CN113598704B - Fundus oculi surface integrated imaging liver disease diagnosis instrument based on parallel mechanism - Google Patents
Fundus oculi surface integrated imaging liver disease diagnosis instrument based on parallel mechanism Download PDFInfo
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- 238000003384 imaging method Methods 0.000 title claims abstract description 77
- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 238000003745 diagnosis Methods 0.000 title claims abstract description 24
- 208000019423 liver disease Diseases 0.000 title claims abstract description 22
- 210000004220 fundus oculi Anatomy 0.000 title claims abstract description 14
- 210000003128 head Anatomy 0.000 claims abstract description 46
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- 238000005286 illumination Methods 0.000 claims abstract description 9
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/12—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for looking at the eye fundus, e.g. ophthalmoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/0008—Apparatus for testing the eyes; Instruments for examining the eyes provided with illuminating means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/0016—Operational features thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/0075—Apparatus for testing the eyes; Instruments for examining the eyes provided with adjusting devices, e.g. operated by control lever
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/14—Arrangements specially adapted for eye photography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/42—Detecting, measuring or recording for evaluating the gastrointestinal, the endocrine or the exocrine systems
- A61B5/4222—Evaluating particular parts, e.g. particular organs
- A61B5/4244—Evaluating particular parts, e.g. particular organs liver
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4854—Diagnosis based on concepts of traditional oriental medicine
Abstract
The invention belongs to the field of medical equipment, and discloses an ocular fundus and ocular surface integrated imaging liver disease diagnosis instrument based on a parallel mechanism. The fundus oculi surface integrated imaging device comprises an illumination light path and an imaging light path, wherein the illumination light path and the imaging light path are composed of a variable light source, an optical lens group and a photoelectric detector; the variable light source can switch the annular light and the light beam mode, and the light beam mode is used when the fundus is shot, and the annular light is used when the ocular surface is shot; the focusing lens group moves to adjust the focal length; and the 1T2R pose adjusting parallel mechanism 2-PSS-1PRR adjusts the pose of the supporting platform by driving the 3 moving pair to adjust the optical lens group, and the eye examination instrument is matched with the telescopic shell to switch the shooting mode of the fundus oculi surface, so that the fundus oculi surface integrated imaging is realized. The head fixing device comprises a head frame and a flexible head hoop, wherein the flexible head hoop is synchronous, variable in length and wide in width and is suitable for head sizes of people of different ages. The imaging data of the ocular fundus surface and eye diagnosis instrument can be used for screening whether the patient suffers from liver and gall diseases.
Description
Technical Field
The invention belongs to the field of medical appliances, and particularly relates to an ocular fundus and ocular surface integrated imaging liver disease diagnosis instrument based on a parallel mechanism.
Background
The traditional Chinese medicine diagnosis is a method for distinguishing relevant disease parts and judging pathological etiology of diseases by observing the whole eyeball to obtain information related to changes of the eyeball such as spirit, color, morphology, blood vessels and the like, and is an important component of traditional Chinese medicine inspection science. In pathology, the eye can reflect the abundance or insufficiency of visceral essence. With the multi-disciplinary medical interaction application and development of computer science, medicine, optical engineering, mechanical engineering and electrical engineering, the technology and equipment support is provided for the modern and objective research of the diagnosis. At present, bionic mode recognition and computer image processing technology are largely applied, and the internal organ lesions and dysfunction of the body are judged by dynamically changing and analyzing the morphology, color, texture, spots and position structures of each part of eyes of a patient.
Currently, the scope of this aspect is solely directed to the image viewing of the ocular surface or fundus, for example: the fundus imaging device constructed by the slit lamp principle and capable of only observing the fundus slit block part can see the complete fundus image through the block part splicing image processing method.
