CN208598426U - Supersonic detection device, trolley and ultrasonic system - Google Patents
Supersonic detection device, trolley and ultrasonic system Download PDFInfo
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- CN208598426U CN208598426U CN201721365266.1U CN201721365266U CN208598426U CN 208598426 U CN208598426 U CN 208598426U CN 201721365266 U CN201721365266 U CN 201721365266U CN 208598426 U CN208598426 U CN 208598426U
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Abstract
The utility model provides a kind of supersonic detection device, comprising: ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；Force sensing apparatus, for sensing the power between the ultrasonic probe and the measurand；Mechanical arm, the mechanical arm include movable terminal and fixing end, and the movable terminal is connected with the force sensing apparatus；Picture pick-up device, for obtaining the video image data of the tested region and the ultrasonic probe；Communication module, for carrying out data interaction with a terminal；And controller, it is electrically connected respectively with the ultrasonic probe, the force sensing apparatus, the mechanical arm, the picture pick-up device and the communication module.The utility model also provides a kind of trolley and ultrasonic system for ultrasound detection.
Description
Technical field
The utility model relates to ultrasound detection fields, and in particular, to suitable for supersonic detection device, the platform remotely controlled
Vehicle and ultrasonic system.
Background technique
In medical domain, ultrasonic imaging utilizes ultrasonic scanning biological tissue, and receives the echo of biological tissue reflection
Signal, by carrying out the image that processing obtains the biological tissue to echo-signal.Ultrasonic imaging is a kind of common medical image
Technology, supersonic imaging apparatus are widely used in clinical medicine detection.However, lacking ultrasound in many basic medical units
Imaging device can not provide ultrasonic imaging detection for location resident.In recent years, this case adopts Medical Devices with government
It purchases and makes moderate progress under the increase of investment and the popularization of portable ultrasound imaging equipment, but examined in ultrasonic imaging detection and ultrasound
Disconnected aspect still has some problems.
Mainly pass through internet sets up remote medical consultation with specialists center to existing solution, asks the ultrasonic imaging of high-grade hospital special
Family provides assistance for basic medical unit.For example, being completed by the operator of ultrasonic imaging expert's remote guide basic medical unit
Then corresponding ultrasonic scanning remotely checks that ultrasonic image diagnoses by ultrasonic imaging expert or specialist.However, ultrasonic
Imaging device usually requires experienced professional and directly operates personally, could obtain the ultrasonic image for being conducive to diagnosis.?
In existing remote medical consultation with specialists method, ultrasonic imaging expert can only check the ultrasound image of patient in client, can not know that this is super
The accurate location that supersonic imaging apparatus corresponding to acoustic image (such as ultrasonic probe) is contacted with patient body generally requires repeatedly remote
Journey instruct operator and repeatedly observation ultrasound image can just make diagnosis, reduce ultrasound detection efficiency and ultrasound diagnose it is reliable
Property.
Utility model content
In view of the foregoing, it is necessary to which a kind of apparatus and system suitable for long-range ultrasonic imaging is provided.
The utility model provides a kind of supersonic detection device first, comprising:
Ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；
Force sensing apparatus, for sensing the power between the ultrasonic probe and the measurand；
Mechanical arm, the mechanical arm include movable terminal and fixing end, the movable terminal and the force sensing apparatus phase
Connection；
Picture pick-up device, for obtaining the video image data of the tested region and the ultrasonic probe；
Communication module, for carrying out data interaction with a terminal；
Controller, respectively with the ultrasonic probe, the force sensing apparatus, the mechanical arm, the picture pick-up device and institute
State communication module electric connection.
Further, which further includes clamping device, and the clamping device includes clamping part and interconnecting piece,
For the clamping part for removably holding the ultrasonic probe, the interconnecting piece is connected to the force sensing apparatus, the company
Socket part is used to the power between the ultrasonic probe and the measurand being transferred to the force sensing apparatus.
Further, the interconnecting piece includes an at least connecting rod, and the connecting rod is parallel to the axis of the ultrasonic probe
To direction.
Further, the mechanical arm is sixdegree-of-freedom simulation.
Further, which further includes display equipment and speech ciphering equipment.
The utility model also provides a kind of trolley, comprising:
Cabinet, the cabinet include top plate portion and the pedestal for being provided with castor；
The top plate portion is provided with the carrying platform for placing ultrasonic detection equipment；
Ultrasonic detection equipment interface is set to the cabinet, for being electrically connected with a ultrasonic detection equipment；
Mechanical arm, the mechanical arm include movable terminal and fixing end, and the fixing end is set to the top of the top plate portion
Face；
Force sensing apparatus is connected to the movable terminal of the mechanical arm；Clamping device, the clamping device include interconnecting piece
And clamping part, the interconnecting piece of the clamping device are connected to the force sensing apparatus, the clamping part is for removably holding
One ultrasonic probe；
Communication module, for carrying out data interaction with a terminal；And
Controller, respectively with the ultrasonic detection equipment interface, the mechanical arm, the force sensing apparatus and the communication
Module is electrically connected.
Further, it is provided with clump weight in the cabinet of the trolley, for balancing the center of gravity of the trolley.
