CN212346565U - Medical ultrasonic examination system - Google Patents
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- CN212346565U CN212346565U CN202020309553.6U CN202020309553U CN212346565U CN 212346565 U CN212346565 U CN 212346565U CN 202020309553 U CN202020309553 U CN 202020309553U CN 212346565 U CN212346565 U CN 212346565U
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Abstract
The utility model describes a medical ultrasonic examination system, it includes: at least one examination mechanism which is provided in at least one first compartment, respectively, has an ultrasonic probe for acquiring ultrasonic image information of a body part of a subject, and a robot arm to which the ultrasonic probe is connected, and drives the ultrasonic probe to move relative to the subject by moving the robot arm to perform ultrasonic examination on the subject; and a control mechanism provided in a second chamber different from the first chamber, the control mechanism being connected to the plurality of inspection mechanisms and including a control unit for controlling the inspection mechanisms. According to the utility model discloses, can provide a medical ultrasonic examination system that can improve work efficiency such as doctors.
Description
Technical Field
The present invention generally relates to a medical ultrasound inspection system.
Background
At present, with the development of medical technology and the increasing importance of people on health conditions, more and more people go to medical institutions regularly to perform scientific medical physical examination, for example, the body organs are examined by using ultrasonic equipment to know the health conditions of the body organs.
In current medical examination mechanisms and medical ultrasound examination systems, generally, a subject is arranged in a consulting room provided with an ultrasound examination apparatus, and the ultrasound examination apparatus is operated on site by a doctor holding a certificate of a medical practitioner in the same consulting room to examine and ask the subject.
However, in the existing medical ultrasonic examination system, for example, since the pre-examination preparation performed in the examination room does not require the necessity of guidance by a doctor, but the examinee and the doctor are in the same examination room, the doctor cannot use the time of the pre-examination preparation well, for example, for reading a film or performing examination on other examinees. At present, the current situation of doctor shortage generally faces to the ultrasound resources of medical institutions, and means for improving the work efficiency of ultrasound diagnosticians are urgently needed.
Disclosure of Invention
The present invention has been made in view of the above-mentioned state of the art, and an object of the present invention is to provide a medical ultrasonic examination system which can improve the work efficiency of a doctor, and which includes an examination mechanism and a control mechanism which are respectively disposed in different chambers.
Therefore, the utility model provides a medical ultrasonic examination system which is characterized in that includes: at least one examination mechanism which is provided in at least one first compartment, respectively, has an ultrasonic probe for acquiring ultrasonic image information of a body part of a subject and a robot arm connected to the ultrasonic probe, and drives the ultrasonic probe to move relative to the subject by moving the robot arm to perform ultrasonic examination on the subject; and a control mechanism provided in a second chamber different from the at least one first chamber, the control mechanism being connected to the inspection mechanism and including a control portion for controlling the inspection mechanism.
The utility model relates to a medical ultrasonic examination system, inspection mechanism is used for acquireing the ultrasonic image information of examinee's health position, and control mechanism is including the control part that is used for controlling inspection mechanism and the display device who is used for showing the ultrasonic image information who comes from inspection mechanism, through setting up inspection mechanism and control mechanism respectively in different rooms, the doctor can be in different rooms and examine the examinee with the examinee. In this case, the pre-examination preparation of the subject may be guided by, for example, a nurse, and the doctor can handle other matters required to be handled by the doctor, such as reading of ultrasound image information and the like, during the time period for the pre-examination preparation of the subject. This can improve the work efficiency of the doctor.
In addition, in the medical ultrasonic examination system according to the present invention, optionally, the control mechanism further includes a monitoring device for monitoring operation states of the subject and the examination mechanism located in the first chamber. Thus, the doctor can easily know the operation states of the examinee and the examination mechanism.
Further, in the medical ultrasonic examination system according to the present invention, optionally, the operation state includes a relative position between the ultrasonic probe and the subject. This enables the doctor to better operate the examination mechanism to examine the subject.
In addition, in the medical ultrasonic examination system according to the present invention, optionally, the ultrasonic probe is provided with a pressure sensor. In this case, by providing the pressure sensor on the ultrasonic probe, the doctor can easily know the contact pressure between the ultrasonic probe and the skin of the subject.
In addition, in the medical ultrasonic examination system according to the present invention, optionally, a pressure sensor is provided between the ultrasonic probe and the robot arm. In this case, by providing a pressure sensor between the ultrasonic probe and the robot arm for driving the ultrasonic probe, the pressure between the ultrasonic probe and the robot arm can be easily known.
In addition, in the medical ultrasonic inspection system according to the present invention, optionally, a buffer portion is provided between the ultrasonic probe and the robot arm. In this case, by providing the buffer portion between the ultrasonic probe and the robot arm for driving the ultrasonic probe, the force applied to the skin of the subject by the ultrasonic probe during the movement of the robot arm can be reduced, and thus the discomfort of the subject can be reduced.
In the medical ultrasonic examination system according to the present invention, the buffer unit may be deformed to buffer the pressure applied to the subject by the arm when the pressure in contact with the skin of the subject measured by the pressure sensor is larger than a predetermined threshold value. In this case, the buffer portion is deformed when the pressure at which the ultrasound probe is in contact with the skin of the subject is greater than the predetermined threshold value, whereby the pressure at which the ultrasound probe is in contact with the skin of the subject can be reduced.
In addition, in the medical ultrasonic examination system according to the present invention, optionally, the examination mechanism further includes an examination table for carrying the examinee. This enables the subject to be easily examined.
Further, in the medical ultrasonic inspection system according to the present invention, optionally, the number of the inspection means is larger than the number of the control means. In this case, one control mechanism can control one or more examination mechanisms, whereby a doctor can easily perform examination on one or more subjects.
Further, in the medical ultrasound examination system of the present invention, optionally, the control mechanism is operated by an operator located in the second compartment. In this case, the doctor can operate the control mechanism in the second compartment, and can control the examination mechanism provided in the first compartment.
According to the utility model discloses, can provide one kind and can improve doctor work efficiency's medical ultrasonic examination system.
Drawings
The invention will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:
fig. 1 is a system diagram showing a medical ultrasonic inspection system according to an example of the present embodiment.
Fig. 2 is a schematic diagram showing a first chamber according to an example of the present embodiment.
Fig. 3 is a schematic diagram showing a second compartment according to an example of the present embodiment.
Fig. 4 is a partially enlarged schematic view showing an inspection mechanism according to an example of the present embodiment.
Fig. 5 is a schematic diagram showing the control means according to the example of the present embodiment remotely controlling the inspection means.
Fig. 6 is a flowchart illustrating an examination of a subject by the medical ultrasound examination system according to the example of the present embodiment.
Description of reference numerals:
s … medical ultrasonic inspection system, 1 … first compartment, 10 … inspection mechanism, 11 … ultrasonic probe, 111 … pressure sensor arranged on ultrasonic probe, 12 … mechanical arm, 1201 and 1203 … mechanical arm shaft, 121 … pressure sensor arranged between ultrasonic probe and mechanical arm, 122 … buffer part, 13 … inspection bed, 2 … second compartment, 20 … control mechanism, 21 … control part, 22 … display device, 23 … monitoring device
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.
It is noted that the terms "comprises," "comprising," and "having," and any variations thereof, in the present disclosure, such that a process, method, system, article, or apparatus that comprises or has a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include or have other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In addition, the headings and the like referred to in the following description of the present invention are not intended to limit the content or scope of the present invention, but only serve as a reminder for reading. Such a subtitle should neither be understood as a content for segmenting an article, nor should the content under the subtitle be limited to only the scope of the subtitle.
The utility model discloses an embodiment relates to a medical ultrasonic examination system. The medical ultrasound examination system of the present embodiment may be disposed in a medical institution, and a doctor or the like may perform a medical examination, for example, an ultrasound examination on a subject to acquire ultrasound image information of a body part of the subject by the medical ultrasound examination system of the present embodiment. The medical ultrasonic examination system according to the present embodiment will be described in detail below with reference to the drawings.
Fig. 1 is a system diagram showing a medical ultrasonic inspection system S according to an example of the present embodiment. Fig. 2 is a schematic diagram showing the first compartment 1 according to the example of the present embodiment. Fig. 3 is a schematic diagram showing the second compartment 2 according to the example of the present embodiment.