Therefore, when the existing observation instrument is used, when the ocular surface and the ocular fundus need to be converted, different instruments need to be replaced, so that not only the observation efficiency is affected, but also various observation errors caused by reasons such as observation positions, data interfaces and the like can be generated in the conversion process of the two instruments, and the accuracy of the overall observation of the ocular fundus is affected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an ocular fundus and ocular surface integrated imaging liver disease diagnosis instrument based on a parallel mechanism, which uses liver disease as an access point, adopts an optical imaging principle, adopts parallel mechanism adjustment, combines an illumination light path and an imaging light path which are formed by a variable light source, an optical lens group and a photoelectric detector to construct an ocular fundus and ocular surface integrated imaging instrument based on the parallel mechanism, and realizes ocular fundus and ocular surface integrated imaging; automatically collecting and analyzing the physical, biological and behavioral characteristics of ocular surface fundus, and identifying human diseases; laying foundation for realizing the portable intelligent eye diagnosis instrument for liver diseases in traditional Chinese medicine.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the eye surface integrated imaging liver disease diagnosis instrument based on the parallel mechanism is worn by a preset patient and is characterized by comprising an arc-shaped base frame; the imaging unit comprises a movable fixing seat and an imaging assembly, the movable fixing seat is movably arranged on the arc-shaped base frame, the imaging assembly is arranged on the movable fixing seat, and the imaging assembly comprises a photoelectric detector which is used for converting reflected light rays of an eye surface or fundus of a preset patient into corresponding electric signals; the head hoop assembly comprises a connecting frame and a flexible head hoop sleeved in the connecting frame, and the flexible head hoop is sleeved on the head of a preset patient; and the pose adjusting parallel mechanism comprises a base frame side mounting seat arranged on the arc base frame and a head hoop side mounting seat arranged on the connecting frame, wherein the pose adjusting parallel mechanism further comprises two ball pair moving pair connecting chains and a revolute pair moving pair connecting chain, the two ball pair moving pair connecting chains and the revolute pair moving pair connecting chain are two-section connecting chains, one end of each ball pair moving pair connecting chain and the head hoop side mounting seat form a moving pair, the other end of each ball pair moving pair connecting chain and the base frame side mounting seat form a ball pair, the other end of the revolute pair moving pair connecting chain and the base frame side mounting seat form a first revolute pair, two sections of the ball pair moving pair connecting chains form a ball pair, and two sections of the revolute pair moving pair connecting chains form a second revolute pair, and the axes of the first revolute pair and the second revolute pair are not parallel.
Preferably, the first revolute pair is disposed perpendicularly to the axis of the second revolute pair.
Preferably, the imaging unit further includes a light source assembly for illuminating an ocular surface or fundus of a predetermined patient and forming an illumination area.
Further, the light source assembly comprises a variable light source, a round light source and an annular light source, wherein the variable light source is switchable as a whole, the imaging assembly further comprises a focusing lens and an objective lens, optical axes of the objective lens and the focusing lens coincide, a receiving end of the photoelectric detector and the center of an eyeball of a preset patient are both positioned on the optical axis, and the objective lens and the focusing lens are both movably arranged along the optical axis of the photoelectric detector.
Still further, the light source subassembly still includes the light collecting lens, visual field diaphragm, annular diaphragm, first condensing lens, black spot board, second condensing lens and the cavity speculum of setting gradually on the outgoing light path of variable light source, and the incident light path of cavity speculum is the outgoing light path of second condensing lens, and the reflection light path passes through the eye objective and reaches predetermined patient's eyeball, and the imaging subassembly still includes the imaging objective, and the imaging objective sets up between photoelectric detector and focusing lens, and the optical axis coincidence of imaging objective and focusing lens.
Preferably, the connecting frame further comprises a weft fixing ring and a warp fixing half ring which are integrally formed, the head hoop side mounting seat is mounted on the weft fixing ring, the flexible head hoop has a negative poisson ratio effect, the connecting frame is of a ring structure which is connected by a plurality of double-ring structural pieces in sequence in a rotating pair mode and is closed, and the double-ring structural pieces are of hollow structures formed by splicing a plurality of triangular flexible sheets.