The utility model also provides a kind of ultrasonic system, including first terminal and second terminal；
The first terminal includes: ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；Power
Sensing equipment, for sensing the force signal between the ultrasonic probe and the measurand；Mechanical arm, the mechanical arm include
Movable terminal and fixing end, the movable terminal are connected with the force sensing apparatus；Picture pick-up device, it is described tested for obtaining
The video image data of region and the ultrasonic probe；First communication module, for sending the ultrasound to the second terminal
Image data, the force signal and the video image data, and for receiving the command signal from the second terminal；
The second terminal includes: second communication module, for receiving the ultrasound image from the first terminal
Data, the force signal and the video image data, and for issuing the command signal to the first terminal；Display is set
It is standby, for showing the ultrasound image based on the ultrasound image data and the video image based on the video image data；With
And force feedback operator, the force feedback operator are based on the force signal and export haptic effect, the force feedback operator quilt
It is set as receiving the first input signal and the order for controlling the mechanical arm is determined based on first input signal
Signal.
Further, the first terminal includes clamping device, and the clamping device includes clamping part and interconnecting piece, described
For clamping part for removably holding the ultrasonic probe, the interconnecting piece is connected to the force sensing apparatus, the interconnecting piece
For the power between the ultrasonic probe and the measurand to be transferred to the force sensing apparatus.
Further, the second terminal includes super sound control apparatus, and the super sound control apparatus is defeated for receiving second
Enter signal and detection parameters command signal is obtained based on second input signal；The second communication module joins the detection
Number command signal is sent to the first terminal；The first terminal is based on the detection parameters command signal and the ultrasound is arranged
The detection parameters of probe.
Compared with the prior art, supersonic detection device provided by the utility model, trolley and ultrasonic system pass through to ultrasound
The remote transmission of force signal and video image in detection process between ultrasound image, ultrasonic probe and the measurand and it is in
It is existing, so that ultrasonic imaging expert is remotely controlled ultrasonic probe according to above- mentioned information in real time and acts on the mode of measurand more
Effective ultrasound detection image is obtained well, to improve the detection efficiency of long-range ultrasound and the reliability of long-range ultrasound diagnosis.
Detailed description of the invention
Fig. 1 is the functional block diagram of ultrasonic system provided by the utility model first embodiment.
Fig. 2 is the schematic diagram of supersonic detection device provided by the utility model second embodiment.
Fig. 3 is the partial enlarged view of an embodiment of supersonic detection device provided by the utility model.
Fig. 4 is the functional block diagram of ultrasound control device provided by the utility model third embodiment.
Main element symbol description
The following detailed description will be further explained with reference to the above drawings the utility model.
Specific embodiment
The technical solution of the utility model is carried out below in conjunction with preferred embodiments of the present invention and embodiment
Description.It should be noted that it can be directly to another when a unit is described as " connecting " in another unit
A unit may be simultaneously present unit placed in the middle.When a unit is described as " being set to " another unit, it be can be
It is set up directly on another unit or may be simultaneously present unit placed in the middle.Unless otherwise defined, used herein all
Technical and scientific term have the same meaning as commonly understood by one of ordinary skill in the art to which the utility model belongs.In this reality
Being only for the purpose of describing specific embodiments with the title of novel element or equipment used in the description is not purport
It is to limit the utility model.
The first embodiment of the utility model provides a kind of ultrasonic system for long-range ultrasound detection.Ultrasound system
System allows operator remotely to control ultrasonic spy by the real-time Transmission to multi-signal during ultrasound detection and/or data
Head obtains the ultrasound image of measurand.
Fig. 1 shows ultrasonic system provided by first embodiment.The ultrasonic system 1 includes that first terminal and second are whole
End.Wherein, which can be the supersonic detection device for being set to measurand (such as patient, examinee) site
10, which can be the ultrasound control for being set to professional ultrasound procedure personnel or medical image specialist site
Device 20, the first terminal and the second terminal can realize the two-way of signal and data by way of wired or wireless communication
Transmission.
As shown in Figure 1, the supersonic detection device 10 includes ultrasound detection module 110, tactile sensing module 120, mechanical arm
Module 130, the first video module 140, first communication module 150 and the first controller 160.Wherein, first controller 160
With the ultrasound detection module 110, the tactile sensing module 120, the mechanical arm module 130, first video module 140 and this
One communication module 150 is directly or indirectly electrically connected to transmit and exchange data or signal.The ultrasound detection module 110 is used for
Obtain the ultrasound image data of measurand.The ultrasound detection module 110 includes ultrasonic probe, and the ultrasonic probe is for obtaining quilt
Survey the ultrasound echo signal of object.The tactile sensing module 120 is used to obtain the power letter between the ultrasonic probe and measurand
Number.The mechanical arm module 130 is based on command signal and controls the ultrasonic probe 1102.First video module 140 is super for obtaining
First video image data of sound detection scene.The first communication module 150 is used for will be above-mentioned super acquired in the first terminal
Acoustic image data, force signal and the first video image data are sent to second terminal (such as ultrasonic control device 20).
