CN220344428U - Mechanical scanning device for assisting three-dimensional imaging of handheld ultrasonic diagnostic apparatus - Google Patents
Mechanical scanning device for assisting three-dimensional imaging of handheld ultrasonic diagnostic apparatus Download PDFInfo
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- CN220344428U CN220344428U CN202320062273.3U CN202320062273U CN220344428U CN 220344428 U CN220344428 U CN 220344428U CN 202320062273 U CN202320062273 U CN 202320062273U CN 220344428 U CN220344428 U CN 220344428U
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- 238000003384 imaging method Methods 0.000 title claims abstract description 33
- 210000000078 claw Anatomy 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 8
- 238000002604 ultrasonography Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 239000000523 sample Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000003902 lesion Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000005259 peripheral blood Anatomy 0.000 description 1
- 239000011886 peripheral blood Substances 0.000 description 1
- 238000012285 ultrasound imaging Methods 0.000 description 1
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Abstract
The utility model relates to a mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic apparatus, comprising: the mechanical arm, the mechanical gripper and the sliding rail platform; the fixed end of the mechanical arm is fixed on the sliding rail platform; the tail end of the mechanical arm is movably connected with the mechanical gripper; the mechanical arm is a triaxial mechanical arm and is used for driving the mechanical gripper to move in multiple directions; the sliding rail platform is used for driving the mechanical arm to move in the front-back direction; and the mechanical gripper is used for fixing palm super equipment. The utility model relieves the technical problem that three-dimensional imaging can not be carried out by manually operating palm super equipment in the prior art.
Description
Technical Field
The utility model relates to the technical field of three-dimensional ultrasonic imaging, in particular to a mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic instrument.
Background
Three-dimensional ultrasound imaging technology is one of the medical ultrasound imaging technologies developed in recent years. By adopting the two-dimensional area array ultrasonic probe, the ultrasonic beam swings in the three-dimensional scanning space, and three-dimensional data can be directly obtained. However, the two-dimensional area array transducer is complex to manufacture, has fewer array elements, and limits the resolution of the three-dimensional image. Thus, three-dimensional ultrasound currently still employs one-dimensional array transducers.
The existing palm super equipment (i.e. the handheld ultrasonic diagnostic apparatus) is mainly used for emergency rescue scenes such as basic medical institutions or disaster emergency outside a hospital, and can only perform simple two-dimensional scanning through manual operation under the conditions of severe environment and insufficient equipment using capability of technical staff.
Disclosure of Invention
In view of the foregoing, the present application provides a mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic apparatus, so as to alleviate the technical problem in the prior art that three-dimensional imaging cannot be performed by manually operating palm super equipment.
In a first aspect, an embodiment of the present utility model provides a mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic apparatus, including: the mechanical arm, the mechanical gripper and the sliding rail platform; the fixed end of the mechanical arm is fixed on the sliding rail platform; the tail end of the mechanical arm is movably connected with the mechanical gripper; the mechanical arm is a triaxial mechanical arm and is used for driving the mechanical gripper to move in multiple directions; the sliding rail platform is used for driving the mechanical arm to move in the front-back direction; the mechanical gripper is used for fixing palm super equipment.
Further, the sliding rail platform comprises a sliding block, a sliding rail, a ball screw and a stepping motor; wherein the sliding block is arranged on the sliding rail; the stepping motor is connected with the ball screw through a coupler; the ball screw is in sliding connection with the bottom of the sliding block; and the stepping motor is used for driving the ball screw to rotate so that the ball screw drives the sliding block to reciprocate on the sliding rail.
Further, the mechanical arm is a triaxial mechanical arm and comprises two servo motors and a rotating base.
Further, the mechanical arm is connected with the mechanical gripper through a bolt.
Further, the mechanical gripper comprises a damping device, a rotating motor, a linear motor and a mechanical gripper; the root of the mechanical claw is provided with a gear rack, and the linear motor is fixedly connected with the gear rack; and the linear motor is used for controlling the gear rack to move in the linear direction so as to control the opening and grabbing of the mechanical claw.
The utility model provides a mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic apparatus, which is characterized in that palm superequipment is fixed by a mechanical gripper, and is driven to move by a control mechanical arm so as to realize automatic path scanning of human tissue and organs, and further, the scanning information is integrated by a host connected with the palm superequipment, so that the three-dimensional ultrasonic imaging is realized, and the technical problem that the three-dimensional imaging cannot be carried out by manually operating the palm superequipment in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are needed in the detailed description or the prior art, it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a mechanical scanning palm super three-dimensional imaging device according to an embodiment of the present utility model;
fig. 2 is a schematic diagram of a sliding rail platform according to an embodiment of the present utility model;
FIG. 3 is a schematic diagram of a mechanical arm according to an embodiment of the present utility model;
FIG. 4 is a schematic view of a gripper according to an embodiment of the present utility model;
fig. 5 is a schematic diagram of an overall architecture of an ultrasonic three-dimensional imaging system according to an embodiment of the present utility model.
Reference numerals illustrate:
1-a mechanical arm; 11-a servo motor; 12-rotating a base; 2-a mechanical gripper; 21-a damping device; 22-a rotating electric machine; 23-a linear motor; 24-mechanical claws; 25-rack and pinion; 3-a slide rail platform; 31-a slider; 32-sliding rails; 33-ball screw; 34-a stepper motor; 4-palm super device.
Detailed Description
In order to further describe the technical means and effects adopted by the present utility model for achieving the intended purpose, the following detailed description will refer to the specific implementation, structure, characteristics and effects according to the present utility model with reference to the accompanying drawings and preferred embodiments.
Fig. 1 is a schematic diagram of a mechanical scanning palm super three-dimensional imaging device according to an embodiment of the utility model. As shown in fig. 1, the apparatus includes: a mechanical arm 1, a mechanical gripper 2 and a sliding rail platform 3. The fixed end of the mechanical arm 1 is fixed on the sliding rail platform 3; the tail end of the mechanical arm 1 is movably connected with the mechanical gripper 2.
Specifically, the mechanical arm 1 is a three-axis mechanical arm for driving the movement of the mechanical gripper 2 in multiple directions. Specifically, the mechanical arm 1 and the mechanical gripper 2 are connected by bolts, and provide the mechanical gripper 2 with ascending, descending, advancing and retreating movements.
And the sliding rail platform 3 is used for driving the mechanical arm 1 to move in the front-back direction.
And the mechanical gripper 2 is used for fixing the palm super equipment 4.
In the embodiment of the utility model, the ultrasonic probe of the palm super device 4 is a one-dimensional linear array transducer, and is a two-dimensional section view during detection, so that three-dimensional imaging can be realized through a preset imaging algorithm when the probe obtains front-back displacement.
The utility model provides a mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic apparatus, which is characterized in that palm superequipment is fixed by a mechanical gripper, and is driven to move by a control mechanical arm so as to realize automatic path scanning of human tissue and organs, and further, the scanning information is integrated by a host connected with the palm superequipment, so that the three-dimensional ultrasonic imaging is realized, and the technical problem that the three-dimensional imaging cannot be carried out by manually operating the palm superequipment in the prior art is solved.
Fig. 2 is a schematic diagram of a sliding rail platform according to an embodiment of the present utility model. As shown in fig. 2, the slide rail platform 3 includes a slider 31, a slide rail 32, a ball screw 33, and a stepping motor 34. The sliding block 31 is arranged on the sliding rail 32, and the sliding block 31 can slide along the sliding rail 32; the stepper motor 34 is connected with the ball screw 33 through a coupler; the ball screw 33 is slidably connected to the bottom of the slider 31.
Specifically, the stepper motor 34 is configured to drive the ball screw 33 to rotate, so that the ball screw 33 drives the slider 31 to reciprocate on the slide rail 32.
In the embodiment of the present utility model, the slide rail platform 3 mainly provides displacement in the X-axis direction.
Fig. 3 is a schematic view of a mechanical arm according to an embodiment of the present utility model. As shown in fig. 3, the mechanical arm 1 is a triaxial mechanical arm, and includes two servo motors 11 and a rotating base 12.
Fig. 4 is a schematic view of a gripper according to an embodiment of the present utility model. As shown in fig. 4, the robot claw 2 includes a damping device 21, a rotary motor 22, a linear motor 23, and a robot claw 24. The root of the mechanical claw 24 is provided with a gear rack 25, and the linear motor 23 is fixedly connected with the gear rack 25.
Specifically, the damping device 21 is a spring damper or a hydraulic damper, and is arranged at the joint of the top of the mechanical claw 24 and the mechanical arm rotating motor workbench, and the main functions of the damping device 21 are to provide resistance to movement and consume movement energy, so that the damping device can perform rotating movement control more stably.
Specifically, a linear motor 23 is used to control the movement of the rack and pinion in a linear direction to control the opening and grasping of the gripper 24.
In the embodiment of the utility model, the mechanical gripper 2 is driven by two motors, one linear motor 23 drives a gear rack 25, and the mechanical gripper 24 is driven by the gear rack 25 to grasp or release the ultrasonic probe. The rotating motor 22 can drive the mechanical gripper 2 to coaxially rotate, so that the ultrasonic probe can rotate at 360 degrees at the fixed detection position. Meanwhile, the mechanical gripper 2 is provided with a damping device 21, and can cope with the trunk fluctuation of the body surface of a human body during the detection of an ultrasonic probe. Optionally, the opening and closing degree and the rotation degree of the mechanical gripper 2 provided by the embodiment of the utility model are adjustable.
After a doctor operates the mechanical arm to scan the human tissue in a large range, a real-time ultrasonic image is observed on a computer interaction interface, and local tissue lesions are judged. Then the diseased tissue is framed and the image is magnified. In the quadrangular region selected by the frame, the mechanical device is operated by control software, after the path planning is automatically completed, the local lesion tissue is scanned again, and then the three-dimensional image of the lesion tissue is displayed in the host.