Preferably, the arc-shaped base frame is provided with an integrally formed arc-shaped plate and an arc-shaped connecting column, the arc-shaped connecting column is mechanically connected with the base frame side mounting seat, the arc-shaped plate is provided with two arc-shaped through holes, a convex arc-shaped surface and a concave arc-shaped surface, the two arc-shaped through holes extend along the extending direction of the arc-shaped plate and are symmetrically arranged with each other, the convex arc-shaped surface is provided with a matched rack section continuously arranged along the extending direction of the arc-shaped plate, and the concave arc-shaped surface faces towards the face between the forehead and the cheek of a preset patient.
Further, the movable fixing seat is provided with a servo motor, a movable gear arranged at the output end of the servo motor and two rows of guide wheels, the movable gear is meshed and matched with the matched rack section, the two rows of guide wheels are respectively arranged on the convex cambered surface and the concave cambered surface in a rolling way, the imaging unit further comprises an installation cylinder sleeved outside the imaging assembly, the installation cylinder penetrates through the cambered surface through hole, and the installation cylinder extends towards the eyelid part of a preset patient.
Still further, a telescopic tube is provided near an end of the predetermined patient's mounting cylinder for extending to the predetermined patient's eyelid portion and shielding external ambient light with respect to the eyelid portion, and has an auxiliary focusing effect.
Still further, the end of the telescoping cylinder proximate the eyelid portion of the intended patient is covered with a flexible material.
Compared with the prior art, the invention has the beneficial effects that:
1. because the parallel mechanism-based eye table integrated imaging liver disease eye diagnosis instrument pose adjusting parallel mechanism further comprises two ball pair moving pair connecting chains and a revolute pair moving pair connecting chain, wherein the two ball pair moving pair connecting chains and the revolute pair moving pair connecting chain are two-section connecting chains, one end of each ball pair moving pair connecting chain and the head band side mounting seat form a moving pair, the other end of each ball pair moving pair connecting chain and the base frame side mounting seat form a ball pair, the other end of the revolute pair moving pair connecting chain and the base frame side mounting seat form a first revolute pair, two sections of the ball pair moving pair connecting chains form a ball pair, two sections of the revolute pair moving pair connecting chains form a second revolute pair, namely the pose adjusting parallel mechanism is a 1T2R mechanism formed by 2-PSS-1PRR, not only can enable the photoelectric detector to be close to or far away from the eye movement of a preset patient, but also enable the photoelectric detector to keep corresponding to the preset center of the preset patient at any time through rotating on two rotary degrees of freedom, so that the eye table can be conveniently and rapidly replaced by the eye table of the invention, the eye table can be conveniently and rapidly replaced, and the eye table can be observed and accurately.
2. Because the first revolute pair and the second revolute pair of the pose adjustment parallel mechanism are arranged vertically, the positioning relation of the related rotating shafts can be subjected to auxiliary positioning assembly through the easily obtained vertical positioning tool in the process of assembling the related parts of the first revolute pair and the second revolute pair, so that the assembling process of the pose adjustment parallel mechanism can be completed with low cost and high efficiency.
3. Because the light source component comprises the variable light source, the variable light source is a switchable round light source and an annular light source, the imaging component further comprises the focusing lens and the eye objective lens, the optical axes of the eye objective lens and the focusing lens are coincident, the receiving end of the photoelectric detector and the eyeball center of a preset patient are both positioned on the optical axis, and the eye objective lens and the focusing lens are movably arranged along the optical axes, the invention can use a light beam with a round section for illumination when observing eyeground, and use a light beam with an annular section for illumination when observing an ocular surface so as to avoid pupils, thereby ensuring that the observation process is safe and accurate relative to the preset patient.
4. Because the connecting frame also comprises a weft fixing ring and a warp fixing half ring which are integrally formed, the head hoop side mounting seat is arranged on the weft fixing ring, the flexible head hoop has a negative poisson ratio effect, and is of a ring structure which is formed by connecting a plurality of double-ring structural pieces by sequential rotating pairs and is closed, the double-ring structural pieces are hollow structures formed by splicing a plurality of triangular flexible sheets, when the head of a preset patient is large, the diameter of the flexible head hoop is enlarged, and the width of the flexible head hoop is widened at the same time, so that pain caused by tightening the head of the preset patient by the flexible head hoop is avoided; when the head of a scheduled patient is smaller, the diameter of the flexible head hoop is reduced, and the width of the flexible head hoop is narrowed, so that the scheduled patient is prevented from generating warming sensation due to overlarge coverage area of the flexible head hoop on the head, and therefore, the flexible head hoop has an adaptive telescopic function, and can not generate uncomfortable feeling even if the scheduled patient wears the head hoop for a long time.
