CN212816325U - Color Doppler ultrasound assisting device - Google Patents
Color Doppler ultrasound assisting device Download PDFInfo
- Publication number
- CN212816325U CN212816325U CN202020835417.0U CN202020835417U CN212816325U CN 212816325 U CN212816325 U CN 212816325U CN 202020835417 U CN202020835417 U CN 202020835417U CN 212816325 U CN212816325 U CN 212816325U
- Authority
- CN
- China
- Prior art keywords
- piece
- connecting piece
- color
- probe
- doppler ultrasound
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The utility model discloses a color Doppler ultrasound assistance device, including action analog mechanism, action actuating mechanism, human-computer interaction mechanism and control mechanism, action analog mechanism includes the mount and sets up the arm on the mount, and the arm passes through support frame and fixed bolster swing joint, and action actuating mechanism sets up on action analog mechanism's arm, including the connecting plate and locate probe anchor clamps and vacuum suction device on the connecting plate, human-computer interaction mechanism includes the display screen, and the display screen is tangible display screen, and control mechanism includes the controller and with the supporting input/output module of controller. The utility model can assist the examiner to paint the couplant and clamp the color Doppler ultrasound probe. The doctor can read the image of the probe examination with concentration, process and record the color ultrasound result. The color Doppler ultrasound examination efficiency of a doctor is improved, and the infection and the embarrassment caused by close contact of the doctor and an examiner in the color Doppler ultrasound examination process are avoided.
Description
Technical Field
The utility model relates to a medical treatment auxiliary assembly, concretely relates to various super assistance device.
Background
The color ultrasonic examination is mainly used for examination and diagnosis of organs of the chest and abdominal cavity, eyeballs and body surface masses, and has the advantages of simple examination, low cost and no damage or side effect on human bodies. The Doppler function can be used for detecting blood flow conditions and heart functions of visceral organs and pathological changes, so that detection and judgment of eyeball and retrobulbar pathological changes, head and neck mass, thoracic and abdominal visceral changes, neck, chest, abdomen and four limbs large vessel pathological changes are facilitated, and the Doppler function detection device is particularly suitable for diagnosis and heart function determination of heart diseases (congenital heart disease, coronary heart disease and other heart diseases), prenatal examination of pregnant women, examination of fetal growth and development conditions and screening of congenital malformation.
Before color Doppler ultrasound examination, a doctor is required to smear a couplant on a part to be examined of an examinee, then the doctor holds a color Doppler ultrasound probe to scan the part to be examined, a computer system is also required to operate to further analyze and process the scanning result, and the couplant is required to be cleaned after the examination is finished, so that at least two doctors are required to assist the work, the process is not only tedious, but also consumes time and labor in the current medical environment, and medical resources are wasted greatly; moreover, the physician needs to directly contact the examined person, and the disease may be cross-infected, which has a potential risk.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a color Doppler ultrasound assisting device which can assist the examiner to paint couplant and deliver wet tissues and a clamping color Doppler ultrasound probe. The doctor can read the image of the probe examination with concentration, process and record the color ultrasound result. The assisting device increases the activity space and the activity freedom of a doctor, can improve the color ultrasonic examination efficiency of the doctor, and can also avoid infection and embarrassment caused by close contact between the doctor and an examiner in the color ultrasonic examination process.
