CN219183823U

CN219183823U - Hip joint ultrasonic screening robot

Info

Publication number: CN219183823U
Application number: CN202223169757.2U
Authority: CN
Inventors: 王加宽
Original assignee: Yangzhou Maternal And Child Care Service Centre
Current assignee: Yangzhou Maternal And Child Care Service Centre
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2023-06-16
Anticipated expiration: 2032-11-29

Abstract

The utility model relates to the technical field of medical equipment, in particular to a hip joint ultrasonic screening robot. The technical scheme includes that the robot comprises a robot body and a camera system, wherein the robot body is used for identifying a hip joint of an infant according to the guidance of the camera system, an ultrasonic probe module is clamped at the tail end of a mechanical arm of the robot body, and a couplant spray head for outputting a couplant is arranged beside the ultrasonic probe module; the ultrasonic probe module cleaning device is arranged on the periphery of the robot main body and used for cleaning the ultrasonic probe module. According to the utility model, the automatic identification system is carried on the robot, so that the ultrasonic standard image of the hip joint of the infant can be automatically and rapidly obtained, the deviation of manual inspection is avoided, the inspected standard image can be automatically measured and analyzed, the homogenization of ultrasonic screening of the hip joint of the infant is realized, a large amount of medical resources can be saved, the degree of automation is high, the ultrasonic probe is automatically cleaned, and the safety is improved.

Description

Hip joint ultrasonic screening robot

Technical Field

The utility model relates to the technical field of medical equipment, in particular to a hip joint ultrasonic screening robot.

Background

The ultrasonic detection of hip joint of infant is an inspection method for imaging hip joint by applying ultrasonic principle and evaluating development condition of hip joint by quantifying ultrasonic image of hip joint.

Obtaining standard hip ultrasound images is important for early screening of infant developmental hip dysplasia (developmental dysplasia of hip, hereinafter DDH). Conventional examinations typically secure an infant to a special examination couch, and an infant hip ultrasound examination is performed by a probe guide system to obtain standard images. The standard image is affected by the position of the infant, the direction of the probe and the understanding ability of the inspector to the image, and the nonstandard image causes misjudgment of the inspector. How to automatically acquire standard images becomes a technical barrier in the field. At present, the operator can only rely on the medical staff with abundant experience to perform multiple operations to grasp in the actual operation, thereby increasing the time of the inspector and wasting a great deal of manpower resources. For this reason, a person skilled in the art has developed a special purpose for and an ultrasound image processing method, patent number CN 112233084A, entitled "ultrasound image processing method, apparatus and computer readable storage medium", for processing analysis of neonatal hip-related ultrasound images, which technology only analyzes acquired standard images and does not suggest corresponding technical means on how to accurately acquire "standard ultrasound images". Still, a skilled medical technician is required to manually operate and acquire a large number of images, and provide the images to the system for screening, analysis and measurement. If a "standard ultrasound image" conforming to the subsequent analysis does not appear in a large number of images, no result can be obtained.

In summary, in the ultrasonic screening of the hip joint of the infant, a standardized, intelligent and automatic efficient system is urgently needed to be researched to replace manual acquisition of a standard image.

Disclosure of Invention

Aiming at the problems in the background technology, the utility model provides an infant hip joint ultrasonic screening robot which can automatically acquire hip joint ultrasonic standard images in infant hip joint ultrasonic inspection, automatically analyze and process, and automatically clean and disinfect an ultrasonic probe for inspection.

The technical scheme of the utility model is as follows: the hip joint ultrasonic screening robot comprises a robot main body and a camera system, wherein the robot main body is used for identifying the hip joint of an infant according to the guidance of the camera system, an ultrasonic probe module is clamped at the tail end of a mechanical arm of the robot main body, and a couplant spray head for outputting a couplant is arranged beside the ultrasonic probe module;

the robot comprises a robot body, wherein a couplant heating device for heating and conveying a couplant is arranged in the robot body, and the output end of the couplant heating device is connected with an interface of a couplant spray head through a connecting pipeline;

the ultrasonic probe module cleaning device is arranged on the periphery of the robot main body and used for cleaning the ultrasonic probe module.

Preferably, the robot main body comprises a robot base, a first-stage rotating arm arranged on the upper side of the robot base, and a second-stage rotating arm driven by the first-stage rotating arm, wherein a middle swinging arm is arranged at the installation position of the second-stage rotating arm, and a connecting arm is arranged at the other end of the middle swinging arm;

the ultrasonic probe module is arranged at the tail end of the connecting arm.

Preferably, the ultrasonic probe module includes an ultrasonic probe and a rotation driving device for driving the ultrasonic probe to rotate.

Preferably, the robot body is provided with a control system, and the control system comprises an ultrasonic image analysis module, a data storage system and a man-machine interaction module;

the data storage system stores a hip joint ultrasonic image sample library for comparing images in the process of ultrasonic examination of the hip joint of the infant;

the ultrasonic image analysis module is integrated with the hip joint ultrasonic image analysis system and is used for analyzing nonstandard images in the inspection process, guiding the mechanical arm of the robot main body to adjust the direction of the ultrasonic probe, denoising, segmentation and feature extraction of the obtained hip joint ultrasonic image, and measuring and analyzing the images.

The man-machine interaction module is used for guiding the mechanical arm to move the ultrasonic probe to obtain a standard image.

Preferably, the man-machine interaction module is integrated with a neural network processor and is used for realizing force touch simulation when the ultrasonic probe is contacted with the skin of the hip joint part of the infant.

Preferably, the cleaning device comprises an oscillating tray and a storage vessel fixed on the upper side of the oscillating tray, and a sterilizing liquid for sterilizing the ultrasonic probe is contained in the storage vessel.

Preferably, the display is a touch screen display and has an image overturning function.

Preferably, the camera of the camera system is connected with the robot main body in a wireless mode, and the camera guides the mechanical arm to identify the hip joint examination part through scene observation.

Compared with the prior art, the utility model has the following beneficial technical effects:

according to the utility model, the automatic identification system and the robot are carried, so that the ultrasonic standard image of the hip joint of the infant can be automatically and rapidly obtained, the deviation of manual inspection is avoided, the inspected standard image can be automatically measured and analyzed, the homogenization of ultrasonic screening of the hip joint of the infant is realized, and a large amount of medical resources can be saved.

Drawings

FIG. 1 presents a schematic view of an embodiment of the utility model;

FIG. 2 is a schematic view of an ultrasound probe module according to the present utility model;

FIG. 3 is a schematic view of an ultrasonic probe module according to the present utility model during cleaning;

reference numerals: 1 is a robot base; 2 is an oscillating tray; 3 is a storage vessel; 4 is a first-stage rotating arm; 5 is a limit bulge; 6 is a secondary rotating arm; 7 is a connecting arm; 8 is a rotation driving device; 9 is an ultrasonic probe; 10 is a connecting pipe; 11 is an intermediate swing arm; 12 is a couplant spray head; 13 is a special examination bed for infants; reference numeral 14 denotes an imaging system.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Examples

As shown in fig. 1 and 2, the hip joint ultrasonic screening robot provided by the utility model comprises a robot main body and a camera system 14, wherein the robot main body is used for identifying the hip joint of an infant according to the guidance of the camera system 14, and particularly, the robot main body is provided with a control system, and the control system comprises an ultrasonic image analysis module, a data storage system and a man-machine interaction module;

the ultrasonic image analysis module is integrated with the hip joint ultrasonic image analysis system and is used for analyzing nonstandard images in the inspection process, guiding the mechanical arm of the robot main body to adjust the direction of the ultrasonic probe 9, denoising, segmentation and feature extraction of the obtained hip joint ultrasonic images, and measuring and analyzing the images.

The man-machine interaction module is used for guiding the mechanical arm to move the ultrasonic probe so as to obtain a standard image.

The man-machine interaction module is integrated with a neural network processor and is used for realizing force touch simulation when the ultrasonic probe is contacted with the skin of the hip joint part of the infant.

An ultrasonic probe module is clamped at the tail end of a mechanical arm of the robot main body, and a couplant spray head 12 for outputting a couplant is arranged beside the ultrasonic probe module;

the robot main body is internally provided with a couplant heating device for heating and conveying the couplant, and the output end of the couplant heating device is connected with an interface of the couplant spray head 12 through a connecting pipeline 10;

the couplant heating device is matched with the connecting pipeline 10 and the couplant spray head 12 to enable the output couplant to be consistent with the skin temperature of the infant, so that cold stimulation of the infant is avoided.

The ultrasonic probe module includes an ultrasonic probe 9 and a rotation driving device 8 that drives the ultrasonic probe 9 to rotate. Referring to fig. 2, the bottom of the ultrasonic probe 9 is flat, and the couplant can be uniformly applied by a robot.

The ultrasonic probe 9 module cleaning device is arranged on the periphery of the robot main body.

The cleaning device comprises an oscillating tray 2 and a storage vessel 3 fixed on the upper side of the oscillating tray 2, wherein the storage vessel 3 is internally provided with a disinfectant for disinfecting the ultrasonic probe 9.

As shown in fig. 3, after the inspection is completed, the ultrasonic probe 9 is moved into the storage vessel 3, and the ultrasonic probe 9 is cleaned by the vibration transmission of the oscillating tray 2, so that the next use is facilitated.

The robot main body comprises a robot base 1, a primary rotating arm 4 arranged on the upper side of the robot base 1, and a secondary rotating arm 6 driven by the primary rotating arm 4, wherein a middle swinging arm 11 is arranged at the installation position of the secondary rotating arm 6, and a connecting arm 7 is arranged at the other end of the middle swinging arm 11;

the ultrasonic probe module is mounted at the end of the connection arm 7.

The first-stage rotating arm 4, the second-stage rotating arm 6, the middle swinging arm 11 and the connecting arm form a multi-degree-of-freedom mechanical arm, the mechanical arm is controlled by a control system, the ultrasonic probe 9 is moved to an inspection position under the guidance of a camera of the camera system 14, an initial hip joint ultrasonic image is obtained, and the mechanical arm is guided to move the ultrasonic probe 9 through a man-machine interaction module until a standard image is obtained.

The system also comprises a display (not shown in the figure), wherein the display is a touch screen display and has an image overturning function, so that the system is suitable for understanding images by different beginners.

The camera of the camera system is connected with the robot main body in a wireless mode, and the camera guides the mechanical arm to identify the hip joint examination part through scene observation, so that quick positioning is realized.

During the examination, the infant lies on the side of the special examination bed 14, and the position of the infant is restricted by the restricting projection 5.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be mechanically coupled, directly coupled, or indirectly coupled via an intermediate medium. The specific meaning of the above terms in the present utility model is understood by those of ordinary skill in the art according to the specific circumstances.

The above-described embodiments are merely one or several preferred embodiments of the present utility model, and many alternative modifications and combinations of the above-described embodiments will be apparent to those skilled in the art based on the technical solutions of the present utility model and the related teachings of the above-described embodiments.

Claims

1. The hip joint ultrasonic screening robot comprises a robot main body and a camera system, wherein the robot main body is used for identifying the hip joint of an infant according to the guidance of the camera system;

2. The hip joint ultrasonic screening robot according to claim 1, wherein the robot body comprises a robot base, a primary rotating arm installed at an upper side of the robot base, and a secondary rotating arm installed to be driven by the primary rotating arm, an intermediate swing arm is installed at an installation position of the secondary rotating arm, and a connecting arm is installed at the other end of the intermediate swing arm;

the ultrasonic probe module is arranged at the tail end of the connecting arm.

3. The hip ultrasonic screening robot of claim 2, wherein the ultrasonic probe module includes an ultrasonic probe and a rotation driving device that drives the ultrasonic probe to rotate.

4. The hip ultrasonic screening robot of claim 1, wherein the robot body has a control system comprising an ultrasonic image analysis module, a data storage system, and a human-machine interaction module;

the ultrasonic image analysis module is integrated with a hip joint ultrasonic image analysis system and is used for analyzing nonstandard images in the inspection process, guiding a mechanical arm of a robot main body to adjust the direction of an ultrasonic probe, denoising, segmentation and feature extraction of the obtained hip joint ultrasonic image, and measuring and analyzing the images;

5. The hip joint ultrasonic screening robot of claim 4, wherein the man-machine interaction module is integrated with a neural network processor for realizing force touch simulation when the ultrasonic probe is in contact with the skin of the hip joint part of the infant.

6. The hip ultrasonic screening robot of claim 1, wherein the cleaning device comprises an oscillating tray and a storage vessel fixed on an upper side of the oscillating tray, and a sterilizing liquid for sterilizing the ultrasonic probe is contained in the storage vessel.

7. The hip ultrasonic screening robot of claim 1, further comprising a display, the display being a touch screen display having an image flip function.

8. The hip ultrasonic screening robot of claim 1, wherein the connection between the camera of the camera system and the robot body is a wireless connection, and the camera guides the mechanical arm to identify the hip inspection site through scene observation.