5. Because the telescopic cylinder is arranged at the end part of the installation cylinder body close to the scheduled patient and is used for extending to the eyelid part of the scheduled patient and shielding external environment light relative to the eyelid part, the invention can effectively shield external environment light, so that the imaging unit can not interfere the image capturing of the eyeball of the scheduled patient, and the eyeball of the scheduled patient can be observed more accurately.
Drawings
Fig. 1 is a schematic structural diagram of an ocular fundus and ocular surface integrated imaging liver disease diagnosis instrument based on a parallel mechanism according to an embodiment of the present invention;
fig. 2 is a schematic diagram II of a structure of an ocular fundus and ocular surface integrated imaging liver disease diagnosis instrument based on a parallel mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of an arc plate according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an imaging unit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a mobile fixing base according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an imaging unit without a mobile mount according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an optical principle of an imaging unit according to an embodiment of the present invention;
figure 8 is a schematic structural view of a headband assembly of an embodiment of the present invention;
FIG. 9 is a schematic diagram of a dual ring structure of an embodiment of the present invention;
figure 10 is a schematic structural view of another headband assembly of the present embodiment;
FIG. 11 is a schematic illustration of another dual ring structure of an embodiment of the present invention;
FIG. 12 is a block diagram of a parallel mechanism for pose adjustment according to an embodiment of the present invention; and
fig. 13 is a schematic diagram of a mechanism principle of a parallel mechanism for pose adjustment according to an embodiment of the present invention.
In the figure: 100. fundus oculi table integrated imaging liver disease diagnosis instrument based on parallel mechanism, 10, arc base frame, 11, arc plate, 11a, arc through hole, 11b, convex arc surface, 111, matched rack section, 12, arc connecting column, 20, imaging unit, 21, movable fixing seat, 211, servo motor, 212, movable gear, 213, guide wheel, 214, pinch roller, 215, inner mounting rack, 22, mounting cylinder, 221, telescopic cylinder, Y, eyeball of scheduled patient, Z, imaging optical axis, 23, imaging component, 231, photodetector, 232, imaging objective, 233, focusing mirror, 234, eye objective, 24, light source component, 241, variable light source, 242, light collecting mirror, 243, field of view, 244, annular diaphragm, 245, first focusing mirror, 246, black spot plate, 247, second focusing mirror, 248, hollow reflecting mirror, 30, head hoop component, 31, connecting frame, 311, weft fixed ring, 312, warp fixed half ring, 32, flexible head hoop, 321, double ring structural sheet, 3211, flexible sheet, 3212, flexible sheet, 40, outer ring, moving chain seat, flexible sheet, 40, moving chain seat, 43, parallel seat, 43, and moving chain seat.
Detailed Description
In order to make the technical means, creation characteristics, achievement purposes and effects achieved by the present invention easy to understand, the following examples specifically describe the parallel mechanism-based fundus oculi surface integrated imaging liver disease diagnosis apparatus according to the present invention with reference to the accompanying drawings, and it should be noted that the description of these embodiments is for aiding understanding of the present invention, but not limiting the present invention.
As shown in fig. 1 and 2, the parallel mechanism-based ocular fundus and ocular surface integrated imaging liver disease diagnosis apparatus 100 of the present embodiment is worn by a predetermined patient, and is characterized by comprising an arc-shaped base frame 10, an imaging unit 20, a head band assembly 30, and a pose adjustment parallel mechanism 40.
The arc-shaped base frame 10 is provided with an integrally formed arc-shaped plate 11 and an arc-shaped connecting column 12.