In the present embodiment, in some examples, the medical ultrasound inspection system S may include at least one first compartment 1 (e.g., a first compartment 1a, a first compartment 1b, a first compartment 1c, etc., shown in fig. 1) and a second compartment 2, and the inspection mechanism 10 may be disposed in each first compartment 1, and the control mechanism 20 (see fig. 1) may be disposed in the second compartment 2. Among them, the examination mechanism 10 may be used to acquire ultrasound image information of a body part of a subject, the control mechanism 20 may be connected to the examination mechanism 10, and the control mechanism 20 may be used to control the examination mechanism 10 to examine the subject and display the ultrasound image information from the examination mechanism 10.
In some examples, as described above, when the subject is examined by the medical ultrasonic examination system S, the subject may be located in the first compartment 1 (see fig. 2) and the doctor may be located in the second compartment 2 (see fig. 3). Specifically, the doctor can operate the examination mechanism 10 located in the first compartment 1 by the control mechanism 20 located in the second compartment 2, thereby acquiring the ultrasound image information of the body part of the subject by the examination mechanism 10. In this case, the pre-examination preparation of the subject may be guided by, for example, a nurse also located in the first room (see fig. 2), and the doctor can handle other matters to be handled by the doctor, such as reading ultrasound image information and the like, during the time period in which the pre-examination preparation of the subject is performed. This can improve the work efficiency of the doctor.
Here, the pre-examination preparation means that clothes covering the site to be examined are removed so that the ultrasonic probe is brought into better contact with the skin, and a couplant is applied to the site to be examined so that air on the skin surface is eliminated and the ultrasonic probe 11 (described later) is lubricated, and the like. Thereby, better formation of the ultrasound image is facilitated.
In some examples, applying the couplant may be performed by a nurse. In other examples, the application of the couplant may also be performed automatically by the inspection mechanism 10, such as the robotic arm 12 of the inspection mechanism 10.
In some examples, an inspection mechanism 10 may be disposed within a first compartment 1. In other examples, a plurality of inspection mechanisms 10 may be disposed within one first compartment 1. Each examination mechanism 10 can receive a subject, which can lie, for example, on an examination table 13 (described later) of the examination mechanism 10.
In the present embodiment, the inspection mechanism 10 may include an ultrasonic probe 11 and a robot arm 12 (see fig. 4). The ultrasound probe 11 can be used to acquire ultrasound image information of a body part of a subject. The mechanical arm 12 may be connected to the ultrasonic probe 11, and the movement of the ultrasonic probe 11 with respect to the subject may be driven by moving the mechanical arm 12. Thereby, the inspection mechanism 10 performs ultrasonic detection on the subject by the ultrasonic probe 11.
In the present embodiment, the ultrasound probe 11 is a device that can transmit and receive an ultrasound wave in some examples. The ultrasonic probe 11 can perform conversion between an electric signal and an ultrasonic signal, for example, the ultrasonic probe 11 can transmit an ultrasonic wave to a body part (e.g., abdomen, neck, breast, urinary system, heart, etc.) of a subject and receive a reflected wave, and convert the reflected wave into an electric signal, so that ultrasonic image information of the body part of the subject can be displayed as the electric signal.
In the present embodiment, the wavelength band of the ultrasonic wave emitted from the ultrasonic probe 11 is not particularly limited. In some examples, the ultrasonic wave emitted by the ultrasonic probe 11 may be in a frequency band of 3-20 MHz. In some examples, when the ultrasonic probe 11 is used to perform an ultrasonic examination of the abdomen, the frequency band of the ultrasonic waves emitted by the ultrasonic probe 11 may be 3.5MHz, for example. In other examples, when the ultrasonic probe 11 is used to perform an ultrasonic examination on the heart, the frequency band of the ultrasonic waves emitted by the ultrasonic probe 11 may be, for example, 2.5MHz to 3.5 MHz.
In some examples, the ultrasound probe 11 may be hemispherical, cylindrical, or pie shaped. In some examples, an end of the ultrasound probe 11 that is close to or in contact with the skin of the subject may have a smoothly curved surface. For example, for abdominal ultrasound testing, one end of the ultrasound probe 11 may be formed as a smoothly curved surface that matches the abdomen. For example, for neck ultrasound inspection, one end of the ultrasound probe 11 may be formed as a smoothly curved surface that matches the neck.
