CN212698916U

CN212698916U - Ultrasonic imaging device based on mechanical arm

Info

Publication number: CN212698916U
Application number: CN202020199335.1U
Authority: CN
Inventors: 孟凡超; 熊飞; 吴越宝; 王筱毅; 李明
Original assignee: Shenzhen Delica Medical Equipment Co ltd
Current assignee: Shenzhen Delikai Medical Electronics Co ltd
Priority date: 2020-02-21
Filing date: 2020-02-21
Publication date: 2021-03-16
Anticipated expiration: 2030-02-21

Abstract

The utility model discloses an ultrasonic imaging device based on mechanical arm, a host and at least one group of ultrasonic components connected with the host, wherein the ultrasonic components comprise the mechanical arm and an ultrasonic probe assembled on the mechanical arm, the mechanical arm drives the ultrasonic probe to move, and the ultrasonic probe is used for collecting ultrasonic signals; the host is used for receiving the ultrasonic signals collected by the ultrasonic probe and generating ultrasonic images according to the ultrasonic signals. The utility model discloses an assemble ultrasonic probe on the arm, drive ultrasonic probe motion through the arm, avoided the operation doctor to need handheld ultrasonic probe to obtain the image information of ultrasonic beam scanning scope in the human position of ultrasonic probe place, avoided ultrasonic image to operation doctor's dependence like this, improved ultrasonic image information acquisition's accuracy, liberated operation doctor's both hands simultaneously, each operation doctor brings the convenience.

Description

Ultrasonic imaging device based on mechanical arm

Technical Field

The utility model relates to an supersound technical field, in particular to supersound image device based on arm.

Background

The existing ultrasonic diagnostic equipment can be equipped with two-dimensional and three-dimensional imaging ultrasonic probes. The two-dimensional ultrasonic probe is divided into linear array, convex array, phased array and other categories, and is formed by arranging a group of piezoelectric ceramic (or single crystal or composite material) array elements on a straight line to form an array, and doctors hold the ultrasonic probe to scan and image different parts of human bodies. There are two main methods for three-dimensional ultrasonic probes: one is a mechanical scanning three-dimensional ultrasonic probe, namely a two-dimensional ultrasonic probe array is sealed in an ultrasonic probe by combining a mechanical scanning device, the mechanical device controls the two-dimensional ultrasonic probe array to swing back and forth to obtain two-dimensional ultrasonic images at different positions, and a computer reconstructs the two-dimensional ultrasonic images into three-dimensional images; the other is to adopt a three-dimensional area array ultrasonic probe, array elements of piezoelectric ceramics (or single crystals or composite materials) are arranged into a square, and echo information of different points of a three-dimensional space is directly obtained to carry out three-dimensional imaging.

In the above various technologies, the doctor is to hold the ultrasonic probe by hand to obtain the image information of the ultrasonic beam scanning range of the human body position where the ultrasonic probe is located, and the three-dimensional image information of a larger range exceeding the position of the ultrasonic probe cannot be obtained. After the position of the ultrasonic probe moves, three-dimensional images obtained at different positions cannot be combined into a complete image; in addition, it is difficult to position the ultrasound probe at the same location completely precisely for multiple repeated acquisitions.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in, to prior art not enough, provide an ultrasonic imaging device based on arm.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts as follows:

a robotic arm based ultrasound imaging device, comprising: the ultrasonic assembly comprises a mechanical arm and an ultrasonic probe assembled on the mechanical arm, the mechanical arm drives the ultrasonic probe to move, and the ultrasonic probe is used for acquiring ultrasonic signals; the host is used for receiving the ultrasonic signals collected by the ultrasonic probe and generating ultrasonic images according to the ultrasonic signals.

The ultrasonic imaging device based on the mechanical arm is characterized in that a sensing mechanism is arranged on the mechanical arm, and a motion signal of the mechanical arm is acquired through the sensing mechanism.

The ultrasonic imaging device based on the mechanical arm is characterized in that the sensing mechanism comprises a plurality of first sensing assemblies and a plurality of second sensing assemblies, the first sensing assemblies are arranged on the elbow and/or the first wrist of the mechanical arm respectively, and the second sensing assemblies are arranged on the shoulder joint, the elbow joint and/or the second wrist respectively.