As shown in fig. 3, the arc plate 11 is horizontally disposed, and has two arc surface through holes 11a, a convex arc surface 11b and a concave arc surface (not shown in the drawing), the concave arc surface is a surface opposite to the convex arc surface 11b, the two arc surface through holes 11a extend along the extending direction of the arc plate 11 and are disposed symmetrically to each other, the convex arc surface 11b has a mating rack section 111 continuously disposed along the extending direction of the arc plate 11, the concave arc surface is disposed toward the face between the forehead and the cheek of the predetermined patient, in this embodiment, the arc surface through holes 11a are rectangular holes, the orthographic projection of the arc plate 11 is a transverse "day", and the mating rack section 111 covers the entire arc plate 11.
As shown in fig. 1 to 2, 4 and 6, the imaging unit 20 includes a moving fixing base 21, a mounting cylinder 22, an imaging assembly 23 and a light source assembly 24, and specifically, the number of imaging units 20 is 2.
The movable fixing base 21 is movably disposed on the arc-shaped base frame 10, specifically, the movable fixing base 21 is movably mounted on the arc panel 11 in a matched manner, and the movable fixing base 21 has a servo motor 211, a movable gear 212, a guide wheel 213, a pressure bearing wheel 214 and an inner mounting frame 215.
The servo motor 211 is fixedly installed on the upper portion of the movable fixing seat 21 and located on the outer side of the convex arc surface 11b, and an output shaft of the servo motor is vertically arranged.
The moving gear 212 is horizontally installed at the output end of the servo motor, and the moving gear 212 is engaged with the engaged rack section 111, and when the servo motor 211 drives the moving gear 212 to rotate, the moving fixing seat 21 is driven to move along the extending direction of the arc plate 11.
The number of the guide wheels 213 is plural, and the guide wheels 213 are distributed in 2 rows along the horizontal direction from the concave arc surface to the convex arc surface 11b, and the two rows of the guide wheels 213 are respectively arranged on the convex arc surface 11b and the concave arc surface in a rolling manner, when the movable fixing seat 21 moves along the extending direction of the arc plate 11, the guide wheels 213 roll on the surface of the arc plate 11, thereby reducing friction between components, so that the movable fixing seat 21 moves more smoothly, and in this embodiment, the guide wheels 213 are arranged in 2 rows on the upper part and the lower part of the movable fixing seat 21.
In this embodiment, the number of the bearing wheels 214 is multiple, and the bearing wheels 214 are vertically disposed between two rows of guide wheels 213 on the upper portion and the lower portion of the movable fixing seat 21, and the rolling directions of the bearing wheels are all along the extending direction of the arc plate 11, when the movable fixing seat 21 moves along the extending direction of the arc plate 11 and the guide wheels 213 roll on the surface of the arc plate 11, the bearing wheels 214 roll on the upper edge and the lower edge of the arc plate 11, so that the arc plate 11 is tightly stuck together in four directions in cooperation with the guide wheels 213, and the rolling of the movable fixing seat 21 is more stable.
In the present embodiment, the inner mounting bracket 215 is fixedly installed between the upper and lower guide wheels 213, corresponding to the arc surface through holes 11a, and located outside the convex arc surface 11 b.
The installation cylinder 22 is horizontally disposed and correspondingly penetrated on the arc surface through hole 11a, and the installation cylinder 22 is extended toward the eyelid portion of the predetermined patient, and in this embodiment, one end of the installation cylinder 22 is mounted on the inner mounting frame 215.
The end of the mounting cylinder 22 close to the predetermined patient is provided with a telescopic cylinder 221, the telescopic cylinder 221 is used for extending to the eyelid of the predetermined patient and shielding external ambient light with respect to the eyelid, and the end of the telescopic cylinder 221 close to the eyelid of the predetermined patient is covered with a flexible material, in this embodiment, the telescopic cylinder 221 is a multi-stage nested telescopic structure, when the predetermined patient is observed on the fundus or ocular surface, the telescopic cylinder 221 is stretched, the flexible material of the end of the telescopic cylinder is used for covering the eyelid of the predetermined patient, and the external ambient light is completely isolated, and the telescopic cylinder has the function of assisting focusing.