As shown in Figure 1, the ultrasound control device 20 includes touch feedback control module 220, the second video module 240, the
Two communication modules 250 and second controller 260.Wherein, the second controller 260 and the touch feedback control module 220, this
Two video modules 240 and second communication module 250 are directly or indirectly electrically connected to transmit and exchange data or signal.This
Two communication modules 250, which receive, comes from an at least terminal, such as supersonic detection device 10, ultrasound image data, force signal and first
Video image data.Second video module 240 includes at least one display equipment, for showing based on the received ultrasound image of institute
The ultrasound images of data and display based on received first video image data video image.The touch feedback controls mould
Block 220 includes tactile output module 2210, user interface 2230 and identification module 2250.The tactile output module 2210 is based on should
The 250 received force signal of institute of second communication module exports corresponding haptic effect by the user interface 2230.The identification module
2250 can receive the first input signal from the user interface 2230, and determine order letter based on first input signal
Number.The second communication module 250 is used to the command signal being sent to first terminal (such as supersonic detection device 10).
In long-range ultrasound detection, ultrasonic system 1 provided by the utility model first embodiment can pass through setting
Ultrasonic control device 20 in the place B remotely obtains a variety of detection informations for being set to the supersonic detection device 10 in the place A, and
The ultrasound control device 20 can remotely control the ultrasonic probe of the supersonic detection device 10.When using the ultrasonic system 1, position
Ultrasonic imaging expert in the place B can act on according to the ultrasonic probe that a variety of detection informations change positioned at the place A in real time
Interaction force between the position and/or ultrasonic probe and measurand of measurand preferably obtains effective ultrasound inspection
Altimetric image, to improve the reliability of ultrasound detection efficiency and ultrasound diagnosis.
Supersonic detection device 10 provided by the utility model second embodiment is described in detail below in conjunction with Fig. 2.
In the embodiment shown in Figure 2, ultrasound detection module 110 includes ultrasonic probe 1102 and ultrasonic signal processing module
1104.It is understood that ultrasonic probe 1102 usually directly connects with the skin surface of measurand in ultrasound imaging procedure
Touching.In ultrasound imaging procedure, converting electrical signal is ultrasonic wave by ultrasonic probe 1102, makes ultrasonic wave one in measurand body
Target area (the intracorporal organ of such as human body or animal, tissue, blood vessel) is propagated, and receives be reflected back from the target area later
The ultrasonic echo containing measurand information come, and the ultrasonic echo is converted into electric signal.Ultrasonic signal processing module
1104 receptions, which convert the electric signal generated and carry out a series of processing to it, obtains ultrasound image data.The ultrasound image data
Include but are not limited to the two-dimensional image datas such as Type B, c-type, D type, three dimensional ultrasonic image data and the four-dimension containing time dimension
Image data.The ultrasound image data can be one or more picture frames, be also possible to the video formed by image frame sequence
File.Further, which can also include corresponding detection pattern, the detection parameters for generating ultrasonic echo
And the relevant informations such as measurand data (such as age, passing medical history).The ultrasonic probe 1102 and the ultrasonic signal processing mould
Block 1104 can directly be connected by wired or wireless mode.
The tactile sensing module 120 includes force sensing apparatus 1210, which may include one or more power
Sensor, for obtaining the force signal between the ultrasonic probe 1102 and measurand, thus for positioned at the ultrasound control of distal end
Operator's (e.g., professional ultrasonic doctor) of device 20 provides the letter that situation is contacted between the ultrasonic probe 1102 and measurand
Breath.Force sensing apparatus 1210 can either directly or indirectly be connected to ultrasonic probe 1102.It is understood that the ultrasonic probe
1102 have with the top that measurand directly contacts and positioned at the end of one end opposite with top.The ultrasonic probe 1102
Axial direction is defined as the direction from the top to the end.In one embodiment, it is super to be connected to this for force sensing apparatus 1210
The end of sonic probe 1102.In another embodiment, force sensing apparatus 1210 is indirectly attached to the ultrasound by bindiny mechanism
Probe 1102, which can be transferred to the force sensing apparatus for the power between ultrasonic probe 1102 and measurand
1210.The force sensing apparatus 1210 of the tactile sensing module 120 can sense the axial direction along the ultrasonic probe 1102
Power.Force sensing apparatus 1210 can also be further arranged to sense the plane of the axial direction perpendicular to the ultrasonic probe 1102
The power of interior all directions, that is, measurand is from side to the power for being applied to the ultrasonic probe 1102.Force sensing apparatus 1210 can also be into
One step is arranged to the tangential force that sensing is rotated around the axial direction of the ultrasonic probe 1102, to make the tactile sensing module
120 can comprehensively, truly obtain the contact situation between the ultrasonic probe 1102 and measurand.In addition, the tactile sensing
Force signal acquired in module 120 can also include time dimension, for example, the tactile sensing module 120 continuously senses one group
Force vector, each force vector correspond to a time frame.
