CN214632126U - Medical infrared thermal image detection robot - Google Patents
Medical infrared thermal image detection robot Download PDFInfo
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- CN214632126U CN214632126U CN202120062972.9U CN202120062972U CN214632126U CN 214632126 U CN214632126 U CN 214632126U CN 202120062972 U CN202120062972 U CN 202120062972U CN 214632126 U CN214632126 U CN 214632126U
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Abstract
The utility model discloses a medical infrared thermal imaging detection robot, which comprises an infrared thermal imager, a structured light positioning instrument, a mechanical arm and an operating platform; the thermal infrared imager and the structured light locator are arranged at the tail end of the mechanical arm, and the mechanical arm is arranged on the operating platform. The utility model discloses under the prerequisite that does not influence current diagnosis precision, improve instrument and equipment intellectuality, it is more extensive clear to shoot the field of vision, and the location is more accurate. Therefore, the utility model discloses be favorable to promoting the development of medical infrared thermal imagery technique, the instrument operation is more convenient, and the shooting data is more scientific and rigorous, promotes masses' recognition.
Description
Technical Field
The utility model relates to the technical field of medical equipment, especially, relate to a medical infrared thermal imagery detection robot.
Background
The infrared thermal imager can complete the optical-electrical conversion of infrared radiation energy emitted by an organism through a special scanning system and a specific detector, and the converted electrical signal can be converted into an image signal through system processing and forms a visual thermal image on a display. The color distribution of the thermograph corresponds to the temperature, and a color and temperature scale can be used for visually reading on the display. Usually warm colors are labeled as high temperatures and cold colors represent low temperatures. If the organs and tissues of the human body are affected, local temperature abnormality can be caused. According to the current research, the temperature of inflammation, tumor and the like can be increased, the temperature of diseases such as vasculitis, arteriosclerosis and the like can be reduced, the influence of pathological change tissues on the body surface or in the body can be observed clearly, accurately and timely by using an infrared imaging technical means for early diagnosis, and the condition delay is avoided. The medical infrared thermal imaging system realizes the diagnosis of diseases by receiving infrared radiation and thermal radiation emitted by biological tissues and converting the infrared radiation and the thermal radiation into thermographs, fundamentally avoids the damage of rays, strong magnetic fields, radiopharmaceuticals and the like to human bodies compared with diagnostic technologies such as X-ray, CT, MRI, nuclear medicine imaging and the like, and can provide an ideal health popularization inspection instrument for large social groups, pregnant women, infants and other special groups.
The existing infrared thermal image shooting device is: infrared camera elevating platform, lift control handle, shooting button. The prior art has the advantages that the operation is convenient and fast, and the patient can independently finish protecting the privacy of the patient. The disadvantages are as follows: 1. the lifting control handle can not move horizontally, and the shooting visual field is limited. 2. The patient operates independently, the privacy is protected, meanwhile, the rigor of medical examination is ignored, the collected images are inconsistent, and the clinical guidance significance is poor.
SUMMERY OF THE UTILITY MODEL
Based on prior art not enough, the utility model discloses a medical infrared thermal imagery detection robot all has the optimization in the aspect of shooting the field of vision, intelligent operation, data are accurate etc.
In order to achieve the above purpose, the utility model adopts the following technical scheme: a medical infrared thermal imaging detection robot comprises a thermal infrared imager, a structured light positioning instrument, a mechanical arm and an operation table; the thermal infrared imager and the structured light locator are arranged at the tail end of the mechanical arm, and the mechanical arm is arranged on the operating platform.
As a further description of the above technical solution:
the mechanical arm comprises an upright post, a rotating device, a large arm, a small arm and a camera stabilizing support; the upright column is a hollow thin-wall metal short pipe, a main bearing and a cable penetrate through the middle of the upright column, the upright column is connected with one end of a slewing device, the slewing device is made of metal alloy materials, and is light and durable, and the slewing device is connected with a large arm and a small arm to assist the mechanical arm to move towards a specified direction; the main power transmission arm of the mechanical arm is made of large-arm metal alloy materials and is of a hollow long pipe structure, and two long arms and a short arm are arranged in the main power transmission arm. The short arm is made of metal alloy and has a hollow short pipe structure, and the short pipe structure is a main power transmission arm at the tail end of the mechanical arm. The camera stabilizing support is connected with the small arm, and the resin material is provided with two clamping devices on the same side, and the two clamping devices are used for fixing the thermal infrared imager and the structured light positioning instrument, namely the camera stabilizing support fixes the thermal infrared imager and the structured light positioning instrument at the tail end of the mechanical arm.