As shown in fig. 6 and 7, the imaging unit 23 and the light source unit 24 are both installed inside the installation cylinder 22, the light source unit 24 is used for illuminating the surface of the eye or the fundus of a predetermined patient or the fundus of the eye by a circular beam or an annular beam and forming an illumination area, and the imaging unit 23 is used for detecting the emitted light of the illumination area of the surface of the eye or the fundus of the predetermined patient and converting the detected light into a corresponding electric signal, and in this embodiment, the converted electric signal is transmitted to an external remote observation terminal and displayed in a corresponding image.
The imaging assembly 23 is disposed on the movable fixing seat 21 through the mounting cylinder 22, the imaging assembly 23 includes a photodetector 231, and an imaging objective 232, a focusing mirror 233 and an objective lens 234 which are disposed along the optical axis in order along the same optical axis, the optical axis of the imaging objective lens is taken as an imaging optical axis Z, the receiving end of the photodetector 231 and the center of an eyeball Y of a predetermined patient are both located on the imaging optical axis Z, the photodetector 231 is used for converting reflected light rays of an ocular surface or fundus of the predetermined patient into corresponding electrical signals, and the objective lens 234 and the focusing mirror 233 are both disposed movably along the imaging optical axis Z, thereby adjusting respective focal lengths, so that the reflected light rays of the fundus or ocular surface of the predetermined patient can be focused and the photodetector 231 can accurately receive the focused image.
The light source assembly 24 is located near the imaging assembly 23, the light source assembly 24 includes a variable light source 241, and a light collecting lens 242, a field stop 243, an annular stop 244, a first condenser lens 245, a black spot plate 246, a second condenser lens 247, and a hollow mirror 248 which are sequentially disposed on an outgoing light path of the variable light source 241, an incoming light path of the hollow mirror 248 is an outgoing light path of the second condenser lens 247, a reflected light path reaches an eyeball Y of a predetermined patient through the eye-receiving objective 234, the variable light source 241 is a circular light beam source and an annular light beam source which are switchable integrally, specifically, when an eye surface of the predetermined patient is observed, the variable light source 241 is switched into the annular light beam source through external control so as to avoid pupils sensitive to light rays; when observing the fundus of a predetermined patient, the variable light source 241 is switched to a circular light beam source by external control.
As shown in fig. 8, the headband assembly 30 includes a connection frame 31 and a flexible headband 32 sleeved in the connection frame 31, and the flexible headband 32 is sleeved on the head of a predetermined patient.
The connection frame 31 includes an integrally formed latitudinal fixation loop 311 and a longitudinal fixation half loop 312, and in particular, the flexible headband 32 is concentrically mounted within the latitudinal fixation loop 311, with the radial fixation half loop 312 passing over the top of the head of the intended patient.
The flexible head band 32 has a negative poisson's ratio effect, and is an annular structure formed by sequentially connecting and sealing a plurality of double-ring structural pieces 321, and the double-ring structural pieces 321 are hollow structures formed by splicing a plurality of triangular flexible sheets.
In this embodiment, as shown in fig. 9, the number of triangular flexible sheets is 16, the 16 triangular flexible sheets are all isosceles triangles, and are divided into 8 outer ring flexible sheets 3211 and 8 inner ring flexible sheets 3212,8, and the bottom corner tips of the outer ring flexible sheets 3211 are sequentially connected through a rotating pair to form a continuous closed annular structure, and the interior of the annular structure is an 8-sided area; the bottom corner tips of the 8 inner ring flexible sheets 3212 are sequentially connected through a rotary pair to form a continuous closed annular structure, the inside of the annular structure is an 8-edge area, and the top corner tips of the 8 inner ring flexible sheets 3212 are correspondingly connected to the middle point of the bottom edge of the outer ring flexible sheet 3211 through the rotary pair.
