CN213092364U - Medical detection module based on image and depth information - Google Patents
Medical detection module based on image and depth information Download PDFInfo
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- CN213092364U CN213092364U CN202022054974.1U CN202022054974U CN213092364U CN 213092364 U CN213092364 U CN 213092364U CN 202022054974 U CN202022054974 U CN 202022054974U CN 213092364 U CN213092364 U CN 213092364U
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Abstract
The utility model relates to a medical treatment detection apparatus technical field specifically is a medical treatment detection module based on image and depth information, including the medical treatment detection submodule that is used for detecting the patient's state of an illness, be used for driving the medical treatment detection submodule flexible actuating mechanism to patient detection position, be used for removing actuating mechanism's drive submodule, be used for gathering patient detection position's locating information and depth information's image acquisition submodule, be used for gathering the force feedback submodule of contact pressure between medical treatment detection submodule and the patient detection position, be used for implementing human-computer interaction's input/output submodule, and handle the submodule, processing submodule electricity respectively connect image acquisition submodule, actuating mechanism, drive submodule, image acquisition submodule, force feedback submodule, input/output submodule. The utility model discloses a medical treatment detection module can reduce doctor's medical treatment and detect work load, improves work efficiency.
Description
Technical Field
The utility model relates to a medical treatment detects apparatus technical field, specifically is a medical treatment detection module based on image and degree of depth information.
Background
With the improvement of material culture level, health problems are more and more emphasized by people. Traditional medical treatment detection links, such as B ultrasonic, are mostly artificial detection, and the speed and the inefficiency of detection can lead to the tired messenger's testing process of health to medical treatment detection personnel's long-time work to influence the judgement of patient's state of an illness.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a medical treatment detection module's hardware architecture supplies the software personnel to wherein handle the submodule piece and programme the back, and medical treatment detection module can reduce doctor medical treatment detection load, improves work efficiency.
In order to achieve the purpose, the utility model adopts the following scheme to realize:
a medical detection module based on image and depth information comprises a medical detection submodule for detecting the state of an illness of a patient, an actuating mechanism for driving the medical detection submodule to stretch to a detection part of the patient, a driving submodule for moving the actuating mechanism, an image acquisition submodule for acquiring positioning information and depth information of the detection part of the patient, a force feedback submodule for acquiring contact pressure between the medical detection submodule and the detection part of the patient, an input/output submodule for implementing man-machine interaction, and a processing submodule, wherein the processing submodule is electrically connected with the image acquisition submodule, the actuating mechanism, the driving submodule, the image acquisition submodule, the force feedback submodule and the input/output submodule respectively.
As a preferred technical solution, the image acquisition sub-module includes an RGB-D camera, the RGB-D camera has an RGB camera and a laser camera electrically connected to the processing sub-module, the RGB camera is used to obtain the positioning information, and the laser camera is used to obtain the depth information.
As a preferred technical solution, the input/output sub-module includes a touch screen.
As a preferred technical solution, the driving sub-module includes at least two actuating motors electrically connected to the processing sub-module, wherein one of the actuating motors is used for moving the actuating mechanism to the position above the patient detection site, and the other actuating motor is used for moving the actuating mechanism to the position above the patient detection site.
As a preferable technical scheme, the executing mechanism is a mechanical arm with multiple telescopic degrees of freedom, and the mechanical arm is electrically connected with the processing submodule.
As a preferable technical solution, the medical detection sub-module is a medical detection device connected in series with the actuator.
Preferably, the medical detection sub-module is located at the front end of the actuator.
Preferably, the medical detection device is an ultrasonic detector.
As a preferred technical scheme, the force feedback submodule comprises an alarm device and a force sensor, wherein the alarm device is respectively electrically connected with the processing submodule, and the force sensor is used for collecting the contact pressure.
Preferably, the force sensor is located at the front end of the medical detection submodule, which is used for contacting with the patient part.
The utility model has the advantages of high automation and convenient operation after the medical detection module is used for software personnel to program the processing submodule, when the module is used for medical detection operation, a patient needs to detect a certain part of the body, a doctor can input information of the detected part through the input/output submodule, after the processing submodule is used for processing, the image acquisition submodule can acquire positioning information and depth information of the detected part of the patient, when the processing submodule receives the positioning information and the depth information, a space moving track can be planned, a control signal is generated and sent to the control driving submodule, the action of the control driving submodule drives the whole medical detection module to move to the position above the detected part of the patient, and the distance between the front end of the medical detection module and the detected part of the patient is detected in real time according to the image acquisition submodule, make actuating mechanism extension certain distance for thereby medical treatment detects the submodule piece and contacts with patient detection position and detect patient's state of an illness, and the force feedback submodule piece is responsible for pressure when gathering the contact this moment, and feeds back pressure information to handling the submodule piece, carries out corresponding protection work through the processing of handling the submodule piece, prevents emergency's emergence. The utility model discloses based on image and degree of depth information fix a position, actuating mechanism stretches out and draws back and carries out the medical treatment detection submodule piece that medical treatment detected, can carry out corresponding medical treatment detection to patient's disease position through automatic and manual dual mode, can replace doctor's repeatability work, improve medical detection efficiency and show the work load that reduces the doctor and carry out medical treatment and detect.
The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the present invention is given.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like elements throughout the drawings.
FIG. 1 is a block flow diagram of the present invention;
fig. 2 is a schematic structural diagram of the present invention;
FIG. 3 is a schematic diagram of the input/output submodule of the present invention;
reference numerals: 1. the system comprises an RGB-D camera of an image acquisition sub-module, a processing sub-module, a motor for driving the whole module, a motor for driving an actuating mechanism to stretch, a mechanical arm of the actuating mechanism, a medical detection sub-module, a force feedback sub-module, and a touch screen, wherein the RGB-D camera of the image acquisition sub-module 2, the processing sub-module 3, the motor for driving the whole module 4, the mechanical arm of the actuating mechanism 5.
Detailed Description
The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.
The utility model discloses a medical treatment detection module based on image and depth information, as shown in fig. 1-3, including image acquisition submodule piece, input/output submodule piece, processing submodule piece, drive submodule piece, actuating mechanism, medical treatment detection submodule piece, force feedback submodule piece.
The image acquisition submodule comprises an RGB-D camera 1, the RGB-D camera 1 comprises an RGB camera and a laser camera, the RGB camera is used for obtaining the positioning information of the detection part of the patient, and the laser camera comprises a laser emitter and a laser receiver and is used for obtaining the depth information between the execution mechanism and the detection part of the patient.
The input/output sub-module comprises a touch screen 8 which can be used for inputting operation information of doctors and can also be used for displaying images and depth information, detection information and feedback information processed by the processing sub-module 2, so that the application level of man-machine interaction is achieved.
The processing submodule 2 is respectively and electrically connected with an image acquisition submodule, an input/output submodule, a driving submodule, a force feedback submodule and a medical detection submodule and is used for acquiring doctor operation information from the input/output submodule, positioning information and depth information of the RGB camera and the laser camera, detection information of the medical detection submodule and feedback information of the force feedback submodule, sending a control instruction after internal processing, further controlling the driving submodule, displaying information of acquired information through the input/output submodule and controlling the force feedback submodule to give an alarm.
The driving submodule comprises two executing motors 3 and 4, the positioning information of the RGB camera is processed by the processing submodule 2 and then sends a control instruction to control the executing motor 3 to act, and the medical detection module is integrally arranged on a driving shaft of the executing motor 3 and moves to the position above the detection part of the patient through the executing motor 3; the depth information of the laser camera is processed by the processing submodule 2 and then sends a control instruction to control the action of the executing motor 4, and the executing mechanism is installed on a driving shaft of the executing motor 4 and extends to the detection part of the patient through the executing motor 4.
The executing mechanism comprises a mechanical arm 5 with telescopic multiple degrees of freedom, the mechanical arm 5 is electrically connected with the processing submodule 2, the depth information of the image acquisition submodule is processed by the processing submodule 2 and then sends a control instruction to control the corresponding telescopic length of the mechanical arm 5, so that the medical detection submodule positioned at the front end of the mechanical arm 5 reaches the accurate position of the detection part of the patient.
The medical detection submodule comprises a set of medical detection equipment 6, such as an ultrasonic detector and the like, is connected with the telescopic mechanical arm in series, is particularly responsible for detecting the state of an illness of a patient, feeds detection information back to the processing submodule 2, and displays the information through the display screen of the input/output submodule after processing.
The force feedback sub-module comprises a set of force sensor 7 and an audible and visual alarm device which is not shown in the figure, the force sensor 7 is positioned at the front end of the medical detection device 6 which is used for being contacted with the part of a patient, the medical detection device 6 is contacted with the part of the patient, the force sensor is responsible for collecting pressure during contact and feeding pressure information back to the processing sub-module 2, and the processing of the processing sub-module 2 is used for judging whether the telescopic mechanical arm is in a normal working state or not, so that the work of the alarm device is controlled, and the occurrence of emergency is prevented.
The utility model discloses a medical treatment detection module based on image and degree of depth information, it mainly realizes following five functions: one is the positioning of the detection part, which determines the specific image of each detection part of the human body through an RGB camera and determines the specific position of the detection part by utilizing the positioning point information; secondly, depth information of the detected part is calculated by the time from the beginning of laser emitted by a laser emitter of the laser camera to the end of the time from the laser receiver to receive the laser; thirdly, the integral detection module moves, and the motor determines the movement amount through the positioning information of the image acquisition submodule to drive the integral detection module to move towards the upper part of the detection part; fourthly, the actuating mechanism stretches, and the motor determines the stretching amount through the depth information of the image acquisition submodule to drive the mechanical arm to approach the detection part; fifthly, the force feedback information of the force feedback submodule acquires the pressure during contact through a force sensor at the tail end of the actuating mechanism and feeds the pressure information back to the processing submodule. The utility model discloses an degree of automation is high, convenient operation, a plurality of positions of detectable patient health, doctor's accessible input/output submodule's touch-sensitive screen operating module detects, and the work load that reducible doctor detected has improved the efficiency and the accuracy that medical treatment detected greatly, and the patient can the high efficiency accomplish the health and detect to make self state of an illness can obtain quick treatment, because this module degree of automation is high, also can reduce the expense that patient's medical treatment detected when replacing artifical the measuring.
The implementation case is as follows: the detection part takes the human abdomen and the detection equipment as an example of B-ultrasonic, a doctor firstly inputs the detection part of the abdomen on a touch screen, after the detection part is processed by a processing submodule, an RGB camera acquires the positioning information of the abdomen of a patient through the positioning point of the body of the patient, a laser camera acquires the depth information of an actuating mechanism and the detection part of the patient through a laser emitter and a laser receiver, after the processing submodule receives the positioning information and the depth information, two motors of a driving submodule are controlled to act, one motor drives the integral medical detection module to move to the upper part of the abdomen of the patient, the other motor extends a telescopic mechanical arm for a certain distance, so that the B-ultrasonic is in contact with the abdomen of the patient, a force sensor of a force feedback submodule is responsible for collecting the pressure during contact and feeding the pressure information back to the processing submodule, and after the processing submodule judges whether the telescopic mechanical arm is in, and the work of the alarm device is controlled to prevent the occurrence of emergency.
The basic components, main features and advantages of the invention have been shown and described above. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only illustrative of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, and these changes and modifications are intended to fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The medical detection module based on the image and the depth information is characterized by comprising a medical detection submodule for detecting the state of an illness of a patient, an actuating mechanism for driving the medical detection submodule to stretch to a detection part of the patient, a driving submodule for moving the actuating mechanism, an image acquisition submodule for acquiring positioning information and depth information of the detection part of the patient, a force feedback submodule for acquiring contact pressure between the medical detection submodule and the detection part of the patient, an input/output submodule for implementing man-machine interaction, and a processing submodule, wherein the processing submodule is respectively and electrically connected with the image acquisition submodule, the actuating mechanism, the driving submodule, the image acquisition submodule, the force feedback submodule and the input/output submodule.
2. The image and depth information based medical detection module of claim 1, wherein: the image acquisition submodule comprises an RGB-D camera, the RGB-D camera is provided with an RGB camera and a laser camera, the RGB camera and the laser camera are electrically connected with the processing submodule, the RGB camera is used for obtaining the positioning information, and the laser camera is used for obtaining the depth information.
3. The image and depth information based medical detection module of claim 1, wherein: the input/output sub-module comprises a touch screen.
4. The image and depth information based medical detection module of claim 1, wherein: the driving submodule comprises at least two executing motors electrically connected with the processing submodule, wherein one executing motor is used for moving the executing mechanism to reach the position above the patient detection part, and the other executing motor is used for moving the executing mechanism to reach the patient detection part.
5. The image and depth information based medical detection module of claim 1 or 4, wherein: the executing mechanism is a multi-degree-of-freedom telescopic mechanical arm, and the mechanical arm is electrically connected with the processing submodule.
6. The image and depth information based medical detection module of claim 1, wherein: the medical detection submodule is medical detection equipment which is connected with the actuating mechanism in series.
7. The image and depth information-based medical detection module of claim 6, wherein: the medical detection submodule is positioned at the front end of the actuating mechanism.
8. The image and depth information-based medical detection module of claim 6, wherein: the medical detection equipment is an ultrasonic detector.
9. The image and depth information based medical detection module of claim 1, wherein: the force feedback submodule comprises an alarm device and a force sensor, wherein the alarm device is respectively electrically connected with the processing submodule, and the force sensor is used for collecting the contact pressure.
10. The image and depth information-based medical detection module of claim 9, wherein: the force sensor is positioned at the front end of the medical detection submodule, which is used for contacting with the part of the patient.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022054974.1U CN213092364U (en) | 2020-09-18 | 2020-09-18 | Medical detection module based on image and depth information |
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| CN202022054974.1U CN213092364U (en) | 2020-09-18 | 2020-09-18 | Medical detection module based on image and depth information |
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| CN213092364U true CN213092364U (en) | 2021-04-30 |
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| CN202022054974.1U Active CN213092364U (en) | 2020-09-18 | 2020-09-18 | Medical detection module based on image and depth information |
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