In some examples, a pressure sensor 111 may be provided at the front end of the ultrasound probe 11. In this case, by providing the pressure sensor 111 on the ultrasonic probe 11, the doctor can easily know the contact pressure between the ultrasonic probe and the skin of the subject.
In some examples, a doctor or the like may adjust the ultrasonic probe 11 based on the contact pressure between the ultrasonic probe 11 and the skin of the subject measured by the pressure sensor 111, for example, appropriately weaken the force of the ultrasonic probe 11 on the skin of the subject when the contact pressure between the ultrasonic probe 11 and the skin of the subject is large, and appropriately strengthen the force of the ultrasonic probe 11 on the skin of the subject when the contact pressure between the ultrasonic probe 11 and the skin of the subject is small.
In other examples, for example, when a doctor or the like needs to press a certain part of the subject, the doctor or the like may adjust the ultrasound probe 11 based on the contact pressure between the ultrasound probe 11 and the skin of the subject measured by the pressure sensor 111.
In some examples, a doctor or the like can synchronously sense the pressure applied to the subject by the ultrasonic probe 11 through a control sensor (not shown) on the control mechanism 20, and thus the doctor or the like can adjust the force applied to the subject by the mechanical arm 12 in real time.
In some examples, the pressure sensor 111 disposed on the ultrasound probe 11 may be a resistive pressure sensor. In other examples, the pressure sensor 111 provided on the ultrasound probe 11 may be a capacitive pressure sensor. However, the example of the present embodiment is not limited thereto, and other types of sensors that can be used to measure the contact pressure with the skin may be provided to the ultrasonic probe 11 of the present embodiment.
In some examples, the ultrasound probe 11 and the mechanical arm 12 may be connected by screwing. In other examples, the ultrasound probe 11 and the mechanical arm 12 may be connected by a snap fit.
In some examples, the robotic arm 12 may be a five-dimensional motion (five-axis) robotic arm 12, i.e., free to move in three dimensions, and may deflect in two planes. In addition, the robot arm 12 may be a six-axis robot arm 12 to realize the forward and backward movement of the ultrasonic probe 11 mounted on the robot arm 12.
In some examples, the robotic arm 12 may include a shaft 1201, a shaft 1202, and a shaft 1203 (see fig. 4) that are connected to one another in series. Wherein the shaft 1201 can be moved in a vertical direction, e.g. the shaft 1201 can be raised or lowered. The shaft 1202 may be pivoted or rotated about the point of connection of the shaft 1201 to the shaft 1202 to bring the shaft 1203 along the examination bed 13 for scanning, e.g., away from or toward the examination bed 13 and from the head to the foot, etc. The shaft 1203 is rotatable in the horizontal direction with a connection point of the shaft 1202 and the shaft 1203 as a fulcrum. In some examples, the shaft 1203 may also rotate about itself.
In some examples, a pressure sensor 121 may be disposed between the ultrasound probe 11 and the mechanical arm 12. In this case, by providing the pressure sensor 121 between the ultrasonic probe 11 and the robot arm 12 for driving the ultrasonic probe 11, the pressure between the ultrasonic probe 11 and the robot arm 12 can be easily known.
In some examples, a physician or the like may adjust the driving force of the mechanical arm 12 on the ultrasound probe 11 by a pressure value measured by the pressure sensor 121 between the ultrasound probe 11 and the mechanical arm 12.
In some examples, the pressure sensor 121 disposed between the ultrasound probe 11 and the robotic arm 12 may be a resistive pressure sensor. In other examples, the pressure sensor 121 disposed between the ultrasound probe 11 and the mechanical arm 12 may be a capacitive pressure sensor.
In some examples, a buffer 122 may be provided between the ultrasound probe 11 and the mechanical arm 12. In this case, by providing the buffer portion 122 between the ultrasonic probe 11 and the mechanical arm 12 for driving the ultrasonic probe, the force of the ultrasonic probe 11 on the skin of the subject during the movement of the mechanical arm 12 can be reduced, and thus the discomfort of the subject can be reduced.
In some examples, the buffer 122 may be a member that may deform as the pressure changes. In some examples, the buffer 122 may be an elastic member, such as a spring, rubber, or the like.
