be spherical surface, be mounted in the rounded channels of flexible strips (8), telescopic rod (1) lower section be isolated
Block (3) is fixedly connected, and bottom end and knob (2) are affixed.
The spine model (9) cooperates flexible strips (8) two sides on flexible strips (8) by internal " side " type hole
It is constrained in by spring (7) in " side " type groove of cabinet shell (6) two sides inner wall.
The top of the cabinet shell 6 is provided with rectangular opening, and layer of silica gel (12) is bonded in cabinet shell (6) top in the imitation leather skin
Portion, the outer layer of silica gel (13) of imitation leather skin are fixed on layer of silica gel (12) surface layer in imitation leather skin.
Respiratory movement emulation mechanism includes rocking bar (15), rack (16), motor and retarder group (17) and crank disc (18)
Deng.
Crank disc (18) center is connect with motor with the shaft coupling of retarder group (17), and different half on crank disc (18)
Be provided with several holes at diameter, and through hole and cabinet shell (6) are hingedly, rocking bar (15) side and cabinet shell (6) hingedly,
Hingedly, the motor and retarder group (17) are fixed on rack (16), rocking bar (15), rack for other side end and rack (16)
(16), crank disc (18) and cabinet shell (6) constitute four-bar mechanism.
2. a kind of human spine ultrasonic imaging scanning test with respiratory movement copying according to claim 1 is flat
Platform, it is characterised in that: the blank cap (4) and spacing block (3) are bolted to connection on cabinet shell (6).
3. a kind of human spine ultrasonic imaging scanning test with respiratory movement copying according to claim 1 is flat
Platform, it is characterised in that: the knob (2) is used to adjust telescopic rod (1) height internal in cabinet shell (6), to change soft
Property lath (8) sag curve, and then change the integrated curved of adjustable backbone skeleton.
4. a kind of human spine ultrasonic imaging scanning test with respiratory movement copying according to claim 1 is flat
Platform, it is characterised in that: the adjustable backbone skeleton further includes water blockoff plug (11), and the water blockoff plug (11) is mounted on cabinet shell
(6) on the air hole at the top of, it is used for the inside and outside air pressure of balance box shell (6).
5. a kind of human spine ultrasonic imaging scanning test with respiratory movement copying according to claim 1 is flat
Platform, it is characterised in that: the adjustable backbone skeleton further includes valve (10), is used for the water inlet and draining of cabinet shell (6).
6. a kind of human spine ultrasonic imaging scanning test with respiratory movement copying according to claim 1 is flat
Platform, it is characterised in that: the spine model (9) is according to real human body CT scan data as obtained by 3D printing.
7. a kind of human spine ultrasonic imaging scanning test with respiratory movement copying according to claim 1 is flat
Platform, it is characterised in that: layer of silica gel (12) and the outer layer of silica gel (13) of imitation leather skin are fixed by hold-down bolt (14) in the imitation leather skin
Connection.
8. a kind of human spine ultrasonic imaging scanning test with respiratory movement copying according to claim 1 is flat
Platform, it is characterised in that: by changing the thickness of layer of silica gel (13) outside imitation leather skin, the thickness of the fat deposit of analog different building shape human body
Degree.
9. a kind of human spine ultrasonic imaging scanning test with respiratory movement copying according to claim 1 is flat
Platform, it is characterised in that: the motor and retarder group (17) are for driving four-bar mechanism to do cyclic movement, cabinet shell
(6) for simulating back undulatory motion caused by human body respiration acts on, change the revolving speed of motor, different respiratory rates can be simulated
Under back undulatory motion difference hingedly by hole at different radii on crank disc (18) and cabinet shell (6) can be simulated
Back undulatory motion under amplitude of respiration.
10. a kind of human spine ultrasonic imaging scanning test with respiratory movement copying according to claim 1
Platform, it is characterised in that: the crank disc (18) is bonded by the keyway and motor and the shaft coupling of retarder group (17) at center.
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| CN110993087A (en) * | 2019-11-06 | 2020-04-10 | 上海交通大学 | Remote ultrasonic scanning control equipment and method |
| CN111243414A (en) * | 2020-01-10 | 2020-06-05 | 广东职业技术学院 | Concave-convex cambered surface modeling device for aesthetic research |
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| WO2021228176A1 (en) * | 2020-05-14 | 2021-11-18 | 苏州思柏凯德科技有限公司 | Flexible spinal column model and orthopedic presentation and test system implemented on basis of said model |
| CN113670763A (en) * | 2021-07-13 | 2021-11-19 | 杭州电子科技大学 | Simulation test method and device for turning PTFE material environment |
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| Publication number | Publication date |
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| CN110379277B (en) | 2021-06-08 |
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