In this embodiment, as shown in fig. 10 and 11, the interior of the continuously closed loop structure formed by the 8 outer loop flexible sheet 3211 may also be a 4-sided area; the bottom corner tips of the 8 inner ring flexible sheets 3212 are sequentially connected through a rotating pair to form a continuous closed annular structure, the inside of the annular structure is a 4-sided area, meanwhile, one waist edge of the 8 inner ring flexible sheets 3212 is correspondingly connected to the bottom edge of the outer ring flexible sheet 3211 through the rotating pair, the vertex corner tips corresponding to the waist edge are located at the middle point of the bottom edge, and the bottom corner tips are located at one bottom corner tip of the bottom edge.
As shown in fig. 12 and 13, the parallel posture adjustment mechanism 40 includes a base frame side mount 41, a head band side mount 42, a ball pair traveling pair connection chain 43, and a revolute pair traveling pair connection chain 44.
The base frame side mount 41 is mounted on the arc base frame 10, and the head band side mount 42 is mounted on the connection frame 31, specifically, the base frame side mount 41 is mechanically connected with the arc connection post 12, and the head band side mount 42 is mounted on the weft fixing ring 311.
The number of the ball pair moving pair connecting chains 43 is two, the number of the revolute pair moving pair connecting chains 44 is one, the two ball pair moving pair connecting chains 43 and the revolute pair moving pair connecting chains 44 are two-segment connecting chains, one end of each ball pair moving pair connecting chain forms a moving pair P with the head hoop side mounting seat 42, the other end of each ball pair moving pair connecting chain 43 forms a ball pair S with the base frame side mounting seat 41, the other end of each revolute pair moving pair connecting chain 44 forms a revolute pair R with the base frame side mounting seat 41 and serves as a first revolute pair, two segments of the ball pair moving pair connecting chains 43 form a ball pair S, two segments of the revolute pair moving pair connecting chains 44 form a revolute pair R and serve as a second revolute pair, and the rotational axes of the first revolute pair and the second revolute pair are not parallel, specifically, the first revolute pair is disposed perpendicularly to the axis of the second revolute pair, that is, the pose adjustment parallel mechanism 40 is a 1T2R pose adjustment parallel mechanism 2-PSS-1PRR, so that not only can the eye surface and the fundus be conveniently observed by moving the imaging unit 20 close to or away from the eyeball Y of the intended patient, but also the imaging unit 20 can be rotated around the eyeball Y of the intended patient to always correspond to the eyeball of the intended patient without deviation in the observation angle, in the present embodiment, the ball pair moving pair connecting chain 43 and the revolute pair moving pair connecting chain 44 are each constituted by two rigid rods, the base frame side mount 41 is triangular, and the ball pair moving pair connecting chain 43 and the revolute pair moving pair connecting chain 44 are both connected at the corner tip portion of the base frame side mount 41.
The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications or variations which may be made by those skilled in the art without the inventive effort within the scope of the appended claims remain within the scope of this patent.
Claims (8)
1. An ocular fundus and ocular surface integrated imaging liver disease diagnosis instrument based on a parallel mechanism is worn by a preset patient,
characterized by comprising the following steps:
an arc-shaped base frame;
the imaging unit comprises a movable fixing seat and an imaging assembly, wherein the movable fixing seat is movably arranged on the arc-shaped base frame, the imaging assembly is arranged on the movable fixing seat, and the imaging assembly comprises a photoelectric detector which is used for converting reflected light rays of an ocular surface or fundus of the preset patient into corresponding electric signals;
the head hoop assembly comprises a connecting frame and a flexible head hoop sleeved in the connecting frame, and the flexible head hoop is sleeved on the head of the scheduled patient; and
the pose adjusting parallel mechanism comprises a base frame side mounting seat arranged on the arc base frame and a head band side mounting seat arranged on the connecting frame,
wherein the pose adjusting parallel mechanism further comprises two ball pair moving pair connecting chains and a revolute pair moving pair connecting chain, the two ball pair moving pair connecting chains and the revolute pair moving pair connecting chain are two-section connecting chains, one end of each ball pair moving pair connecting chain and the head hoop side mounting seat form a moving pair, the other end of each ball pair moving pair connecting chain and the base frame side mounting seat form a ball pair, the other end of each revolute pair moving pair connecting chain and the base frame side mounting seat form a first revolute pair, two sections of the ball pair moving pair connecting chains form a ball pair, two sections of the revolute pair moving pair connecting chains form a second revolute pair, the first revolute pair and the axis of the second revolute pair are not parallel,
the imaging unit further comprises a light source assembly,
the light source assembly is used for illuminating the surface of the eye or the surface of the fundus of the predetermined patient or the fundus of the eye and forming an illumination area,
the light source component comprises a variable light source which is a switchable circular light source and a ring-shaped light source,
the imaging assembly further includes a focusing mirror and an objective lens,
the optical axes of the eye objective lens and the focusing lens coincide, and the receiving end of the photoelectric detector and the eyeball center of the preset patient are both positioned on the optical axis,
the objective lens and the focusing lens are both movably arranged along the optical axis of the focusing lens.