The ultrasonic imaging device based on the mechanical arm, wherein the first sensing component comprises an O-shaped ring and a plurality of sensors; the sensors are uniformly arranged on the O-shaped ring.

The robotic arm based ultrasound imaging device, wherein the second sensing assembly comprises a C-ring and at least two sensors; two sensors of the at least two sensors are respectively arranged at the starting points of the C-shaped rings, and the rest sensors are respectively arranged between the starting points of the C-shaped rings.

The ultrasonic imaging device based on the mechanical arm is characterized in that the ultrasonic probe is mounted at the top end of the mechanical arm, a connecting wire is arranged on the ultrasonic probe, and one end, which is not connected with the ultrasonic probe, of the connecting wire is connected with the host machine.

The ultrasonic imaging device based on the mechanical arm further comprises an image acquisition device, wherein the image acquisition device is connected with the host, acquires image information through the image acquisition device, and transmits the acquired image information to the host.

The ultrasonic imaging device based on the mechanical arm comprises a support frame and imaging equipment, wherein the imaging equipment is connected to the support frame and is positioned on one side, away from the mechanical arm, of the ultrasonic probe, and the shooting range of the imaging equipment covers the ultrasonic signal acquisition range of the ultrasonic assembly.

Ultrasonic imaging device based on arm, wherein, image acquisition device still includes the mounting panel, mounting panel one end sliding connection in on the support frame, the other end with imaging equipment is connected, in order to drive imaging equipment for the extending direction motion of mounting panel is followed to the support frame.

The ultrasonic imaging device based on the mechanical arm is characterized in that a pressure sensor is arranged on the ultrasonic probe and connected with the host, and the pressure sensor collects the pressure applied to the surface of the limb by the ultrasonic probe and feeds the collected pressure back to the host.

Has the advantages that: compared with the prior art, the utility model provides an ultrasonic imaging device based on mechanical arm, host computer and at least a set of supersound subassembly that is connected with the host computer, the supersound subassembly includes mechanical arm and assembles the ultrasonic probe on the mechanical arm, the mechanical arm drives the motion of ultrasonic probe, ultrasonic probe is used for gathering ultrasonic signal; the host is used for receiving the ultrasonic signals collected by the ultrasonic probe and generating ultrasonic images according to the ultrasonic signals. The utility model discloses an assemble ultrasonic probe on the arm, drive ultrasonic probe motion through the arm, avoided the operation doctor to need handheld ultrasonic probe to obtain the image information of ultrasonic beam scanning scope in the human position of ultrasonic probe place, avoided ultrasonic image to operation doctor's dependence like this, improved ultrasonic image information acquisition's accuracy, liberated operation doctor's both hands simultaneously, each operation doctor brings the convenience.

Drawings

Fig. 1 is the utility model provides an ultrasonic imaging device's based on arm structure schematic diagram.

Detailed Description

The utility model provides an ultrasonic imaging device based on arm, for making the utility model discloses a purpose, technical scheme and effect are clearer, clear and definite, and it is right that the embodiment is lifted to follow with reference to the attached drawing the utility model discloses further detailed description. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It should be further noted that the same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc., indicating directions or positional relationships based on those shown in the drawings, it is only for convenience of description and simplicity of description, but not for indicating or implying that the indicated device or element must have a specific direction, be constructed in a specific direction, and operate, and therefore, the terms describing the positional relationships in the drawings are used only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the above terms according to specific situations.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The following description of the embodiments will further explain the present invention by referring to the figures.