In order to achieve the above purpose, the technical scheme of the utility model is that:
a color Doppler ultrasound assisting device comprises an action simulation mechanism, an action execution mechanism, a human-computer interaction mechanism and a control mechanism, wherein:
the motion simulation mechanism comprises a fixed frame and a mechanical arm arranged on the fixed frame, the mechanical arm is movably connected with the fixed frame through a support frame, the mechanical arm comprises a first connecting piece, a first switching piece, a second connecting piece, a second switching piece and a third switching piece, wherein one end of the first connecting piece is rotatably arranged on the support frame, and the other end of the first connecting piece is rotatably connected with the top of the first switching piece; the second connecting piece is rotatably arranged on the bottom of the first adapter piece, one side of the second adapter piece is rotatably arranged on one end of the second connecting piece, which is far away from the first adapter piece, and the third adapter piece is rotatably arranged on the other side of the second adapter piece; the driving ends of the first connecting piece, the first adapter piece, the second connecting piece, the second adapter piece and the third adapter piece are connected with a servo motor and a speed reducer;
the motion executing mechanism is arranged on a mechanical arm of the motion simulating mechanism and comprises a connecting plate, a probe clamp and a vacuum suction device, wherein the probe clamp and the vacuum suction device are arranged on the connecting plate; the probe clamp comprises air cylinders, extension frames and clamping jaws, the air cylinders are hinged with the connecting plate, two groups of extension frames are arranged and are symmetrically connected with output ends at two ends of the air cylinders respectively, and one opposite side of each extension frame is connected with the clamping jaws; the vacuum suction device comprises a vacuum generator and a vacuum sucker, the vacuum generator is connected with the connecting plate, and the vacuum generator is connected with a vacuum sucker gas circuit; the air source required by the air cylinder is provided by an air pump and is connected to the air cylinder after passing through an electromagnetic valve through an air pipe; the action executing mechanism also comprises a sensor which is arranged between the third adapter piece and the connecting plate so as to sense the pressure between the action executing mechanism and the person to be inspected;
the human-computer interaction mechanism comprises a display screen, the display screen is a touchable display screen, and a plurality of functional modules are arranged on the display screen and used for displaying the checking condition of the color ultrasonic probe, receiving instructions sent by a doctor for adjusting the pose of the mechanical arm and editing the motion track of the color ultrasonic probe;
the control mechanism comprises a controller and an input and output module matched with the controller, and the vacuum generator, the electromagnetic valve, the servo motor, the sensor and the display screen are electrically connected with the controller through the input and output module.
The visual system is arranged on the connecting plate to observe the relative position of the action executing mechanism and the inspected person and is electrically connected with the display screen.
Further, the motion simulation mechanism and the motion executing mechanism are fixed on the back of a doctor or on the backrest of a doctor seat or any area of a color ultrasound examination room through a strap.
Furthermore, the first connecting piece is rotatory around support frame one end, first adaptor is rotatory around first connecting piece, the second connecting piece is rotatory around first adaptor, the second adaptor is rotatory around the second connecting piece, the third adaptor is rotatory around the second connecting piece.
Further, the functional modules comprise a couplant smearing module, an inspection preparation module, an inspection starting module, an inspection finishing module and a couplant cleaning module.
Further, the sensor is a pressure sensor with the model number PT 124G-210.
Furthermore, the air cylinder has an initial state and an extension state, and in the initial state, the output end of the air cylinder drives the clamping jaw to clamp the color ultrasound probe; when the probe is in an extending state, the output end of the air cylinder drives the clamping jaw to loosen the color ultrasound probe.
Furthermore, a rubber anti-slip gasket is arranged on the inner side of the clamping jaw.
Compared with the prior art, the beneficial effects of the utility model reside in that:
1. the utility model provides an action simulation mechanism and action actuating mechanism's main effect acts as the effect of doctor's arm and hand, and supplementary doctor accomplishes the action of some inspections, for example the getting of couplant is sent, is paintd, and the getting of color Doppler ultrasound probe is sent, scans inspector's health, and cooperation doctor changes inspector position appearance, the getting of toilet paper and wet piece of cloth as required of inspection. The human-computer interaction mechanism and the control mechanism are mainly used for receiving a control instruction of a doctor, controlling the vacuum chuck, the electromagnetic valve and the servo motor to change the pose of the movable joint and completing corresponding functions according to the control instruction.