2. The parallel mechanism-based fundus oculi surface integrated imaging liver disease diagnosis apparatus according to claim 1, wherein:
the first revolute pair is perpendicular to the axis of the second revolute pair.
3. The parallel mechanism-based fundus oculi surface integrated imaging liver disease diagnosis apparatus according to claim 1, wherein:
wherein the light source component further comprises a light collecting lens, a view field diaphragm, an annular diaphragm, a first collecting lens, a black point plate, a second collecting lens and a hollow reflecting lens which are sequentially arranged on an emergent light path of the variable light source, an incident light path of the hollow reflecting lens is an emergent light path of the second collecting lens, a reflecting light path reaches an eyeball of the preset patient through the eye receiving objective lens,
the imaging assembly further comprises an imaging objective lens arranged between the photoelectric detector and the focusing lens, and the imaging objective lens coincides with the optical axis of the focusing lens.
4. The parallel mechanism-based fundus oculi surface integrated imaging liver disease diagnosis apparatus according to claim 1, wherein:
wherein the connecting frame further comprises a weft fixing ring and a warp fixing half ring which are integrally formed, the head hoop side mounting seat is arranged on the weft fixing ring,
the flexible head hoop has a negative poisson ratio effect, is of a closed annular structure formed by connecting a plurality of double-ring structural pieces through sequential rotating pairs, and is of a hollow structure formed by splicing a plurality of triangular flexible sheets.
5. The parallel mechanism-based fundus oculi surface integrated imaging liver disease diagnosis apparatus according to claim 1, wherein:
wherein the arc-shaped base frame is provided with an integrally formed arc-shaped plate and an arc-shaped connecting column which is mechanically connected with the base frame side mounting seat,
the arc has two cambered surface through-holes, protruding cambered surface and concave cambered surface, two cambered surface through-holes are all followed the extending direction of arc extends and mutual symmetry sets up, protruding cambered surface has the edge the extending direction of arc sets up in succession the cooperation rack section, concave cambered surface sets up towards the face between predetermined patient's forehead and the cheek.
6. The parallel mechanism-based fundus oculi surface integrated imaging liver disease diagnosis apparatus according to claim 5, wherein:
wherein the movable fixing seat is provided with a servo motor, a movable gear arranged at the output end of the servo motor and two rows of guide wheels, the movable gear is meshed and matched with the matched rack section, the two rows of guide wheels are respectively arranged on the convex cambered surface and the concave cambered surface in a rolling way,
the imaging unit further comprises an installation cylinder body sleeved outside the imaging assembly, the installation cylinder body penetrates through the cambered surface through hole, and the installation cylinder body extends towards the eyelid portion of the scheduled patient.
7. The parallel mechanism-based fundus oculi surface integrated imaging liver disease diagnosis apparatus according to claim 6, wherein:
wherein a telescoping cylinder is provided near an end of the mounting cylinder of the intended patient for extending to an eyelid portion of the intended patient and shielding external ambient light from the eyelid portion.
8. The parallel mechanism-based fundus oculi surface integrated imaging liver disease diagnosis apparatus according to claim 7, wherein:
wherein an end of the telescoping cylinder proximate to the eyelid portion of the intended patient is covered with a flexible material.
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