CN215078870U - Remote ultrasonic detection device - Google Patents
Remote ultrasonic detection device Download PDFInfo
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- CN215078870U CN215078870U CN202121168128.0U CN202121168128U CN215078870U CN 215078870 U CN215078870 U CN 215078870U CN 202121168128 U CN202121168128 U CN 202121168128U CN 215078870 U CN215078870 U CN 215078870U
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- mechanical arm
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Abstract
The utility model provides a remote ultrasonic detection device, which comprises an inspection terminal and a control terminal, wherein the inspection terminal comprises an mechanical arm, an ultrasonic probe is arranged at the end part of the mechanical arm, and a force sensor connected with the ultrasonic probe is arranged on the mechanical arm; the control terminal comprises a plurality of linear driving units, the telescopic ends of the linear driving units are connected to the same probe handle, and the fixed ends of the linear driving units are fixed through spherical hinges; the control terminal further comprises a controller, and the controller is in communication connection with the force sensor and the linear driving units respectively. The utility model has the advantages that: the doctor can control the inspection terminal of other places to carry out ultrasonic examination to the patient through operating the probe handle, and the doctor can feel the power that produces when the flexible volume of straight line flexible unit change to make the doctor perception be close real patient's health feedback, make things convenient for the doctor to adjust the manipulation, improve the quality of inspection formation of image.
Description
Technical Field
The utility model relates to a medical treatment ultrasonic testing technical field especially relates to a long-range ultrasonic testing device.
Background
With the development of medical technology, the ultrasonic detection technology is applied to hospitals more and more widely due to the simplicity, portability, low cost and no side effect. However, due to the uneven distribution of high quality medical resources, people in many remote areas have not been able to perform high quality ultrasound examinations. Moreover, the ultrasonic examination depends on the examination technique of a doctor, the scanning position and angle need to be adjusted according to the examination image and the experience of the doctor, and compared with medical equipment, remote areas lack corresponding medical experts.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a can remote operation ultrasonic equipment carry out the long-range ultrasonic testing device who examines to the patient is provided to overcome the problem that prior art exists.
The utility model discloses a solve above-mentioned technical problem through following technical scheme: a remote ultrasonic detection device comprises an inspection terminal and a control terminal, wherein the inspection terminal comprises a mechanical arm, an ultrasonic probe is arranged at the end part of the mechanical arm, and a force sensor connected with the ultrasonic probe is arranged on the mechanical arm;
the control terminal comprises a plurality of linear driving units, the telescopic ends of the linear driving units are connected to the same probe handle, and the fixed ends of the linear driving units are fixed through spherical hinges;
the control terminal further comprises a controller, and the controller is in communication connection with the force sensor and the linear driving units respectively.
The utility model discloses a set up inspection terminal and control terminal respectively and realized the strange land inspection, the doctor passes through the operation probe handle, can control the inspection terminal of other places and carry out ultrasonic examination to the patient, the force transducer who acquires the human effort that ultrasonic probe experienced has been set up on inspection terminal, and produce the signal that drives a plurality of sharp flexible units and change flexible volume based on force transducer, the doctor who holds the probe handle from this makes and can experience the power that produces when the flexible volume of sharp flexible unit change, thereby make doctor's perception to being close real patient's health feedback, make things convenient for doctor's adjustment manipulation, improve the quality of inspection formation of image.
Preferably, the linear driving unit is an electric cylinder.
Preferably, the control terminal includes three linear driving units.
Preferably, the fixed end of the probe handle is fixedly matched with a universal joint, and the telescopic ends of the plurality of linear driving units are respectively fixed on the universal joint.
Preferably, a gyroscope sensor is arranged in the probe handle, and the mechanical arm adjusts the pose of the ultrasonic probe according to the pose information of the gyroscope sensor.
Preferably, a switch is further arranged on the probe handle, and when the switch is in an on state, the mechanical arm moves along with the probe handle.
Preferably, the examination terminal further comprises a camera for acquiring the patient image, and the control terminal is provided with an imaging unit for viewing the patient image.
Preferably, the imaging unit includes a holographic projector, an optical film is disposed above the holographic projector, a holographic interference plate is disposed on the optical film, and the holographic projector can holographically project an image acquired by the camera on the holographic interference plate.
Preferably, the inspection terminal is provided with at least one camera, the camera is a high-definition camera fixed on the mechanical arm, and the camera can adjust the visual angle.
Preferably, the control terminal is arranged in a shell, the plurality of linear driving units are fixed above the shell, the probe handle is fixed in the middle of the shell by the plurality of linear driving units in a natural state, the holographic projector is arranged at the bottom of the shell, and the holographic interference plate is fixed below the probe handle in the shell along the horizontal direction.
The utility model provides a long-range ultrasonic testing device's advantage lies in: the remote examination is realized by respectively arranging the examination terminal and the control terminal, a doctor can control the examination terminal outside the field to carry out ultrasonic examination on a patient by operating the probe handle, the examination terminal is provided with the force sensor for acquiring the human body acting force sensed by the ultrasonic probe, and the force sensor generates a signal for driving the plurality of linear telescopic units to change the telescopic amount, so that the doctor holding the probe handle can sense the force generated when the linear telescopic units change the telescopic amount, the doctor can sense the feedback close to the real body of the patient, the doctor can conveniently adjust the operation technique, and the examination imaging quality is improved. The probe handle and the ultrasonic probe are kept consistent in posture through the gyroscope sensor, and a three-dimensional image of a part to be checked is obtained or inspected through holographic projection, so that a doctor can conveniently operate and adjust the probe handle, and the imaging quality is improved.
Drawings
Fig. 1 is a schematic view of a control terminal of a remote ultrasonic detection apparatus provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention are described below in detail and completely with reference to the accompanying drawings, and obviously, the described embodiments are 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 efforts belong to the protection scope of the present invention.
As shown in fig. 1, the present embodiment provides a remote ultrasonic detection apparatus, which includes an inspection terminal (not shown in the figure) and a control terminal 1, where the inspection terminal includes a mechanical arm, an ultrasonic probe is disposed at an end of the mechanical arm, and a force sensor connected to the ultrasonic probe is disposed on the mechanical arm; the control terminal 1 comprises a plurality of linear driving units 11, the telescopic ends of the linear driving units 11 are connected to the same probe handle 12, and the fixed ends of the linear driving units 11 are fixed through spherical hinges 13; the control terminal 1 further includes a controller (not shown) in communication connection with the force sensor and the plurality of linear driving units, respectively, and the controller is capable of receiving a signal from the force sensor and generating a signal for controlling the plurality of linear driving units 11 to change the amount of expansion and contraction according to the force signal.
In the embodiment, the examination terminal and the control terminal are respectively arranged to realize the examination at different places, a doctor can control the examination terminal at different places to perform ultrasonic examination on a patient by operating the probe handle 12, the examination terminal is provided with the force sensor for acquiring the human body acting force sensed by the ultrasonic probe, and generates a signal for driving the plurality of linear telescopic units 11 to change the telescopic amount based on the force sensor, when the telescopic amount of the linear driving units 11 changes, the doctor holding the probe handle 12 can sense the driving force generated by the linear driving units 11, so that the doctor can sense the body feedback of the patient close to reality, the doctor can conveniently adjust the operation technique, and the examination imaging quality is improved.
Specifically, the linear driving unit 11 is an electric cylinder, and driving components such as an air cylinder can also be selected, in this embodiment, the control terminal 1 includes three linear driving units 11, a fixed end of the probe handle 12 is connected with a universal joint 14, and telescopic ends of the three linear driving units 11 are respectively fixed on the universal joint 14, so that the probe handle 12 can be freely and conveniently controlled while sensing the tensile force provided by the linear driving unit 11.
The probe handle 12 is further provided with a switch 121, when the switch 121 is in an on state, the mechanical arm is in direct or indirect communication connection with the probe handle 12, so that the mechanical arm can move along with the probe handle 12, specifically, a gyroscope sensor 122 is arranged in the probe handle 12, so that posture information of the probe handle 12 is obtained, and the mechanical arm adjusts the posture of the ultrasonic probe according to the posture information of the gyroscope sensor, so that the synchronism of the inspection terminal and the control terminal 1 is maintained.
The specific communication and control mode of the inspection terminal and the control terminal 1 is the prior art, and the force sensor preferably selects the existing sensors such as a three-axis force sensor, so that the force condition of the probe handle obtained in different directions can be accurately obtained, and the actions of different linear driving units 11 can be conveniently controlled.
In order to observe the condition of the patient conveniently, the examination terminal further comprises a camera, the control terminal 1 is provided with an imaging unit (not shown) for checking images obtained by the camera, so that a doctor can conveniently determine an examination method from vision and touch together, and the imaging quality is improved.
In this embodiment, imaging of a patient is achieved through a holographic projection technology, the imaging unit includes a holographic projector 151, an optical film 152 is disposed above the holographic projector 151, a holographic interference plate 153 is disposed on the optical film 152, the holographic projector 151 can holographically project a three-dimensional image acquired by a camera on the holographic interference plate 153, so that a posture of the patient can be displayed more stereoscopically, based on this, the camera should be provided with a plurality of cameras to obtain images with different viewing angles, and holographic projection is completed based on necessary image fusion processing, and a specific technology of holographic projection is the prior art. The camera selects a high-definition camera fixed on the mechanical arm so as to conveniently adjust the position along with the mechanical arm, and meanwhile, the camera can adjust the visual angle; the camera may acquire images of the whole body of the patient or may acquire images only for the projection range.
The embodiment shows the three-dimensional image of the patient on the control terminal 1 through the holographic projection technology, so that a doctor can conveniently and accurately find the examination position, the ultrasonic examination work is completed by combining the action of the force fed back by the linear driving unit 11, the action amplitude is conveniently controlled, and the examination manipulation is adjusted.
The control terminal 1 is disposed in a housing 16, a plurality of linear driving units 11 are fixed above the housing 16, in a natural state, the probe handle 12 is fixed in the middle of the housing 16 by the plurality of linear driving units 11, the holographic projector 151 is disposed at the bottom of the housing 161, the holographic interference plate 153 is fixed below the probe handle 12 in the housing 6 along a horizontal direction, the holographic projector 151 is disposed at one side of the bottom of the housing 161, the optical film 152 is disposed in an inclined manner, and based on appropriate adjustment of projection parameters, a holographic projection is formed on the holographic interference plate 153 which is horizontally disposed.
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 (10)
1. A remote ultrasonic detection device is characterized in that: the ultrasonic inspection system comprises an inspection terminal and a control terminal, wherein the inspection terminal comprises a mechanical arm, an ultrasonic probe is arranged at the end part of the mechanical arm, and a force sensor connected with the ultrasonic probe is arranged on the mechanical arm;
the control terminal comprises a plurality of linear driving units, the telescopic ends of the linear driving units are connected to the same probe handle, and the fixed ends of the linear driving units are fixed through spherical hinges;
the control terminal further comprises a controller, and the controller is in communication connection with the force sensor and the linear driving units respectively.
2. The remote ultrasonic testing device of claim 1, wherein: the linear driving unit is an electric cylinder.
3. The remote ultrasonic testing device of claim 1, wherein: the control terminal comprises three linear driving units.
4. The remote ultrasonic testing device of claim 1, wherein: the fixed end of the probe handle is fixedly matched with a universal joint, and the telescopic ends of the linear driving units are respectively fixed on the universal joint.
5. The remote ultrasonic testing device of claim 1, wherein: a gyroscope sensor is arranged in the probe handle, and the mechanical arm adjusts the pose of the ultrasonic probe according to the pose information of the gyroscope sensor.
6. The remote ultrasonic testing device of claim 1, wherein: the probe handle is further provided with a switch, and when the switch is in an on state, the mechanical arm moves along with the probe handle.
7. The remote ultrasonic testing device of claim 1, wherein: the examination terminal further comprises a camera for acquiring the patient image, and the control terminal is provided with an imaging unit for checking the patient image.
8. The remote ultrasonic testing device of claim 7, wherein: the imaging unit comprises a holographic projector, an optical film is arranged above the holographic projector, a holographic interference plate is arranged on the optical film, and the holographic projector can holographically project an image acquired by the camera on the holographic interference plate.
9. The remote ultrasonic testing device of claim 8, wherein: the inspection terminal is provided with at least one camera, the camera is for fixing the high definition digtal camera on the arm, the visual angle can be adjusted to the camera.
10. The remote ultrasonic testing device of claim 8, wherein: the control terminal sets up in a casing, and a plurality of sharp drive unit are fixed in the casing top, and under the natural state, the probe handle is fixed in the centre of casing by a plurality of sharp drive unit, holographic projector sets up in the bottom of casing, and holographic interference board is fixed in probe handle below along the horizontal direction in the casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121168128.0U CN215078870U (en) | 2021-05-27 | 2021-05-27 | Remote ultrasonic detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121168128.0U CN215078870U (en) | 2021-05-27 | 2021-05-27 | Remote ultrasonic detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215078870U true CN215078870U (en) | 2021-12-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121168128.0U Active CN215078870U (en) | 2021-05-27 | 2021-05-27 | Remote ultrasonic detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215078870U (en) |
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2021
- 2021-05-27 CN CN202121168128.0U patent/CN215078870U/en active Active
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| TR01 | Transfer of patent right |
Effective date of registration: 20220302 Address after: 236000 401, building C1, intelligent technology park, No. 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Hefei Hebin intelligent robot Co.,Ltd. Address before: 236000 area C, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |