CN208822821U - Long-distance ultrasonic diagnosis system - Google Patents
Long-distance ultrasonic diagnosis system Download PDFInfo
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- CN208822821U CN208822821U CN201820517952.4U CN201820517952U CN208822821U CN 208822821 U CN208822821 U CN 208822821U CN 201820517952 U CN201820517952 U CN 201820517952U CN 208822821 U CN208822821 U CN 208822821U
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Abstract
The utility model relates to ultrasonic technical field of long-distance medical, it is a kind of long-distance ultrasonic diagnosis system, first group of long-range supersonic diagnostic appts including expert end is arranged in, communication unit and second group of long-range supersonic diagnostic appts that client is set, first group of long-range supersonic diagnostic appts includes six-DOF robot I, first robot controller, first diasonograph, server, mechanical arm is provided on six-DOF robot I, first pressure sensor is installed on mechanical arm, the front end of mechanical arm is fixedly installed with clamper, virtual ultrasound probe is equipped in clamper, virtual ultrasound probe is electrically connected with the first diasonograph.The utility model is diagnosed whenever and wherever possible, is checked by long-range ultrasonic real-time Transmission, and off-line state supports clinical data to have access at any time as professional ultrasonic workstation independent operating, completes diagnosis and review.It is broken through geological restraint by internet, saves cost, form connection efficiently, professional between hospital, patient and expert.
Description
Technical field
The utility model relates to ultrasonic technical field of long-distance medical, are a kind of long-distance ultrasonic diagnosis systems.
Background technique
Currently, traditional long-range ultrasonic consultation system relies on audio-video to realize, a kind of teleconference is substantially belonged to
System checks that gimmick, tangent plane picture data are complicated, dynamic realtime information is more, guidance in this heavy dependence expert of reply ultrasound
Interventional treatment operation it is complicated in application, traditional Tele-consultation System is beyond one's ability.Pass through tele-conferencing system verbal assistance
Distant place sonographer inspection, cannot accomplish quantitative, accurate positioning, and the effect of long-range ultrasonic medical is substantially dependent upon distant place doctor's
Technical level, this seriously inhibits the development of long-range ultrasonic medical.
In recent years, medical ultrasound diagnosis has become clinical diagnosis indispensable one with the development of medical technology
Part.The outstanding advantages of ultrasonic imaging essentially consist in hurtless measure, without ionising radiation, cheap and easy to use etc..But
Medical ultrasound diagnosis is highly dependent on the experience of doctor, to obtain high-resolution ultrasound image, for probe positions, direction
Assurance it is particularly important.The application of ultrasonic technique also gradually expands to each basic hospital, but there are several objective problems:
The economic development in China and infrastructure are very unbalanced, a line of high-quality medical resource main economic prosperity, two
Line city, ultrasonic expert also focus mostly on herein.Partial Hospitals sonographer technical level is general, and some bases, remote hospital are very
To being not equipped with sonographer.Basic hospital is difficult to Accurate Diagnosis for ultrasonic intractable case, if this some patients transfer from one hospital to another to
Conditional large hospital distance is remote, serious the delay of the state of an illness to be caused even to threaten due to transferring from one hospital to another not only to patient's inconvenience
To life.
Therefore, the development based on advanced technology, the actual demand of doctor and patient provide professional, high-quality, remote for general public
The Intelligence Ultrasound consulting services of journey are a urgent civilian-oriented projects.
Summary of the invention
The utility model provides a kind of long-distance ultrasonic diagnosis system, overcomes the defects of the prior art, and can have
Effect solves the position and direction that existing compuscan is unable to synchronizing ultrasound probe, and ultrasound image cannot synchronize asking for passback
Topic.