The mechanical arm module 130 includes the mechanical arm 1320 being either directly or indirectly connected with ultrasonic probe 1102.It should
Mechanical arm 1320 includes fixing end and movable terminal.Multivariant movement may be implemented in the mechanical arm 1320, including but not only
It is limited to the three-dimensional position (x, y, z), three-dimensional perspective (x, y, z) and the axial direction around the ultrasonic probe 1102 of the ultrasonic probe 1102
The angle that direction rotates.Preferably, which is sixdegree-of-freedom simulation.First controller 160 is based on position command
Signal controls the mechanical arm 1320 along one or more directions or angular movement, to change the check bit of ultrasonic probe 1102
It sets.First controller 160 be also based on power command signal control mechanical arm 1320 change ultrasonic probe 1102 be applied to by
Survey the active force of object.
It is understood that above-mentioned force sensing apparatus 1210 can be coupled to the movable terminal of the mechanical arm 1320,
It can be coupled to the end of the ultrasonic probe 1102.In an embodiment of present embodiment, supersonic detection device 10 into one
Step includes clamping device 125, which is connected to force sensing apparatus 1210, and the force sensing apparatus 1210 is set
In the movable terminal of the mechanical arm 1320.In the embodiment shown in fig. 3, which includes interconnecting piece 1251 and folder
Hold portion 1253.The interconnecting piece 1251 is connected to the force sensing apparatus 1210, for by the ultrasonic probe 1102 and measurand it
Between power pass to force sensing apparatus 1210.In the present embodiment, which includes two connecting rods being parallel to each other,
It is arranged at ultrasonic probe side and is parallel to 1102 axial direction of ultrasonic probe, it is to be appreciated that the interconnecting piece 1251
Other any settings that power suffered by ultrasonic probe 1102 can be transferred to force sensing apparatus 1210 can be used.The clamping
Portion 1253 is for removably holding ultrasonic probe 1102, and in the present embodiment, which includes fastener 1255, surpasses
Sonic probe 1102 is removably secured by the fastener 1255 and is set to the clamping part 1253.In other embodiments, the folder
It holds portion 1253 and is also possible to an electric clamping jaw, the opening and closing of the electricity clamping jaw are controlled to clamp ultrasonic probe 1102 by a control unit.
Optionally, which can also include lock cell, and the lock cell is for controlling the mechanical arm
Power between 1320 position and ultrasonic probe 1102 and measurand remains unchanged.Optionally, when the mechanical arm module 130 does not have
When receiving position command signal and/or power command signal, which be can control before the maintenance of mechanical arm 1320
Operating status or control mechanical arm 1320 return to a preset initial position.
First video module 140 includes at least picture pick-up device 1410, for obtaining the first video of ultrasound detection scene
Image data.Specifically, which includes the detection zone and ultrasonic probe of measurand.First video
Image data further includes measurand, all or part of mechanical arm etc..First video image data is mainly used for as distal end
Operator the location information of visual ultrasonic probe and measurand is provided.It should be understood that first video image data
It can also include video acquisition temporal information, for example, being added in the data of the picture frame while one frame image of every acquisition
Acquisition time.The picture pick-up device 1410 can integrate the one or more for being also possible to be independently arranged in supersonic detection device 10
Camera.The camera being independently arranged can be arranged at the suitable position of supersonic detection device 10, can also be arranged at
Suitable position other than the supersonic detection device 10.Further, which further includes display equipment 1420,
Such as a display screen, it can be used for ultrasound image acquired in real-time display local ultrasound detection module 110, can be used for showing
The scenic picture of distal end where ultrasonic control device 20.First video module 140 can also include speech ciphering equipment (such as Mike
Wind, voice signal processing module, loudspeaker etc.), for generating the first voice signal, to pass through the first, second communication module
And network transmission realizes the real-time voice video of the measurand of supersonic detection device 10 and the operator of ultrasonic control device 20
Interaction.In the embodiment shown in Figure 2, which is a camera, is arranged at the top of display equipment 1420,
The height and angle of the display equipment 1420 are arranged by an adjustable bracket for the supersonic detection device 10.In another embodiment
In, which is a camera, is fixed on the trolley for placing supersonic detection device 10 by clamping device.
In another embodiment, which is a camera, is fixedly arranged on the outer surface of mechanical arm 1320.It is understood that
Be, first controller 160 respectively with ultrasonic probe 1102, force sensing apparatus 1210, mechanical arm 1320 and the picture pick-up device
1410 are electrically connected, to control the operation of supersonic detection device 10.
The first communication module 150 is used to carry out data and/or signal biography with other terminals, such as ultrasonic control device 20
It is defeated.In ultrasonic system 1 provided by the utility model, which is suitable for issuing the ultrasound detection module 110
Force signal acquired in acquired ultrasound image data, the tactile sensing module 120, acquired in first video module 140
The first video image data, and be suitable for receive from other terminals for control the mechanical arm module 130 position life
Enable signal.The first communication module 150 can use the network communication technology based on TCP/UDP agreement, can also be using wireless
Other communication technologys such as area network technologies (Wireless Fidelity, Wifi), Bluetooth technology (Bluetooth).
It is understood that the supersonic detection device 10 further includes memory, processor etc. directly or indirectly with first
Controller 160 is electrically connected to transmit and exchange data or signal.The supersonic detection device 10 further includes power module, heat dissipation
Component etc., it is no longer superfluous herein to chat.