In some examples, the buffer portion 122 may be deformed when the pressure in contact with the skin of the subject measured by the pressure sensor 111 provided on the ultrasound probe 11 is greater than a prescribed threshold value. In this case, when the pressure at which the ultrasound probe 11 is in contact with the skin of the subject is greater than the predetermined threshold value, the buffer portion deforms, whereby the pressure at which the ultrasound probe 11 is in contact with the skin of the subject can be reduced, and the possibility of the subject being accidentally injured by the instrument can be reduced.
In some examples, the examination mechanism 10 may further include an examination couch 13 for carrying the subject (see fig. 4). This enables the subject to be easily examined.
In some examples, the range of motion of the robotic arm 12 may cover the entire examination table 13. In some examples, the range of motion of the robotic arm 12 may cover a local range of the examination couch 13.
In some examples, the examination table 13 may be moved in three dimensions, for example, up and down to facilitate carrying subjects of different heights.
In the present embodiment, the inspection mechanism 10 located in the first chamber 1 can be controlled by the control mechanism 20 located in the second chamber. In addition, in the present embodiment, the control mechanism 20 may include a control section 21 and a display device 22 (see fig. 5).
In some examples, the control mechanism 20 and the inspection mechanism 10 may be wired. In other examples, control mechanism 20 and inspection mechanism 10 may be wirelessly connected.
In some examples, the number of inspection mechanisms 10 may be greater than the number of control mechanisms 20. In this case, one control means 20 may control one or more examination means 10, thereby enabling a physician or the like to conveniently perform examination on one or more subjects.
In some examples, control mechanism 20 may be operated by an operator, such as a physician, located in second compartment 2. In this case, the doctor or the like can operate the control mechanism 20 in the second compartment 2, and can control the examination mechanism 10 provided in the first compartment 1.
In some examples, a doctor or the like may operate the examination mechanism 10 through the control section 21. In some examples, the control unit 21 may control the robot arm 12 to move, and the control unit 21 may also control the examination couch 13 to move. In some examples, the control portion 21 may be a combination of a keyboard and a handle. In some examples, the control section 21 may be a touch screen.
In some examples, the ultrasound image of the subject acquired by the examination mechanism 10 may be transmitted to the display device 22, and a physician or the like may read the ultrasound image information of the subject through the display device 22. In some examples, the display device displays the ultrasound image information in a split screen manner, for example, one of the split screens displays the real-time ultrasound image information, and the other split screen displays the ultrasound image information screened by the physician.
In some examples, control mechanism 20 may also include a monitoring device 23. In some examples, a physician or the like may view the status of the first compartment 1 through the monitoring device 23, e.g. a physician or the like may view the operational status of the subject and the examination apparatus 10 located in the first compartment 1 through the monitoring device 23. Thereby, a doctor or the like can easily know the operation state of the subject and the examination mechanism 10.
In some examples, the operation state includes at least a relative position between the ultrasound probe 11 and the subject. This enables a doctor or the like to better operate the examination mechanism 10 to examine the subject.
In some examples, monitoring device 23 may include a camera device, a listening device, a public address device (not shown) disposed within first compartment 1, and a display disposed within second compartment 2. In some examples, a physician or the like may send speech to the first compartment 1 via a loud speaking means, and a physician or the like may also receive speech from the first compartment 1 via a listening means. This facilitates communication between a subject or a nurse located in the first compartment 1 and a doctor or the like located in the second compartment 2.
In some examples, for abdominal ultrasound examination, the examination mechanism 10 may be configured in a fully automatic mode, i.e., by automatically controlling the examination mechanism 10 to control the movements of the robotic arm 12 and the ultrasound probe 11 after the control mechanism 20 is configured with a corresponding program, so as to achieve fully automatic ultrasound of the abdomen.
In the present embodiment, the body part to be examined for the subject is not particularly limited, and may be, for example, a body part such as an abdomen, a neck, a chest, or a heart.
Hereinafter, the ultrasound image information of a body part of a subject acquired by a medical ultrasound examination system S according to the present embodiment, such as a doctor, will be described in detail with reference to the drawings, taking the abdomen as an example.
Fig. 6 is a flowchart illustrating an examination of a subject by the medical ultrasound examination system S according to the example of the present embodiment.