The technical solution of the utility model is realized by following measures: a kind of long-distance ultrasonic diagnosis system, including
First group of long-range supersonic diagnostic appts at expert end, communication unit are set and second group of long-range ultrasound of client is set and is examined
Disconnected device, first group of long-range supersonic diagnostic appts include that six-DOF robot I, the first robot controller, the first ultrasound are examined
Disconnected instrument, server, mechanical arm is provided on six-DOF robot I, first pressure sensor is equipped on mechanical arm, mechanical
The front end of arm is fixedly installed with clamper, and virtual ultrasound probe is equipped in clamper, and virtual ultrasound probe and the first ultrasound diagnose
Instrument electrical connection is fixedly installed with the first camera shooting dress for acquiring virtual ultrasound probe movement on the mechanical arm above clamper
It sets, six-DOF robot I and first pressure sensor are electrically connected with the first robot controller, the control of the first robot
Device, the first photographic device and the first diasonograph are connect with server communication, and second group of long-range supersonic diagnostic appts includes
Six-DOF robot II, remote medical server, the second diasonograph and the second robot controller, in six degree of freedom machine
It is provided with mechanical arm on device people II, second pressure sensor is installed on mechanical arm, the front end of mechanical arm is fixedly installed with clamping
Device, the interior ultrasonic probe being equipped with for acquiring patient's ultrasound image of clamper, ultrasonic probe are electrically connected with the second diasonograph,
The second photographic device for being fixedly installed on the mechanical arm above clamper and being acted for acquiring ultrasonic probe, six degree of freedom
Robot II and second pressure sensor are electrically connected with the second robot controller, the second robot controller, the second camera shooting
Device and the second diasonograph are communicated to connect with remote medical server, between the server and remote medical server
It is connected by communication unit communication.
Here is the further optimization and/or improvements to above-mentioned utility model technical solution:
Above-mentioned further includes 3D scanner, and the 3D scanner is detachably arranged in the inside of clamper, 3D scanner with
The electrical connection of second diasonograph.
First photographic device and the second photographic device described above are high-definition camera.
The utility model controls the manipulator motion of six-DOF robot I, client by the first robot controller
Six-DOF robot II follow the manipulator motion of six-DOF robot I, the ultrasonic probe of clamper front end is in patient
Abdomen silicagel pad on be scanned, the data synchronous transfer that ultrasonic probe will test to the second diasonograph simultaneously shows super
Acoustic image, the second diasonograph send the real-time ultrasonic image of patient to remote medical server, and remote medical server is logical
The ultrasound image for crossing communication unit transmission patient is sent to server, and the real-time ultrasonic image of patient is on the server at expert end
It has been shown that, expert make diagnosis to the case where patient by real-time ultrasonic image, provide ultrasonic diagnosis report.It is real by long-range ultrasound
When transmit, diagnose, check whenever and wherever possible, off-line state supports clinical data at any time as professional ultrasonic workstation independent operating
It has access to, completes diagnosis and review.It is broken through geological restraint by internet, saves cost, reduces the occupation of capital, in hospital, patient
Connection efficiently, professional is formed between expert.
Detailed description of the invention
Attached drawing 1 is the electric control block diagram of the utility model embodiment 1.
Attached drawing 2 is the method flow diagram of the utility model embodiment 2.
Specific embodiment
The utility model is not limited by following embodiments, can technical solution according to the present utility model and actual conditions
Determine specific embodiment.
The utility model is further described below with reference to examples and drawings:
Embodiment 1: as shown in Fig. 1, the long-distance ultrasonic diagnosis system, first group including expert end is arranged in remotely surpasses
Audio clinic device, communication unit and second group of long-range supersonic diagnostic appts that client is set, first group of long-range ultrasound diagnosis
Device includes six-DOF robot I, the first robot controller, the first diasonograph, server, in six degree of freedom machine
It is provided with mechanical arm on people I, first pressure sensor is installed on mechanical arm, the front end of mechanical arm is fixedly installed with clamper,
Virtual ultrasound probe is equipped in clamper, virtual ultrasound probe is electrically connected with the first diasonograph, the machine above clamper
The first photographic device for acquiring virtual ultrasound probe movement, six-DOF robot I and first are fixedly installed on tool arm
Pressure sensor is electrically connected with the first robot controller, the first robot controller, the first photographic device and the first ultrasound
Diagnostic equipment is connect with server communication, and second group of long-range supersonic diagnostic appts includes six-DOF robot II, tele-medicine
Server, the second diasonograph and the second robot controller are provided with mechanical arm on six-DOF robot II, mechanical
Second pressure sensor is installed, the front end of mechanical arm is fixedly installed with clamper, is equipped in clamper and suffers from for acquiring on arm
The ultrasonic probe of person's ultrasound image, ultrasonic probe are electrically connected with the second diasonograph, solid on the mechanical arm above clamper
Dingan County is equipped with and the second photographic device for acquiring ultrasonic probe movement, six-DOF robot II and second pressure sensor
Be electrically connected with the second robot controller, the second robot controller, the second photographic device and the second diasonograph with
Remote medical server communication connection, is connected between the server and remote medical server by communication unit communication.
Above-mentioned six-DOF robot I is identical with II structure of six-DOF robot, six-DOF robot II with
It is moved with six-DOF robot I, the manipulator motion of the mechanical arm and six-DOF robot I of six-DOF robot II
Joint angles and position are all the same.The remote medical server is mainly used for the super of the second photographic device of storage and management acquisition
The ultrasound image information of the patient of the motion conditions of sonic probe and the acquisition of the second diasonograph, the server access at expert end obtain
The inspection situation for taking patient to make by the second ultrasound diagnosis dress instrument, to make correct diagnosis.In real time by long-range ultrasound
Transmission is diagnosed whenever and wherever possible, is checked, and off-line state supports clinical data to adjust at any time as professional ultrasonic workstation independent operating
It reads, completes diagnosis and review.It is broken through geological restraint by internet, saves cost, reduces the occupation of capital, in hospital, Huan Zhehe
Connection efficiently, professional is formed between expert.Instant expert diagnosis service is enjoyed in real-time online guidance, expert by real-time video,
Voice online direction ultrasonic examination, provides diagnosis report in time, and provides professional suggestion.
The sonographer that profession is substituted by using six-DOF robot II passes through robot and sensing skill
Art realizes the sonographer of ultrasound robotic substitution profession, and using robot assisted ultrasonic scanning, freedom degree is higher, more
Flexibly.Exclusive isomeric data integration technology realizes ultrasonic image information scratching, independent to grab in each medical image software systems
Image and report, to realize that long-range ultrasound diagnosis provides technical support.3 dimension imaging technology, to pass through a series of two dimensions obtained
Ultrasound image data and corresponding positional relationship carry out three-dimensional reconstruction, quickly construct the three-dimensional configuration of scanning tissue.Phase
For two-dimensional ultrasound technology, three-dimensional ultrasound can not only construct the three-dimensional configuration of tissue, but also utilize some interactive skills
Art can carry out some interactive operations to the 3-D image of acquisition, so as to the profile image of multi-angle observation scanning tissue.
In situation, the size of scanning tissue can be calculated known to the tissue measurement parameter.
Above-mentioned long-distance ultrasonic diagnosis system can be made further optimization and/or improvements according to actual needs:
It as shown in Fig. 1, further include 3D scanner, the 3D scanner is detachably arranged in the inside of clamper, 3D
Scanner is electrically connected with the second diasonograph.In actual work, it is swept by be checked region of the 3D scanner to patient
After retouching, need the 3D scan model image transmitting of check point to the second diasonograph, the second diasonograph patient
With remote medical server data interaction, the 3D scan image of patient is sent to specially by remote medical server by communication unit
It is shown on the server at family end, expert judges the key area that patient need to check, further to grasp by 3D scan model image
Make the deep ultrasonic examination of ultrasonic probe progress, being accurately positioned patient needs diagnostic region.
As shown in Fig. 2, the application method of above-described embodiment long-distance ultrasonic diagnosis system, comprising the following steps:
The first step, the expert at expert end are arranged the position of six-DOF robot I by the first robot controller, and first
Diasonograph enters ultrasonic examination mode, starts check process, enters second step later；
Second step, the second diasonograph enter ultrasonic examination mode simultaneously, judge whether to enter original state, if it is not,
Then restart the second diasonograph, enters ultrasonic examination mode later；If so, the manipulator motion of six-DOF robot I
To the test zone where patient, the mechanical arm of six-DOF robot II is synchronized to test zone, enters third step later；
Third step, the six-DOF robot II of client follow the movement of six-DOF robot I and six degree of freedom machine
The mechanical arm of the people II and mechanical arm of six-DOF robot I is equidirectional, same to angle, same distance are mobile；Six-DOF robot
The ultrasonic probe of II clamper front end is scanned in the silicagel pad of the abdomen of patient, and the data that ultrasonic probe will test are same
Step is transmitted to the second diasonograph and shows ultrasound image, and the second diasonograph sends patient's to remote medical server
Real-time ultrasonic image, remote medical server are sent to server by the ultrasound image that communication unit transmits patient, patient's
Real-time ultrasonic image shows that expert makes diagnosis to the case where patient by real-time ultrasonic image on the server at expert end,
Provide ultrasonic diagnosis report.
In above-mentioned second step, the mechanical arm of six-DOF robot II is synchronized to after test zone, may there is machinery
There is the case where deviation in the position of arm, as needed, can be finely adjusted, be adjusted to trouble to the mechanical arm of six-DOF robot II
The region to be checked of person.
It as shown in Fig. 2, further include using 3D scanner to trouble before being scanned using ultrasonic probe in third step
The region to be checked of person is scanned, and needs the 3D scan model image transmitting of check point to the second ultrasound to diagnose patient
Instrument, the second diasonograph and remote medical server data interaction, remote medical server is by communication unit by patient's
3D scan model image is sent on the server at expert end and shows.Expert is needed by 3D scan model image accurate judgement patient
The region of inspection, operation ultrasonic probe carry out further ultrasound detection, determine that patient needs the supersonic sounding situation of diagnostic region.
The above technical characteristic constitutes the embodiments of the present invention, can with stronger adaptability and implementation result
Increase and decrease non-essential technical characteristic, according to actual needs to meet the needs of different situations.
Claims (3)
1. a kind of long-distance ultrasonic diagnosis system, it is characterised in that first group of long-range ultrasound diagnosis dress including expert end is arranged in
It sets, communication unit and second group of long-range supersonic diagnostic appts that client is arranged in, first group of long-range supersonic diagnostic appts include
Six-DOF robot I, the first robot controller, the first diasonograph, server, set on six-DOF robot I
It is equipped with mechanical arm, first pressure sensor is installed on mechanical arm, the front end of mechanical arm is fixedly installed with clamper, in clamper
Equipped with virtual ultrasound probe, virtual ultrasound probe is electrically connected with the first diasonograph, solid on the mechanical arm above clamper
Dingan County is equipped with the first photographic device for acquiring virtual ultrasound probe movement, six-DOF robot I and first pressure sensing
Device is electrically connected with the first robot controller, and the first robot controller, the first photographic device and the first diasonograph are equal
It is connect with server communication, second group of long-range supersonic diagnostic appts includes six-DOF robot II, remote medical server,
Two diasonographs and the second robot controller are provided with mechanical arm on six-DOF robot II, install on mechanical arm
There is second pressure sensor, the front end of mechanical arm is fixedly installed with clamper, is equipped in clamper for acquiring patient's ultrasound figure
The ultrasonic probe of picture, ultrasonic probe are electrically connected with the second diasonograph, are fixedly installed on the mechanical arm above clamper
And the second photographic device for acquiring ultrasonic probe movement, six-DOF robot II and second pressure sensor are with second
Robot controller electrical connection, the second robot controller, the second photographic device and the second diasonograph are and tele-medicine
Server communication connection, is connected between the server and remote medical server by communication unit communication.
2. long-distance ultrasonic diagnosis system according to claim 1, it is characterised in that it further include 3D scanner, the 3D scanning
Instrument is detachably arranged in the inside of clamper, and 3D scanner is electrically connected with the second diasonograph.
3. long-distance ultrasonic diagnosis system according to claim 1 or 2, it is characterised in that first photographic device and second
Photographic device is high-definition camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820517952.4U CN208822821U (en) | 2018-04-12 | 2018-04-12 | Long-distance ultrasonic diagnosis system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820517952.4U CN208822821U (en) | 2018-04-12 | 2018-04-12 | Long-distance ultrasonic diagnosis system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208822821U true CN208822821U (en) | 2019-05-07 |
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ID=66303922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820517952.4U Expired - Fee Related CN208822821U (en) | 2018-04-12 | 2018-04-12 | Long-distance ultrasonic diagnosis system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208822821U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108577886A (en) * | 2018-04-12 | 2018-09-28 | 叶舟 | Long-distance ultrasonic diagnosis system and application method |
| CN113243933A (en) * | 2021-05-20 | 2021-08-13 | 张涛 | Remote ultrasonic diagnosis system and use method |
| CN114072258A (en) * | 2019-07-01 | 2022-02-18 | 瓦斯菲·阿希达法特 | Medical artificial intelligent robot arrangement for robot doctor |
-
2018
- 2018-04-12 CN CN201820517952.4U patent/CN208822821U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108577886A (en) * | 2018-04-12 | 2018-09-28 | 叶舟 | Long-distance ultrasonic diagnosis system and application method |
| CN114072258A (en) * | 2019-07-01 | 2022-02-18 | 瓦斯菲·阿希达法特 | Medical artificial intelligent robot arrangement for robot doctor |
| CN113243933A (en) * | 2021-05-20 | 2021-08-13 | 张涛 | Remote ultrasonic diagnosis system and use method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190507 Termination date: 20200412 |