In this second embodiment, which is mounted on moveable platform.Specifically, in Fig. 2
Shown in embodiment, which is the supersonic detection device of car-type, including cabinet 500, the cabinet 500 tool
There are top plate portion 510, shell 530 and pedestal 550.
In the present embodiment, which, which is provided with, carries platform 5112, and the carrying platform 5112 is for carrying ultrasound detection
Input-output equipment (such as operation panel, display screen) in module 110.The carrying platform 5112 can be the top plate portion 510
A part can also be connected to the top plate portion 510 by bindiny mechanism.For the latter, which may include moving
Component, such as sliding block and guide rail, stretchable bracket keep the carrying platform 5112 horizontal in a certain range and/or vertically move
It is dynamic.It is understood that the carrying platform 5112 can be used for carrying portable ultraphonic and examine for not remote ultrasonic image-forming system
Disconnected equipment.The fixing end of mechanical arm 1320 is arranged at the top plate portion 510, and mechanical arm 1320 is connected to the cabinet 500.The top
One or more brackets with multiple turning joints can also be set in plate portion 510, thus by the first video module 140
Display equipment 1420 and/or picture pick-up device 1410 are also connected to the cabinet 500, and can adjust display by turning joint and set
For 1420 and/or position and the angle of picture pick-up device 1410.The pedestal 550 of the cabinet 500 is provided with foot wheel carrier and multiple
The bottom of the pedestal 550 is arranged in castor, the foot wheel carrier, and the multiple castor is set on the foot wheel carrier.
As shown in Fig. 2, being provided in the outer surface on 530 top of shell for placing the multiple probe holders 532 of ultrasonic probe.?
The outer surface on 530 top of shell is additionally provided with the handle 536 for pushing and pulling the supersonic detection device 10.Preferably, the cabinet 500
With position-limit mechanism, hand control switch, transmission mechanism (not shown) and limited block including being set to the handle 536
538.The limited block 538 is arranged at the bottom of the cabinet 500 and is located at the inside of castor.In the present embodiment, position-limit mechanism
Including multiple limited blocks 538, wherein each limited block 538 includes adjustment section and non-slip feet.The adjustment section connects 550 He of pedestal
Non-slip feet, length can be adjusted by transmission mechanism.The non-slip feet can increase friction when being contacted with ground, avoid car-type
Supersonic detection device rotation or sliding.The position-limit mechanism includes unlocked state and lock state.When handle 536 is not affected by outer masterpiece
Used time, the position-limit mechanism is in the unlocked state, and the adjustment section of limited block 538 is in retracted position, to make anti-skidding foot plate surface
Position is higher than the bottom surface of castor in vertical direction, in other words in the unlocked state non-slip feet not with ground face contact.Work as external force
When acting on the hand control switch on handle 536, if handle 536 is pushed downwards a certain predeterminated position, the position-limit mechanism
It is in the lock state, the adjustment section of limited block 538 is in extended position, to make the position of anti-skidding foot plate surface in vertical direction
Not higher than the bottom surface of castor, in other words in the locked state non-slip feet and ground face contact to fix car-type supersonic detection device
Position.It is understood that the first controller 160 of supersonic detection device 10, memory, processor, power module etc. can
To be accommodated in inside shell 530.For the position of centre of gravity for stablizing supersonic detection device 10, can also be arranged inside shell 530
Clump weight.
By using moveable supersonic detection device 10, measurand (such as patient) can no longer go special ultrasound inspection
Survey room and carry out ultrasonic imaging, medical personnel supersonic detection device 10 can be shifted onto corresponding ward be patient provide it is ultrasonic at
As detection, reduces severe or handicapped patient carries out the difficulty of ultrasound detection.
Corresponding to above-mentioned car-type supersonic detection device, the utility model additionally provides a kind of suitable for long-range ultrasonic imaging
Trolley, which can not only carry ultrasonic detection equipment, can also directly or indirectly set with ultrasound detection mounted
It is standby to be electrically connected to transmit and exchange data or signal.The trolley includes cabinet as described above, tactile sensing module, machinery
Arm module, the first video module, first communication module and the first controller, and be provided with ultrasonic detection equipment on cabinet and connect
Mouthful.The ultrasonic detection equipment interface and the first controller are electrically connected, and the ultrasonic detection equipment interface can be with ultrasound detection
Equipment is electrically connected, to make to carry out data transmission between the trolley and ultrasonic detection equipment.Those skilled in the art can be with
Understand, existing ultrasonic detection equipment can carry out long-range ultrasonic imaging by being connected to trolley provided by the utility model.
For example, by the probe of ultrasonic detection equipment respectively with the force sensing apparatus of the trolley tactile sensing module and mechanical arm module
The movable terminal of mechanical arm is connected, by the ultrasonic detection equipment interface phase of the operational module of ultrasonic detection equipment and the trolley
Connection can also send ultrasound detection parameter so that the trolley be allow to obtain ultrasound image data from ultrasonic detection equipment
Command signal is to the ultrasonic detection equipment.
Ultrasound control device 20 provided by the utility model third embodiment is described in detail below in conjunction with Fig. 4.