2. The utility model discloses well action analog mechanism passes through the braces to be fixed at doctor's back or fix on the back of seat with action actuating mechanism, perhaps a certain region of color ultrasound examination consulting room, the support frame is used for the arm to be connected with the mount, first connecting piece can be rotatory around support frame one end, first connecting piece can be rotatory around first connecting piece, the second connecting piece can be at the certain limit internal rotation around first connecting piece, the second connecting piece can be rotatory around the second connecting piece, the third connecting piece can be rotatory around the second connecting piece, probe clamping jaw and sucking disc are fixed on the connecting plate, the connecting plate articulates on the third connecting piece, the clamping jaw passes through the extension frame and is connected with the output of cylinder, realize the elasticity of jack catch in order to take the color ultrasound probe under the effect of cylinder.
3. The control mechanism and the man-machine interaction mechanism in the utility model cooperatively use the display screen to receive the action instruction sent by the doctor and send the action instruction to the controller through the input/output module, the controller runs the motion modularization program about the action simulation mechanism and the action execution mechanism, and the motion of the mechanical arm is controlled to simulate the doctor to check the action and reproduce the scanning track of the color ultrasound probe, such as the actions of linear motion, circular motion, curvilinear motion and the like; and an action executing mechanism arranged at the tail end of the mechanical arm controls the opening and closing of the electromagnetic valve and the vacuum generator through the controller to realize the actions of clamping the color ultrasound probe, taking articles such as couplant, wet tissue and the like, conveying, returning and the like.
4. The utility model provides a clamping jaw, its internally mounted has rubber anti-skidding gasket to increase frictional force and further fix the various super probe, prevent that the various super probe slippage from damaging.
4. The utility model provides a sensor is used for the feedback probe and is examined the contact effect between the person's the position of examining, can also prevent simultaneously that the probe injures the people when the inspection.
Drawings
Fig. 1 is a structural diagram of a color Doppler ultrasound assisting device according to the present invention;
FIG. 2 is a schematic view of the color Doppler ultrasound assisting device of the present invention
FIG. 3 is a structural diagram of the motion simulation mechanism of the present invention;
FIG. 4 is a structural diagram of the operation executing mechanism of the present invention;
FIG. 5 is a structural diagram of the man-machine interaction mechanism of the present invention;
in the figure: 1. the device comprises a motion simulation mechanism, 11, a fixing frame, 12, a mechanical arm, 121, a first connecting piece, 122, a first adapter piece, 123, a second connecting piece, 124, a second adapter piece, 125, a third adapter piece, 13, a supporting frame, 2, a motion executing mechanism, 21, a connecting plate, 22, a probe clamp, 221, an air cylinder, 222, an extension frame, 223, a clamping jaw, 23, a vacuum suction device, 231, a vacuum generator, 232, a vacuum chuck, 3, a man-machine interaction mechanism, 31, a display screen, 32 and a function module.
Detailed Description
The following describes the present invention with reference to the accompanying drawings and examples.
A device for assisting a doctor in color Doppler ultrasound examination is shown in figures 1-4 and comprises a motion simulation mechanism 1, a motion execution mechanism 2, a man-machine interaction mechanism 3 and a control mechanism 4.
The motion simulation mechanism 1 comprises a fixed frame 11 and a mechanical arm 12 arranged on the fixed frame 11, the mechanical arm 12 is movably connected with the fixed frame 11 through a support frame 13, the mechanical arm 12 comprises a first connecting piece 121, a first adapter piece 122, a second connecting piece 123, a second adapter piece 124 and a third adapter piece 125, wherein one end of the first connecting piece 121 is rotatably arranged on the support frame 13, and the other end of the first connecting piece 121 is rotatably connected with the top of the first adapter piece 122; the second connecting member 123 is rotatably mounted on the bottom of the first adapter member 122, one side of the second adapter member 124 is rotatably mounted on one end of the second connecting member 123 facing away from the first adapter member 122, and the third adapter member 125 is rotatably mounted on the other side of the second adapter member 124. The driving ends of the first connecting piece 121, the first adapter piece 122, the second connecting piece 123, the second adapter piece 124 and the third adapter piece 125 are connected with a servo motor and a speed reducer, and are used for realizing pose adjustment of the action executing mechanism. The motion simulation mechanism 1 and the motion actuator 2 are fixed to the back of the doctor by a harness via a fixing frame 11.