The embodiment of the utility model also provides a scheme for realizing intelligent navigation and three-dimensional imaging based on the device provided by the embodiment of the utility model, and particularly, a Kinect depth camera is additionally arranged on the device provided by the embodiment of the utility model and used for acquiring depth data and color data of a scanned tissue surface, extracting the position information of a region to be scanned, and then a mechanical arm is controlled by computer software to drive an ultrasonic probe to scan the tissue surface through an autonomous track planning method. And carrying out interpolation calculation on the acquired two-dimensional ultrasound and the corresponding position data through a computer, thereby obtaining a three-dimensional image. The overall architecture of the system is shown in fig. 5.
The basic working principle is as follows: the computer software controls the motion state of the mechanical scanning device, the sliding rail platform controls the horizontal displacement in the X-axis direction, the mechanical arm provides the displacement in the Y-axis direction and the Z-axis direction, the mechanical claw grabs the ultrasonic probe of the palm super equipment, the motion of superficial tissues, small organs, peripheral blood vessels, blood flow and the like of the human body is detected, and the mechanical claw provides 360-degree rotary scanning at a fixed position. The three-dimensional imaging host is connected with the palm super device through a wireless data network, and the host receives the two-dimensional section images detected by the ultrasonic probe in real time. Physicians locally enlarge the suspicious lesion tissue in a wide range of imaging modalities. And according to the size of the selected local tissue map, the mechanical scanning device control software performs automatic path planning on scanning of the ultrasonic probe in the range, and automatically scans suspicious tissues again. On a host computer, the ultrasonic probe position information and the corresponding section images in the scanning process of the displacement platform are recorded, and a sufficient quantity of two-dimensional section images in a certain direction are acquired along with the displacement of the probe. And integrating two-dimensional image information through software and an imaging algorithm to realize three-dimensional ultrasonic imaging.
The utility model can be used for realizing three-dimensional image imaging by matching with a depth camera, palm ultrasonic equipment, a mechanical device and a computer to build autonomous ultrasonic scanning, providing a large field of view, absorbing the size and the area of a measurement target and providing more dimensional information for diagnosis. Meanwhile, on the basis of generating a 3D model, a navigation path of imaging or treatment can be planned according to the needs and design of a user, so that accurate fixed-point auxiliary diagnosis/treatment is realized, and the intellectualization and the precision of diagnosis and treatment are improved.
The present utility model is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present utility model.
Claims (5)
1. A mechanical scanning device for assisting in three-dimensional imaging of a handheld ultrasonic diagnostic apparatus, comprising: the mechanical arm, the mechanical gripper and the sliding rail platform; the fixed end of the mechanical arm is fixed on the sliding rail platform; the tail end of the mechanical arm is movably connected with the mechanical gripper; wherein,
the mechanical arm is a triaxial mechanical arm and is used for driving the mechanical gripper to move in multiple directions;
the sliding rail platform is used for driving the mechanical arm to move in the front-back direction;
the mechanical gripper is used for fixing palm super equipment;
the system also comprises a Kinect depth camera and a computer; wherein,
the Kinect depth camera is used for acquiring depth data and color data of the surface of the scanned tissue and extracting position information of a region to be scanned;
the computer is used for controlling the mechanical arm to drive the palm super equipment to scan the tissue surface, and carrying out interpolation calculation on the collected two-dimensional ultrasound and the corresponding position data to obtain a three-dimensional image.
2. The mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic apparatus according to claim 1, wherein the slide rail platform comprises a slider, a slide rail, a ball screw and a stepper motor; wherein the sliding block is arranged on the sliding rail; the stepping motor is connected with the ball screw through a coupler; the ball screw is in sliding connection with the bottom of the sliding block;
and the stepping motor is used for driving the ball screw to rotate so that the ball screw drives the sliding block to reciprocate on the sliding rail.
3. The mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic apparatus according to claim 1, wherein the mechanical arm is a three-axis mechanical arm comprising two servo motors and a rotating base.
4. The mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic apparatus according to claim 1, wherein the mechanical arm is connected with the mechanical gripper by a bolt.
5. The mechanical scanning device for assisting three-dimensional imaging of a handheld ultrasonic diagnostic apparatus according to claim 1, wherein the mechanical gripper comprises a damping device, a rotary motor, a linear motor, and a gripper; the root of the mechanical claw is provided with a gear rack, and the linear motor is fixedly connected with the gear rack;
and the linear motor is used for controlling the gear rack to move in the linear direction so as to control the opening and grabbing of the mechanical claw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320062273.3U CN220344428U (en) | 2023-01-10 | 2023-01-10 | Mechanical scanning device for assisting three-dimensional imaging of handheld ultrasonic diagnostic apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320062273.3U CN220344428U (en) | 2023-01-10 | 2023-01-10 | Mechanical scanning device for assisting three-dimensional imaging of handheld ultrasonic diagnostic apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN220344428U true CN220344428U (en) | 2024-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320062273.3U Active CN220344428U (en) | 2023-01-10 | 2023-01-10 | Mechanical scanning device for assisting three-dimensional imaging of handheld ultrasonic diagnostic apparatus |
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| Country | Link |
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| CN (1) | CN220344428U (en) |
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2023
- 2023-01-10 CN CN202320062273.3U patent/CN220344428U/en active Active
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