The second communication module 250 with other terminals such as supersonic detection device 10 for carrying out data transmission.In this reality
With in novel provided ultrasonic system 1, which is suitable for receiving the ultrasound image number from other terminals
According to, force signal and the first video image data, and it is suitable for issuing position command signal.The second communication module 250 can be adopted
With the network communication technology based on TCP/UDP agreement, can also using wireless zone network technology (Wireless Fidelity,
Wifi), other communication technologys such as Bluetooth technology (Bluetooth).
Second video module 240 includes display equipment, for showing the ultrasound image number from supersonic detection device 10
According to image corresponding to the first video image data.Second video module 240 can also include that picture pick-up device and voice are set
Standby (such as microphone, voice signal processing module, loudspeaker) is respectively used to generate the second video image and the second audio letter
Number, pass through the quilt of the operator of the first, second communication module and network implementations ultrasound control device 20 and supersonic detection device 10
Survey the real-time voice video interactive of object.
The touch feedback control module 220 is mainly used for output corresponding to the received power letter of 250 institute of second communication module
Number power (or tactile) generate corresponding position command letter and according to the movement and/or active force applied from operator
Number, so that the operator of the ultrasonic control device 20 positioned at distal end be allow to experience the ultrasonic probe of supersonic detection device 10
Contact force between 1102 and measurand observes ultrasound image shown by second video module 240 and the first video figure
Then picture controls mechanical arm 1320 and changes the position that ultrasonic probe 1102 acts on measurand.The touch feedback control module
220 tactile output module 2210, user interface 2230 and identification module 2250 can be integrated in a force feedback operator.
The tactile output module 2210 includes at least one actuator, is believed in response to the power from supersonic detection device 10
Number output haptic effect (e.g., electrostatic haptic effect, the haptic effect of vibrating tactile, deformation haptic effect etc. or several tactiles
The combination of effect).It is living that the actuator includes but are not limited to electric motor, electromagnetic actuators, voice coil, marmem, electricity
Property polymer (" Ε Α Ρ ") actuator, solenoid, eccentric rotating mass motor (" ERM "), harmonic wave ERM motor (" HERM "),
Linear resonance actuator (" LRA), piezoelectric actuator, high bandwidth actuator, electrostatic friction display or ultrasonic vibration generator.
In certain embodiments, which may include actuator driving circuit.
The user interface 2230 includes the output unit for human-computer interaction, what which was exported
Haptic effect can be experienced at the output unit of the user interface 2230.The output unit can be key, analog or digital bar,
Driving wheel, trigger etc..
The user interface 2230 further includes the input unit for human-computer interaction.The input unit includes but are not limited to grasp
Vertical pole, handle, mouse, keyboard, trace ball, touch screen, wearable device etc..Optionally, which includes movement transmission
Mechanism, the motion transfer mechanism have multiple freedom degrees, which can be with the machinery of the supersonic detection device 10
Arm 1320 has the freedom degree quantity to match, it is possible to have less than the freedom degree of the freedom degree quantity of mechanical arm 1320.It should
The output unit and input unit of user interface 2230, which can be, to be independently arranged, and is also possible to be integrated in one.
First input signal of input unit of the identification module 2250 for identification from user interface 2230, and be based on
First input signal determines command signal.The identification module 2250 includes one or more sensors, is included but are not limited to
Pressure sensor, motion sensor and position sensor.The sensor can be used for sensing, such as, but not limited to, sound, shifting
Dynamic, acceleration, power/stress/pressure/bending, linear position, orientation/inclination, rotation position, rotation speed, handover operation etc..
Sensor physical quantity detected is converted to electric signal by the identification module 2250, after the identification module 2250 is based on conversion
Electric signal determines the command signal for remotely controlling mechanical arm.The command signal may include position command signal, ultrasound
Detection device 10 is based on institute's received position command signal controlling machine tool arm 1320 along at least one direction and at least one angle
Movement, makes ultrasonic probe 1102 be moved to a corresponding position.The command signal also may include power command signal, ultrasound detection
Device 10 based on received power command signal control mechanical arm 1320 be applied to measurand to adjust ultrasonic probe 1102
Active force.
It is understood that the ultrasound control device 20 further includes memory, processor etc. directly or indirectly with second
Controller 260 is electrically connected to transmit and exchange data or signal.