In the present embodiment, as shown in fig. 6, in some examples, the process of acquiring ultrasound image information of a body part of a subject by a medical ultrasound examination system S by a physician or the like may include the following steps: the examinee who arrives at the number enters the first vacant room 1 under the guidance of the nurse (step S100); the examinee lies down on the examination bed 13 and performs pre-examination preparation under the direction of a nurse, for example, with respect to the examinee of abdominal ultrasound, the coat covering the abdomen can be removed, a couplant can be applied to the abdomen, etc., and after the examinee completes the pre-examination preparation, the nurse can instruct a doctor, etc. located in the second room 2 through the monitoring device 23 to start the ultrasound examination of the examinee (step S200); a physician or the like can operate the examination mechanism 10 by the control unit 21 located in the control mechanism 20, operate the examination mechanism 10 to scan the ultrasound probe 11 while attaching it to the abdomen of the subject, and at the same time, transmit ultrasound image information of the abdomen of the subject to the display device 22, and the physician or the like can read the ultrasound image information of the abdomen of the subject by the display device 22 (step S300); a doctor or the like can observe the relative position of the ultrasound probe 11 and the subject in real time by the monitoring device 23, and the doctor or the like can communicate with the subject or a nurse located in the first room 1 by the monitoring device 23, thereby controlling the ultrasound probe 11 to scan the abdomen of the subject more comprehensively, and when the doctor or the like scans the abdomen of the subject comprehensively, the examination of the subject is terminated (step S400).
A doctor or the like can make a diagnosis of the relevant part of the subject based on the acquired ultrasound examination report. According to the utility model discloses, can provide one kind and can improve medical ultrasonic examination system S of work efficiency such as doctors.
While the present invention has been described in detail in connection with the drawings and examples, it is to be understood that the above description is not intended to limit the invention in any way. The present invention may be modified and varied as necessary by those skilled in the art without departing from the true spirit and scope of the invention, and all such modifications and variations are intended to be included within the scope of the invention.
All references cited in the present application are incorporated by reference in their entirety as if fully set forth. Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Claims (10)
1. A medical ultrasonic examination system is characterized in that,
the method comprises the following steps:
at least one examination mechanism provided in at least one first compartment, the examination mechanism having an ultrasonic probe for acquiring ultrasonic image information of a body part of a subject and a robot arm connected to the ultrasonic probe, and driving the ultrasonic probe to move relative to the subject by moving the robot arm to perform ultrasonic examination on the subject; and
a control mechanism provided in a second chamber different from the at least one first chamber, the control mechanism being connected to the inspection mechanism and including a control portion for controlling the inspection mechanism.
2. The medical ultrasound inspection system of claim 1, wherein:
the control mechanism further includes a monitoring device for monitoring the operation states of the subject located in the first compartment and the inspection mechanism.
3. The medical ultrasound inspection system of claim 2, wherein:
the operation state includes a relative position between the ultrasonic probe and the subject.
4. The medical ultrasound inspection system of claim 1, wherein:
and the ultrasonic probe is provided with a pressure sensor.
5. The medical ultrasound inspection system of claim 1, wherein:
and a pressure sensor is arranged between the ultrasonic probe and the mechanical arm.
6. The medical ultrasound inspection system of claim 4 or 5, wherein:
a buffer part is arranged between the ultrasonic probe and the mechanical arm.
7. The medical ultrasound inspection system of claim 6, wherein:
when the pressure in contact with the skin of the subject measured by the pressure sensor is greater than a prescribed threshold value, the buffer portion deforms to buffer the pressure applied by the arm to the subject.
8. The medical ultrasound inspection system of claim 1, wherein:
the examination mechanism further comprises an examination bed for carrying the subject.
9. The medical ultrasound inspection system of claim 1, wherein:
the number of inspection mechanisms is greater than the number of control mechanisms.
10. The medical ultrasound inspection system of claim 1, wherein:
the control mechanism is operated by an operator located in the second compartment.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113303826A (en) * | 2021-06-02 | 2021-08-27 | 无锡医百加科技有限公司 | Intelligent ultrasonic system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113303826A (en) * | 2021-06-02 | 2021-08-27 | 无锡医百加科技有限公司 | Intelligent ultrasonic system |
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