The present embodiment provides an ultrasonic imaging apparatus based on a mechanical arm 21, as shown in fig. 1, the ultrasonic imaging apparatus includes a host 100 and at least one set of ultrasonic components 200, the ultrasonic components 200 are connected to the host 100 and transmit acquired ultrasonic signals to the host 100, so as to display ultrasonic images on the host 100. The ultrasonic assembly 200 may include an ultrasonic probe 22 and a mechanical arm 21, wherein the ultrasonic probe 22 is mounted on the mechanical arm 21, and the mechanical arm 21 drives the ultrasonic probe 22 to move. The ultrasonic probe 22 is connected to the host 100, and is configured to acquire an ultrasonic signal and transmit the acquired ultrasonic signal to the host 100, and the host 100 is configured to receive the ultrasonic signal transmitted by the ultrasonic probe 22 and generate an ultrasonic image based on the received ultrasonic signal. In the embodiment, the ultrasonic probe 22 is assembled on the mechanical arm 21, and the mechanical arm 21 drives the ultrasonic probe 22 to move, so that the condition that an operating doctor needs to hold the ultrasonic probe 22 to obtain the image information of the ultrasonic beam scanning range of the position of the human body where the ultrasonic probe 22 is located is avoided, the dependence of the ultrasonic image on the operating doctor is avoided, and the accuracy of ultrasonic image information acquisition is improved. In a specific manner of this embodiment, the ultrasound assemblies 200 are two groups, two groups of ultrasound assemblies 200 are arranged at intervals, and the two groups of ultrasound assemblies 200 can perform ultrasound examination on a human body synchronously and also perform ultrasound examination on the human body independently.

Further, in order to provide accurate information of the motion of the ultrasonic probe 22, a sensing mechanism 23 is disposed on the mechanical arm 21, and a motion signal of the mechanical arm 21 is acquired by the sensing mechanism 23, so as to determine the motion track of the mechanical arm 21 according to the motion signal. In one implementation of the embodiment, the sensing mechanism 23 is connected to a control device for controlling the robot arm 21, and transmits the collected motion signal to the control device. The sensing mechanism 23 and the control device may be connected by wire or wirelessly, for example, by infrared connection.

In this embodiment, the sensing mechanism 23 includes a plurality of first sensing components and a plurality of second sensing components, and the robot arm 21 at least includes a shoulder joint, an elbow of the robot arm, an elbow joint, a first wrist and a second wrist, which are connected in sequence. The plurality of first sensing assemblies are respectively provided with a mechanical arm elbow and/or a first wrist part, and at least one first sensing assembly is arranged on each of the mechanical arm elbow and the first wrist part; the plurality of second sensing assemblies are respectively arranged on the shoulder joint, the elbow joint and/or the second wrist, and at most one second sensing assembly is arranged on each of the shoulder joint, the elbow joint and the second wrist. It is understood that both the elbow and the first wrist of the robot arm may have one first sensing element or only one first sensing element, i.e. the number of first sensing elements is 2 or less. The shoulder joint, the elbow joint and the second wrist can be provided with one second sensing assembly, one or two of the shoulder joint, the elbow joint and the second wrist can be provided with one second sensing assembly, and the number of the second sensing assemblies is less than or equal to 3. For example, in one implementation of the present embodiment, the elbow of the robot arm is provided with a first sensing assembly a202 and the first wrist portion is provided with a first sensing assembly B204, and the first sensing assembly a on the elbow of the robot arm equally divides the elbow of the robot arm and the first sensing assembly B on the first wrist portion equally divides the first wrist portion. The shoulder joint is provided with a second sensing assembly A201, the elbow joint is provided with a second sensing assembly B203, the second wrist part is provided with a second sensing assembly C205, and each second sensing assembly is placed in a direction which is vertical to the joint rotating shaft direction of the joint part provided with each second sensing assembly.

Further, the first sensing component comprises an O-shaped ring and a plurality of sensors, and the sensors are evenly distributed on the O-shaped ring. The O-ring is sleeved on the first part of the mechanical arm 21 for assembling the first sensing assembly, the inner diameter of the O-ring is matched with the first part, and when the O-ring is sleeved on the first part, the O-ring is tightly connected with the first part so as to prevent the O-ring from relatively moving relative to the mechanical arm 21, and therefore the checking accuracy of the first sensing assembly is improved. Of course, in practical application, the O-ring may be connected to the mechanical arm 21 by a snap mechanism or a screw connection, so as to further improve the stability of the O-ring. In addition, the sensors are arranged on the outer surface of the O-ring, for example, the outer surface of the O-ring is provided with a plurality of mounting positions, the plurality of mounting positions correspond to the plurality of sensors one by one, and each sensor is assembled in the corresponding mounting position. The installation positions are evenly arranged on the O-shaped ring along the circumferential direction of the O-shaped ring, so that the sensors are evenly arranged along the circumferential direction of the O-shaped ring. In a specific implementation manner of this embodiment, the number of the sensors disposed on the O-ring is four, and the four sensors divide the O-ring into four equal parts.

Further, the second sensing assembly includes a C-shaped ring and at least two sensors, two of the at least two sensors are respectively disposed at a starting point of the C-shaped ring, and the remaining sensors are respectively disposed between the starting points of the C-shaped ring. The C-shaped ring is sleeved on a second part of the mechanical arm 21, which is used for assembling the second sensing assembly, the inner diameter of the C-shaped ring is matched with the second part, and when the C-shaped ring is sleeved on the second part, the C-shaped ring is tightly connected with the second part, so that the C-shaped ring is prevented from relatively moving relative to the mechanical arm 21, and the checking accuracy of the second sensing assembly is improved. Of course, in practical application, the C-shaped ring may be connected to the mechanical arm 21 by a snap mechanism or a screw connection, so as to further improve the stability of the C-shaped ring. In addition, the sensors are arranged on the outer surface of the C-shaped ring, for example, the outer surface of the C-shaped ring is provided with a plurality of installation positions, the installation positions correspond to the sensors one by one, and each sensor is assembled in the corresponding installation position. The plurality of mounting positions are arranged on the C-shaped ring along the circumferential direction of the C-shaped ring, so that the plurality of sensors are arranged along the circumferential direction of the C-shaped ring. In a specific implementation manner of this embodiment, the number of the sensors disposed on the C-shaped ring is three, and the three sensors bisect the C-shaped ring.

Further, the ultrasonic probe 22 is disposed on the top of the mechanical arm 21, and a connection line 24 is disposed on the ultrasonic probe 22, one end of the connection line 24, which is not connected to the ultrasonic probe 22, is connected to the host computer 100, and the ultrasonic probe 22 is connected to the host computer 100 through the connection line 24. In this embodiment, since the mechanical arm 21 needs to drive the ultrasonic probe 22 to move, the relative position between the ultrasonic probe 22 and the main machine 100 may change. Therefore, the length of the connection line 24 may be greater than the maximum distance that the ultrasonic probe 22 and the host 100 may form under the driving of the mechanical arm 21, so that in the motion process of the ultrasonic probe 22, the ultrasonic signal acquisition range of the ultrasonic probe 22 is not affected by the connection line 24, and meanwhile, the connection line 24 may be prevented from being torn off by the mechanical arm 21 when the ultrasonic probe 22 is driven by the mechanical arm 21, or the connection line 24 may be disconnected from the ultrasonic probe 22 or the host 100. In addition, the probe is provided with a pressure sensor, the pressure sensor is connected with the host computer 100, and the pressure sensor collects the pressure applied by the probe to the surface of the limb and feeds the collected pressure back to the host computer 100.

In an implementation manner of this embodiment, as shown in fig. 1, the ultrasound imaging apparatus further includes at least one image acquisition apparatus 300, where the image acquisition apparatus 300 is connected to the host 100, acquires image information through the image acquisition apparatus 300, and transmits the acquired image information to the host 100. In this embodiment, the number of the image capturing devices 300 is one, and the capturing range of the image capturing device 300 covers the ultrasound signal capturing range of all the ultrasound assemblies 200. Of course, in practical applications, in order to facilitate distinguishing the ultrasound assemblies 200 corresponding to the images acquired by the image acquisition device 300, the image acquisition devices 300 may correspond to the ultrasound assemblies 200 one by one, and it can be understood that the number of the image acquisition devices 300 is the same as that of the ultrasound assemblies 200, and each ultrasound assembly 200 corresponds to one image acquisition device 300, wherein the ultrasound assemblies 200 and the image acquisition devices 300 may be arranged side by side, and the shooting range of the image acquisition device 300 covers the ultrasound signal acquisition range of the corresponding ultrasound assembly 200.

Further, as shown in fig. 1, the image acquisition apparatus includes a support frame 302 and an imaging device 301, the imaging device 301 is connected to the support frame 302 and located on a side of the probe away from the mechanical arm 21, and a shooting range of the imaging device 301 covers an ultrasound signal acquisition range of the ultrasound component 200. In this embodiment, the supporting frame 302 includes a fixed frame 31 and a movable frame 32, and the movable frame 32 is inserted into the fixed frame 31 and can slide relative to the fixed frame 31, so that the height of the supporting frame 302 can be adjusted by adjusting the position of the movable frame 32 relative to the fixed frame 31, the shooting range of the imaging device 301 can be adjusted, and the accuracy of the imaging device 301 in acquiring images can be improved. The imaging device 301 may be a camera or the like.

Further, as shown in fig. 1, the image capturing apparatus 300 further includes a mounting plate 303, one end of the mounting plate 303 is slidably connected to the supporting frame 302, and the other end of the mounting plate 303 is connected to the imaging device 301, so as to drive the imaging device 301 to move along the extending direction of the mounting plate 303 relative to the supporting frame 302. In this embodiment, the connecting plate is connected to the end of the movable frame 32 of the supporting plate, which is connected to the fixed frame 31, the movable frame 32 is provided with an insertion hole 33, the insertion hole 33 is matched with the connecting plate, and the connecting plate passes through the insertion hole 33 and can slide relatively, so that the distance between the imaging device 301 and the supporting frame 302 can be adjusted by matching the connecting plate with the insertion hole 33.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. An ultrasonic imaging apparatus based on a robotic arm, comprising: the ultrasonic assembly comprises a mechanical arm and an ultrasonic probe assembled on the mechanical arm, the mechanical arm drives the ultrasonic probe to move, and the ultrasonic probe is used for acquiring ultrasonic signals; the host is used for receiving the ultrasonic signals collected by the ultrasonic probe and generating ultrasonic images according to the ultrasonic signals.

2. The ultrasonic imaging device based on the mechanical arm according to claim 1, wherein a sensing mechanism is arranged on the mechanical arm, and the sensing mechanism is used for acquiring a motion signal of the mechanical arm.

3. The ultrasonic imaging apparatus based on a mechanical arm of claim 2, wherein the sensing mechanism comprises a plurality of first sensing components and a plurality of second sensing components, the plurality of first sensing components are respectively arranged at the elbow and/or the first wrist of the mechanical arm, and the plurality of second sensing components are respectively arranged at the shoulder joint, the elbow joint and/or the second wrist.

4. The robotic arm based ultrasonic imaging device of claim 3, wherein the first sensing assembly comprises an O-ring and a number of sensors; the sensors are uniformly arranged on the O-shaped ring.

5. The robotic arm based ultrasonic imaging device of claim 3, wherein the second sensing assembly comprises a C-ring and at least two sensors; two sensors of the at least two sensors are respectively arranged at the starting points of the C-shaped rings, and the rest sensors are respectively arranged between the starting points of the C-shaped rings.

6. The ultrasonic imaging device based on the mechanical arm of claim 1, wherein the ultrasonic probe is mounted at the top end of the mechanical arm, a connecting wire is arranged on the ultrasonic probe, and one end of the connecting wire, which is not connected with the ultrasonic probe, is connected with the host machine.

7. The ultrasonic imaging device based on the mechanical arm of claim 1, further comprising an image acquisition device, wherein the image acquisition device is connected with the host computer, acquires image information through the image acquisition device, and transmits the acquired image information to the host computer.

8. The ultrasonic imaging device based on the mechanical arm of claim 7, wherein the image acquisition device comprises a support frame and an imaging device, the imaging device is connected to the support frame and located on one side of the ultrasonic probe away from the mechanical arm, and a shooting range of the imaging device covers an ultrasonic signal acquisition range of the ultrasonic assembly.

9. The ultrasonic imaging device based on the mechanical arm of claim 8, wherein the image capturing device further comprises a mounting plate, one end of the mounting plate is slidably connected to the supporting frame, and the other end of the mounting plate is connected to the imaging device, so as to drive the imaging device to move relative to the supporting frame along the extending direction of the mounting plate.

10. The ultrasonic imaging device based on the mechanical arm according to claim 1, wherein the ultrasonic probe is provided with a pressure sensor, the pressure sensor is connected with the host, and the pressure sensor collects the pressure applied by the ultrasonic probe to the surface of the limb and feeds the collected pressure back to the host.