The ultrasound control device 20 can also include ultrasound control module 210, and the ultrasound control module 210 is for long-range
It is arranged and controls the ultrasonic imaging detection that the supersonic detection device 10 executes a certain mode.It is understood that being located at distal end
Operator can preset multiple ultrasound detection parameters by the ultrasound control module 210 is operated before ultrasound detection, can also be
Change one or more ultrasound detection parameters during ultrasound detection, so as to improve ultrasonic imaging effect.The ultrasound detection
Parameter includes but are not limited to imaging pattern (such as B-mode, Doppler, M-mode or the three-dimensional imaging mould of supersonic detection device 10
Formula), the size of ultrasonic imaging range and/or angle, for the fundamental frequency of ultrasonic imaging or frequency, the system gain of harmonic wave
(system gain), time gain (time gain), focal zone etc..The ultrasound control module 210 includes for receiving
Ultrasound control input unit (such as button or touch screen type input panel) of second input signal.The ultrasound control module 210 will
Operation from operator is converted into the second input signal, and further generates detection parameters command signal.Detection parameters life
Signal is enabled to be sent to the first communication module 150 of supersonic detection device 10 by second communication module 250, supersonic detection device 10
First controller 160 is based on the received detection parameters command signal of institute and is configured to ultrasound detection parameter.By by the ultrasound
Control module 210 is set to the ultrasonic control device 20 positioned at distal end, the operator positioned at distal end can be observed in real time this second
The ultrasound image data from supersonic detection device 10 that the display equipment of video module 240 is presented, and pass through ultrasound control
Remotely control supersonic detection device 10 changes ultrasound detection parameter to module 210.This setting is abundant based on its convenient for operator
Experience in real time, directly remotely controls the process of ultrasonic imaging detection, it is no longer necessary to which it is instructed by remote speech and/or video
Staff positioned at 10 end of supersonic detection device assists to change ultrasound detection parameter, saves the manpower of ultrasonic imaging detection
Cost.In addition, it is contemplated that a ultrasonic control device 20 can match one or more supersonic detection device 10, this design drop
The low cost of supersonic detection device 10 and the complexity of operation, are conducive to answering for ultrasonic system provided by the utility model
With popularization.
Further, ultrasonic system 1 provided by the utility model further includes synchronization control module 300, for a variety of
Signal or/and data synchronize processing.Preferably, which is arranged at ultrasonic control device 20, respectively
It is coupled in touch feedback control module 220, the second video module 240 and second controller 260, for from ultrasound detection
Ultrasound image data, force signal and the first video image data of device 10 carry out time synchronizing.By in ultrasound image
The mode of the first, second, and third timestamp, the synchronously control are separately added into data, force signal and the first video image data
The timestamp of three is carried out alignment to ultrasound image data and the shown by the second video module 240 of control by module 300
The synchronous of the haptic effect that one video image data and the tactile output module 2210 are exported is presented.Those skilled in the art
It is appreciated that the synchronization control module 300 can be with based on the ultrasonic system 1 in the time response of signal and data transmission procedure
Including the pretreatment unit to ultrasound image data, force signal and each timestamp of the first video image data, thus to wherein certain
Group signal/data carry out in advance or delay broadcasting, are presented with realizing that above-mentioned vision is synchronous with haptic effect.It is understood that
It is, it, can also be in the first video module 140 for the first video module 140 and the second video module 240 with speech ciphering equipment
Timestamp is added in the first acquired voice signal, by the synchronization control module 300 according to the timestamp control of the voice signal
Make the voice content that the second video module 240 is played presentation synchronous with the first video image data that it shows.Similarly, should
Synchronization control module 300 can also be arranged at supersonic detection device 10, be coupled respectively to mechanical arm module 130, the first video
Module 140 and the first controller 160, for from ultrasonic control device 20 position command signal (and/or power order believe
Number), the second video image and the second audio signal carry out time synchronizing, it is no longer superfluous herein to chat.
Corresponding to above-mentioned ultrasonic system, the utility model further discloses a kind of ultrasonic imaging method, comprising the following steps:
Step S110 obtains the ultrasound image data of one detection zone of measurand by ultrasonic probe.
Step S120 obtains the force signal between the ultrasonic probe and the measurand.
Step S130 obtains the detection zone and the first video image data of the ultrasonic probe.
Step S160 shows that the ultrasound image and display based on the ultrasound image data are based on first video image data
Video image.
Step S170 exports haptic effect based on the force signal.
Step S180 receives the first input signal, and determines command signal based on first input signal.
Step S190 controls the ultrasonic probe based on the command signal.
Wherein, step S110, S120 and S130 can be executed by supersonic detection device 10 disclosed above.Step
S160, S170 and S180 can be executed by ultrasonic control device 20 disclosed above.Wherein, the command signal can be position
Command signal is set, for making the ultrasonic probe be moved to corresponding position；The command signal is also possible to power command signal, is used for
Change the power that the ultrasonic probe is applied to the measurand.
It further, further include step S140 between step S130 and S160, by the ultrasound image data, the force signal
And first video image data is transmitted to a terminal, ultrasonic control device 20 as hereinbefore described.The transmission can be
Wire transmission is also possible to be wirelessly transferred.
Further, between step S130 and S160 can also include step S150, based on the ultrasound image data,
Time frame included in the force signal and first video image data, to display ultrasound image, display the first video image,
Output haptic effect is aligned.
Further, further include step S185 between step S180 and S190, which is sent to ultrasonic inspection
End is surveyed, such as supersonic detection device 10.
Optionally, can also include step S182 after step S170, receive the second input signal, and based on this
Two input signals determine detection parameters command signal；The detection parameters command signal is sent to ultrasound detection end by step S187；
Ultrasound detection parameter is arranged based on the detection parameters command signal in step S192.
The specific embodiment of the ultrasonic imaging method can be no longer superfluous herein to chat referring to corresponding contents above.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, embodiment of above are only for interpreting the claims.Anyone skilled in the art
In the technical scope that the utility model discloses, the variation or replacement that can be readily occurred in are included in the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. a kind of supersonic detection device characterized by comprising
Ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；
Force sensing apparatus, for sensing the power between the ultrasonic probe and the measurand；
Mechanical arm, the mechanical arm include movable terminal and fixing end, and the movable terminal is connected with the force sensing apparatus；
Picture pick-up device, for obtaining the video image data of the tested region and the ultrasonic probe；
Communication module, for carrying out data interaction with a terminal；
Controller, respectively with the ultrasonic probe, the force sensing apparatus, the mechanical arm, the picture pick-up device and described logical
Believe that module is electrically connected.
2. supersonic detection device as described in claim 1, which is characterized in that it further include clamping device, the clamping device packet
Clamping part and interconnecting piece are included, the clamping part is connected to described for removably holding the ultrasonic probe, the interconnecting piece
Force sensing apparatus, the interconnecting piece are used to for the power between the ultrasonic probe and the measurand to be transferred to the power and sense
Equipment.
3. supersonic detection device as claimed in claim 2, which is characterized in that the interconnecting piece includes an at least connecting rod, institute
State the axial direction that connecting rod is parallel to the ultrasonic probe.
4. supersonic detection device as described in claim 1, which is characterized in that the mechanical arm is sixdegree-of-freedom simulation.
5. supersonic detection device as described in claim 1, which is characterized in that further include display equipment and speech ciphering equipment.
6. a kind of trolley characterized by comprising
Cabinet, the cabinet include top plate portion and the pedestal for being provided with castor；
The top plate portion is provided with the carrying platform for placing ultrasonic detection equipment；
Ultrasonic detection equipment interface is set to the cabinet, for being electrically connected with a ultrasonic detection equipment；
Mechanical arm, the mechanical arm include movable terminal and fixing end, and the fixing end is set to the top surface of the top plate portion；
Force sensing apparatus is connected to the movable terminal of the mechanical arm；
Clamping device, the clamping device include interconnecting piece and clamping part, and the interconnecting piece of the clamping device is connected to the power
Sensing equipment, the clamping part is for removably holding a ultrasonic probe；
Communication module, for carrying out data interaction with a terminal；And
Controller, respectively with the ultrasonic detection equipment interface, the mechanical arm, the force sensing apparatus and the communication module
It is electrically connected.
7. trolley as claimed in claim 6, which is characterized in that clump weight is provided in the cabinet, for balancing described
The center of gravity of vehicle.
8. a kind of ultrasonic system, which is characterized in that including first terminal and second terminal；
The first terminal includes:
Ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；
Force sensing apparatus, for sensing the force signal between the ultrasonic probe and the measurand；
Mechanical arm, the mechanical arm include movable terminal and fixing end, and the movable terminal is connected with the force sensing apparatus；
Picture pick-up device, for obtaining the video image data of the tested region and the ultrasonic probe；
First communication module, for sending the ultrasound image data, the force signal and the video to the second terminal
Image data, and for receiving the command signal from the second terminal；
The second terminal includes:
Second communication module, for receiving the ultrasound image data from the first terminal, the force signal and described
Video image data, and for issuing the command signal to the first terminal；
Equipment is shown, for showing the ultrasound image based on the ultrasound image data and the view based on the video image data
Frequency image；And
Force feedback operator, the force feedback operator are based on the force signal and export haptic effect, the force feedback operator
It is arranged to receive the first input signal and the life for controlling the mechanical arm is determined based on first input signal
Enable signal.
9. ultrasonic system as claimed in claim 8, which is characterized in that the first terminal further comprises clamping device, institute
Stating clamping device includes clamping part and interconnecting piece, and the clamping part is for removably holding the ultrasonic probe, the connection
Portion is connected to the force sensing apparatus, and the interconnecting piece is used to transmit the power between the ultrasonic probe and the measurand
To the force sensing apparatus.
10. ultrasonic system as claimed in claim 8, which is characterized in that the second terminal further comprises that ultrasound control is set
Standby, the super sound control apparatus is for receiving the second input signal and obtaining detection parameters order based on second input signal
Signal；The detection parameters command signal is sent to the first terminal by the second communication module；The first terminal base
In the detection parameters command signal, the detection parameters of the ultrasonic probe are set.
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| CN201721365266.1U CN208598426U (en) | 2017-10-20 | 2017-10-20 | Supersonic detection device, trolley and ultrasonic system |
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| CN108992086A (en) * | 2017-10-20 | 2018-12-14 | 深圳华大智造科技有限公司 | Supersonic detection device, trolley and ultrasonic system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992086A (en) * | 2017-10-20 | 2018-12-14 | 深圳华大智造科技有限公司 | Supersonic detection device, trolley and ultrasonic system |
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Effective date of registration: 20191225 Address after: 215300 south side of the second floor of room 3, No. 2001, Yingbin West Road, Bacheng Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Kunshan huadazhi Yunying Medical Technology Co., Ltd Address before: 518083 comprehensive building of Beishan industrial zone and 11 Building 2, Yantian District, Guangdong, Shenzhen Patentee before: Shenzhen Hua made Dazhi Technology Co. Ltd. |
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