The motion executing mechanism 2 is disposed on the robot arm 12 of the motion simulating mechanism 1, and includes a connecting plate 21, and a probe clamp 22 and a vacuum suction device 23 disposed on the connecting plate 21, wherein the connecting plate 21 is hinged to a third adaptor 125 on the robot arm 12. The probe clamp 22 comprises air cylinders 221, extension frames 222 and clamping jaws 223, the air cylinders 221 are hinged to the connecting plate 21, two groups of the extension frames 222 are symmetrically connected with output ends of two ends of the air cylinders 221 respectively, the clamping jaws 223 are connected to one opposite side of the extension frame 22, and rubber anti-skid gaskets are mounted on the inner sides of the clamping jaws 223; the vacuum suction device 23 includes a vacuum generator 231 and a vacuum chuck 232, the vacuum generator 231 is connected with the connection plate 21, and the vacuum generator 231 is connected with the vacuum chuck 232 by an air passage. The air source required by the air cylinder is provided by a portable air pump and is connected to the air cylinder after passing through an electromagnetic valve through an air pipe; the cylinder has an initial state and an extension state, and in the initial state, the output end of the cylinder drives the clamping jaw to clamp the color ultrasound probe; when the probe is in an extending state, the output end of the air cylinder drives the clamping jaw to loosen the color ultrasound probe, and the color ultrasound probe is used for assisting a doctor to hold the color ultrasound probe and take medical appliances to execute color ultrasound examination actions. The action executing mechanism 2 further comprises a sensor, the sensor is arranged between the third adapter piece and the connecting plate to sense the pressure between the action executing mechanism and the person to be inspected, and the model of the sensor is PT 124G-210.
The man-machine interaction mechanism 3 comprises a display screen 31, the display screen 31 is a touchable display screen, a plurality of functional modules 32 are arranged on the display screen, and the functional modules 32 comprise a smearing couplant module, a preparation checking module, a starting checking module, an ending checking module and a cleaning couplant module, and are used for displaying the checking condition of the color ultrasonic probe, receiving the instruction of adjusting the pose of the mechanical arm and editing the motion track of the color ultrasonic probe sent by a doctor.
The control mechanism comprises a controller and an input/output module matched with the controller, and the vacuum generator, the electromagnetic valve, the servo motor, the sensor and the display screen are electrically connected with the controller through the input/output module and are used for realizing self-adaptive control, color ultrasonic probe pose adjustment and color ultrasonic inspection of the action simulation mechanism, the action execution mechanism and the man-machine interaction mechanism. The device also comprises a vision system which is arranged on the connecting plate to observe the relative position of the action executing mechanism and the inspected person and is electrically connected with the display screen.
The working method of the utility model is as follows:
the method comprises the following steps: fixing the action simulation mechanism on the back of a doctor by using a suspender through a fixing frame, sending an instruction by clicking a couplant smearing module on a man-machine interaction mechanism by the doctor, receiving the instruction by a control mechanism through an input/output module, analyzing and processing the instruction, controlling a servo motor to move so as to adjust the pose of a mechanical arm, aligning a vacuum chuck to a couplant bottle and taking the couplant bottle through position information fed back by a vision system, smearing the couplant on a part to be inspected of an inspected person, and returning the couplant bottle after smearing is finished;
step two: a doctor sends an instruction by clicking a preparation inspection module on the man-machine interaction mechanism, the control mechanism receives the instruction through the input and output module, and after analysis processing, the control mechanism controls the servo motor to move so as to adjust the pose of the mechanical arm, so that the color ultrasonic probe is contacted with the part to be inspected of the inspected person;
step three: a doctor clicks an examination starting module on the man-machine interaction mechanism to send an instruction, the control mechanism receives the instruction through the input and output module, and after analysis processing, the control mechanism controls the servo motor to move so as to adjust the pose of the mechanical arm, so that the color ultrasonic probe is in close contact with the body of an examiner, the movement of the mechanical arm is controlled, the movement track of the color ultrasonic probe during examination of the doctor is reproduced, and the color ultrasonic probe is kept at the position of the part to be examined observed by the doctor;
step four: a doctor sends an instruction by clicking an examination ending module on the man-machine interaction mechanism, the control mechanism receives the instruction through the input and output module, and after analysis and processing, the control mechanism controls the servo motor to move so as to adjust the pose of the mechanical arm, so that the color ultrasound probe is separated from an examined person;
step five: a doctor sends an instruction by clicking a couplant cleaning module on a human-computer interaction mechanism, a control mechanism receives the instruction through an input/output module, the servo motor is controlled to move to adjust the pose of the mechanical arm after analysis, meanwhile, a vacuum chuck is aligned to and sucked by position information fed back by a vision system, then the couplant on the part to be inspected of an inspector is cleaned by using the wet tissue, and the mechanical arm is restored to the initial position after the cleaning is finished.
Claims (7)
1. A color Doppler ultrasound assisting device is characterized in that: including action simulation mechanism, action actuating mechanism, human-computer interaction mechanism and control mechanism, wherein:
the motion simulation mechanism comprises a fixed frame and a mechanical arm arranged on the fixed frame, the mechanical arm is movably connected with the fixed frame through a support frame, the mechanical arm comprises a first connecting piece, a first switching piece, a second connecting piece, a second switching piece and a third switching piece, wherein one end of the first connecting piece is rotatably arranged on the support frame, and the other end of the first connecting piece is rotatably connected with the top of the first switching piece; the second connecting piece is rotatably arranged on the bottom of the first adapter piece, one side of the second adapter piece is rotatably arranged on one end of the second connecting piece, which is far away from the first adapter piece, and the third adapter piece is rotatably arranged on the other side of the second adapter piece; the driving ends of the first connecting piece, the first adapter piece, the second connecting piece, the second adapter piece and the third adapter piece are connected with a servo motor and a speed reducer;
the motion executing mechanism is arranged on a mechanical arm of the motion simulating mechanism and comprises a connecting plate, a probe clamp and a vacuum suction device, wherein the probe clamp and the vacuum suction device are arranged on the connecting plate; the probe clamp comprises air cylinders, extension frames and clamping jaws, the air cylinders are hinged with the connecting plate, two groups of extension frames are arranged and are symmetrically connected with output ends at two ends of the air cylinders respectively, and one opposite side of each extension frame is connected with the clamping jaws; the vacuum suction device comprises a vacuum generator and a vacuum sucker, the vacuum generator is connected with the connecting plate, and the vacuum generator is connected with a vacuum sucker gas circuit; the air source required by the air cylinder is provided by an air pump and is connected to the air cylinder after passing through an electromagnetic valve through an air pipe; the action executing mechanism also comprises a sensor which is arranged between the third adapter piece and the connecting plate so as to sense the pressure between the action executing mechanism and the person to be inspected;
the human-computer interaction mechanism comprises a display screen, the display screen is a touchable display screen, and a plurality of functional modules are arranged on the display screen and used for displaying the checking condition of the color ultrasonic probe, receiving instructions sent by a doctor for adjusting the pose of the mechanical arm and editing the motion track of the color ultrasonic probe;
the control mechanism comprises a controller and an input/output module matched with the controller, and the vacuum generator, the electromagnetic valve, the servo motor, the sensor and the display screen are electrically connected with the controller through the input/output module;
the visual system is arranged on the connecting plate to observe the relative position of the action executing mechanism and the inspected person and is electrically connected with the display screen.