As a further description of the above technical solution:
the operation panel links to each other with the stand, and the operation panel base plays stabilizing effect with cast iron or cast steel material, the operation panel both sides are equipped with the handrail, the base of operation panel is equipped with universal wheel and locking device.
As a further description of the above technical solution:
and a liquid crystal screen is arranged on the operating platform so as to manually adjust the mechanical arm through the liquid crystal screen.
As a further description of the above technical solution:
the operating platform is connected with a computer through a data line; the computer and the operation platform are integrated into a main machine; the main body machine is also connected with a printer and used for printing diagnosis result data. The main body machine is provided with a display screen and a display screen operation key, the main body machine is provided with a thermal infrared imager diagnosis and treatment system, a structured light positioning system, an information storage system, a network system, an image printing system and various data ports, fixed handrails are installed on two sides of the main body machine, universal wheels and a locking device are installed below a frame body below the main body machine, and a manual movement pedal is further connected below the main body machine.
As a further description of the above technical solution:
the thermal infrared imager comprises an infrared detector, a processor and an electronic processor, wherein the infrared detector is connected with the processor, the processor is connected with the electronic processor, and the electronic processor is connected with a computer to form the thermal infrared imager diagnosis and treatment system. The infrared detector emits invisible infrared radiation to human eyes, signals reflected after the infrared radiation irradiates a human body are captured by the processor and converted into electric signals, the electric signals are amplified and digitized to the electronic processor of the thermal imager, and then infrared images which can be seen by a user are converted and displayed through the computer.
As a further description of the above technical solution:
the structured light positioning instrument comprises a near-end infrared laser emitter, an infrared image sensor, a visible light image sensor and an image processing chip, wherein the near-end infrared laser emitter is connected with the infrared image sensor, the infrared image sensor and the visible light image sensor are respectively connected with the image processing chip, and the image processing chip is connected with a computer to form a structured light positioning system. The near-infrared laser emitter emits a near-infrared specific pattern, the deformed pattern is received by the infrared image sensor after being reflected by the human body, and the position of the human body is calculated through an algorithm; meanwhile, a visible light image sensor collects two-dimensional plane human body information; the information of the two image sensors is gathered to a special image processing chip, so that three-dimensional data is obtained, and a human body three-dimensional model is realized.
As a further description of the above technical solution:
the structured light positioning system collects the whole body information of a patient and comprises an automatic part and a manual part, the automatic identification system is based on different shooting positions of a large number of collected patients, the mechanical arm is automatically guided through existing data parameters of the treatment system, the local outline of the patient is identified, and the manual identification system can manually guide the mechanical arm for a special case to reach a shooting part and also has a memory function. The collected human body contour is used for describing a human body three-dimensional model through a computer therapy system.
The utility model discloses following beneficial effect has:
the utility model discloses under the prerequisite that does not influence current diagnosis precision, improve instrument and equipment intellectuality, it is more extensive clear to shoot the field of vision, and the location is more accurate. Intellectuality and field of vision extensively will improve the device of carrying on thermal infrared imager, give up original elevating platform and only can move about from top to bottom, change to with more nimble articulated multi freedom arm, can accomplish similar to: the shooting visual field is enlarged through the actions of stretching, swinging, lifting, transverse moving, pitching and the like. The mechanical arm is connected with the computer, the treatment system directly sends instructions to the mechanical arm, and the mechanical arm learns the motion track by self, so that the speed is improved, and repeated adjustment is not needed. In the aspect of positioning, a structured light positioning system is introduced, a three-dimensional human body model is formed in the system by scanning the human body outline through structured light, a part needing to be shot is clicked, and the mechanical arm carries the thermal infrared imager to reach a specified position.
Drawings
Fig. 1 is a partial schematic view of a medical infrared thermal image detection robot disclosed by the utility model;
fig. 2 is a schematic view of a local structure of a medical infrared thermal image detection robot disclosed by the utility model;
fig. 3 is the utility model discloses a schematic view is connected with arm to medical infrared thermal imagery inspection robot's camera stabilizing support.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The existing thermal infrared imager is originally carried on a common tripod support or a lifting platform to stabilize the device. However, in the process of shooting different parts, the shooting positions are manually adjusted in height and left and right, the doctor experience is relied on, no scientific auxiliary positioning device is provided, the accuracy is poor, the operation is inconvenient, and the technical popularization is not facilitated.
On the premise of not influencing the existing diagnosis precision, the intellectualization of instrument equipment is improved, the shooting visual field is wider and clearer, and the positioning is more accurate. Intellectuality and field of vision extensively will improve the device of carrying on thermal infrared imager, give up original elevating platform and only can move about from top to bottom, change to with more nimble articulated multi freedom arm, can accomplish similar to: the shooting visual field is enlarged through the actions of stretching, swinging, lifting, transverse moving, pitching and the like. The mechanical arm is connected with the computer, the treatment system directly sends instructions to the mechanical arm, and the mechanical arm learns the motion track by self, so that the speed is improved, and repeated adjustment is not needed. In the aspect of positioning, a structured light positioning system is introduced, a three-dimensional human body model is formed in the system by scanning the human body outline through structured light, a part needing to be shot is clicked, and the mechanical arm carries the thermal infrared imager to reach a specified position.
Example 1
Referring to fig. 1-3, a medical infrared thermal imaging detection robot comprises a thermal infrared imager, a structured light locator, a mechanical arm and an operation console; the thermal infrared imager and the structured light locator (two devices with the appearance similar to that of the camera) are fixed at the tail end of the mechanical arm side by side through the camera stabilizing frame.
In this embodiment, the robot arm is composed of multiple degrees of freedom, and can automatically/manually move in various directions, the manual movement pedal is installed below the main body machine, and the robot arm is installed above the main body machine.
In this embodiment, the mechanical arm includes a column, a swing device, a large arm, a small arm, and a camera stabilizing bracket; the upright column is a hollow thin-wall metal short pipe, a main bearing and a cable penetrate through the middle of the upright column, the upright column is connected with one end of a slewing device, the slewing device is made of metal alloy materials, and is light and durable, and the slewing device is connected with a large arm and a small arm to assist the mechanical arm to move towards a specified direction; the main power transmission arm of the mechanical arm is made of large-arm metal alloy materials and is of a hollow long pipe structure, and two long arms and a short arm are arranged in the main power transmission arm. The short arm is made of metal alloy and has a hollow short pipe structure, and the short pipe structure is a main power transmission arm at the tail end of the mechanical arm. The camera stabilizing support is connected with the small arm, and the resin material is provided with two clamping devices on the same side, and the two clamping devices are used for fixing the thermal infrared imager and the structured light positioning instrument, namely the camera stabilizing support fixes the thermal infrared imager and the structured light positioning instrument at the tail end of the mechanical arm.
In this embodiment, the operation table is connected with the upright column, the base of the operation table is made of cast iron or cast steel materials to play a stabilizing role, handrails are arranged on two sides of the operation table, and the base of the operation table is provided with universal wheels and a locking device; and a liquid crystal screen is arranged on the operating platform so as to manually adjust the mechanical arm through the liquid crystal screen.
In the embodiment, the operation table is connected with a computer through a data line; the computer and the operation platform are integrated into a main machine; the main body machine is also connected with a printer and used for printing diagnosis result data. The main body machine is provided with a display screen and a display screen operation key, the main body machine is provided with a thermal infrared imager diagnosis and treatment system, a structured light positioning system, an information storage system, a network system, an image printing system and various data ports, fixed handrails are installed on two sides of the main body machine, universal wheels and a locking device are installed below a frame body below the main body machine, and a manual movement pedal is further connected below the main body machine.
In some embodiments, the thermal infrared imager comprises an infrared detector, a processor and an electronic processor, wherein the infrared detector is connected with the processor, the processor is connected with the electronic processor, and the electronic processor is connected with a computer to form the thermal infrared imager diagnosis and treatment system. The infrared detector emits invisible infrared radiation to human eyes, signals reflected after the infrared radiation irradiates a human body are captured by the processor and converted into electric signals, the electric signals are amplified and digitized to the electronic processor of the thermal imager, and then infrared images which can be seen by a user are converted and displayed through the computer.
In some embodiments, the structured light locator comprises a near-end infrared laser emitter, an infrared image sensor, a visible light image sensor and an image processing chip, wherein the near-end infrared laser emitter is connected with the infrared image sensor, the infrared image sensor and the visible light image sensor are respectively connected with the image processing chip, and the image processing chip is connected with a computer to form the structured light positioning system. The near-infrared laser emitter emits a near-infrared specific pattern, the deformed pattern is received by the infrared image sensor after being reflected by the human body, and the position of the human body is calculated through an algorithm; meanwhile, a visible light image sensor collects two-dimensional plane human body information; the information of the two image sensors is gathered to a special image processing chip, so that three-dimensional data is obtained, and a human body three-dimensional model is realized.
In some embodiments, the step of collecting the whole body information of the patient comprises an automatic part and a manual part, the automatic recognition system is based on different shooting positions of a large number of collected patients, the mechanical arm is automatically guided through existing data parameters of the treatment system to recognize the local shooting outline of the patient, and the manual recognition system can manually guide the mechanical arm for special cases to reach the shooting position and also has a memory function. The collected human body contour is used for describing a human body three-dimensional model through a computer therapy system.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.
Claims (6)
1. The utility model provides a medical infrared thermal image detection robot which characterized in that: the system comprises a thermal infrared imager, a structured light positioning instrument, a mechanical arm and an operating console; the thermal infrared imager and the structured light locator are arranged at the tail end of the mechanical arm, and the mechanical arm is arranged on the operating platform.
2. The medical infrared thermographic inspection robot of claim 1, wherein: the mechanical arm comprises an upright post, a rotating device, a large arm, a small arm and a camera stabilizing support; the upright is arranged on the operating platform and is connected with one end of a slewing device, and the slewing device is connected with a large arm and a small arm to assist the mechanical arm to move towards a specified direction; the camera stabilizing support is connected with the small arm and used for fixing the thermal infrared imager and the structured light locator.
3. The medical infrared thermographic inspection robot of claim 2, wherein: the operation panel links to each other with the stand, the operation panel both sides are equipped with the handrail, the base of operation panel is equipped with universal wheel and locking device.
4. The medical infrared thermographic inspection robot of claim 3, wherein: the operating platform is connected with a computer through a data line; the computer and the operation platform are integrated into a main machine; the main body machine is also connected with a printer and used for printing diagnosis result data.
5. The medical infrared thermographic inspection robot of claim 1, wherein: the thermal infrared imager comprises an infrared detector, a processor and an electronic processor, wherein the infrared detector is connected with the processor, the processor is connected with the electronic processor, and the electronic processor is connected with a computer to form the thermal infrared imager diagnosis and treatment system.
6. The medical infrared thermographic inspection robot of claim 5, wherein: the structured light positioning instrument comprises a near-end infrared laser emitter, an infrared image sensor, a visible light image sensor and an image processing chip, wherein the near-end infrared laser emitter is connected with the infrared image sensor, the infrared image sensor and the visible light image sensor are respectively connected with the image processing chip, and the image processing chip is connected with a computer to form a structured light positioning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120062972.9U CN214632126U (en) | 2021-01-11 | 2021-01-11 | Medical infrared thermal image detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120062972.9U CN214632126U (en) | 2021-01-11 | 2021-01-11 | Medical infrared thermal image detection robot |
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| Publication Number | Publication Date |
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| CN214632126U true CN214632126U (en) | 2021-11-09 |
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| CN202120062972.9U Active CN214632126U (en) | 2021-01-11 | 2021-01-11 | Medical infrared thermal image detection robot |
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- 2021-01-11 CN CN202120062972.9U patent/CN214632126U/en active Active
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