2. The color Doppler ultrasound assisting device according to claim 1, wherein: the motion simulation mechanism and the motion executing mechanism are fixed on the back of a doctor or on the backrest of a doctor seat or any region of a color ultrasound examination room through a strap.
3. The color Doppler ultrasound assisting device according to claim 1, wherein: the first connecting piece is rotatory around support frame one end, first adaptor is rotatory around first connecting piece, the second connecting piece is rotatory around first adaptor, the second adaptor is rotatory around the second connecting piece, the third adaptor is rotatory around the second connecting piece.
4. The color Doppler ultrasound assisting device according to claim 1, wherein: the functional modules comprise a couplant smearing module, an inspection preparation module, an inspection starting module, an inspection ending module and a couplant cleaning module.
5. The color Doppler ultrasound assisting device according to claim 1, wherein: the sensor is a pressure sensor with the model number PT 124G-210.
6. The color Doppler ultrasound assisting device according to claim 1, wherein: the cylinder has an initial state and an extension state, and in the initial state, the output end of the cylinder drives the clamping jaw to clamp the color ultrasound probe; when the probe is in an extending state, the output end of the air cylinder drives the clamping jaw to loosen the color ultrasound probe.
7. The color Doppler ultrasound assisting device according to claim 1, wherein: and rubber anti-slip gaskets are arranged on the inner sides of the clamping jaws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020835417.0U CN212816325U (en) | 2020-05-19 | 2020-05-19 | Color Doppler ultrasound assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020835417.0U CN212816325U (en) | 2020-05-19 | 2020-05-19 | Color Doppler ultrasound assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212816325U true CN212816325U (en) | 2021-03-30 |
Family
ID=75160724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020835417.0U Active CN212816325U (en) | 2020-05-19 | 2020-05-19 | Color Doppler ultrasound assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212816325U (en) |
-
2020
- 2020-05-19 CN CN202020835417.0U patent/CN212816325U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111631754B (en) | Automatic sampling system of pharynx swab | |
| CN112568998B (en) | Remote master-slave interactive medical system and method | |
| Carriere et al. | An admittance-controlled robotic assistant for semi-autonomous breast ultrasound scanning | |
| US20180338745A1 (en) | Ultrasound diagnosis apparatus and ultrasound diagnosis aiding apparatus | |
| CN113288204A (en) | Semi-autonomous B-ultrasonic detection system of robot | |
| CN112621734A (en) | Sampling execution part and throat swab sampling robot | |
| CN111920451A (en) | Automatic carotid artery ultrasonic scanning device | |
| CN212816325U (en) | Color Doppler ultrasound assisting device | |
| CN114788735A (en) | Remote interactive ultrasound guided puncture system and method with main end force feedback | |
| CN115670675A (en) | Double-arm puncture robot system integrating ultrasonic information and tactile information | |
| CN112274178A (en) | Teleoperation-based robot ultrasonic diagnosis device and method | |
| CN111544039A (en) | Working method of color Doppler ultrasound examination cooperation device | |
| CN212816321U (en) | Abdomen color Doppler ultrasound auxiliary equipment | |
| JPH1119055A (en) | Pulse diagnosing device | |
| CN210077701U (en) | Be used for antenatal ultrasonic examination auxiliary arm | |
| CN115137519B (en) | Intelligent robot system for oral surgery | |
| CN111544040A (en) | Working method of device for assisting doctor color ultrasound examination | |
| CN212346565U (en) | Medical ultrasonic examination system | |
| CN110811692A (en) | Obstetrical four-dimensional color ultrasound remote control system | |
| CN212880013U (en) | Multifunctional remote diagnosis and treatment workbench | |
| CN109730775A (en) | Soft robot pneumatic control method | |
| CN214856864U (en) | Robot ultrasonic diagnosis device based on teleoperation | |
| CN111345848A (en) | Medical ultrasonic examination system | |
| CN210631244U (en) | Ultrasonic examination device | |
| CN217219055U (en) | Remote manipulator and remote ultrasonic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |