KR101400542B1 - System for measuring cerebral blood flow - Google Patents

Abstract

The present invention relates to a cerebral blood flow measurement system, and more particularly, to a cerebral blood flow measurement system that facilitates manipulation of an ultrasonic probe based on a three-dimensional robotics technique and accurately estimates the position of a cerebral blood vessel to be measured, To a cerebral blood flow measurement system for measuring cerebral blood flow. The present invention relates to an ultrasonic probe comprising: an ultrasonic probe; A three-axis (xyz) transfer unit for positioning the ultrasonic probe; A three-degree-of-freedom angle adjusting unit for adjusting the angle of the ultrasonic probe; And a control unit for controlling the angle of the ultrasonic probe. The three degree of freedom angle adjusting unit for adjusting the angle of the ultrasonic probe includes a base, an ultrasonic probe supporting unit mounted on an upper surface of the base, And a plurality of actuators provided between the supporter and the supporter, and the angles of the supporter of the supersonic probe are adjusted by up-and-down driving of the plurality of actuators.
Next, the cerebral blood flow measuring system of the present invention makes it easy to adjust the position and angle of the ultrasonic probe based on the three-dimensional robotics guiding technique, and precisely estimates the position of the cerebral blood vessel to be measured in conjunction with the cerebral vessel medical data And the effect of measuring cerebral blood flow is exhibited.

Description

System for measuring cerebral blood flow [

The present invention relates to a cerebral blood flow measurement system, and more particularly, to a cerebral blood flow measurement system that facilitates adjustment of the position and angle of an ultrasonic probe based on a three-dimensional robotic guide, To a cerebral blood flow measurement system for accurately measuring cerebral blood flow.

With the recent rapid population aging, mortality and disease burden due to cerebrovascular disease is increasing rapidly. Cerebrovascular disease is a disease that shows high mortality rate with cancer and heart disease. Even if it does not die, it is serious disease.

In order to prevent such cerebrovascular disease early, objective and scientific diagnosis is required. For this purpose, a cerebral blood flow meter capable of measuring cerebral blood flow abnormality is being developed.

However, the data measured by such a cerebral blood flow meter can be analyzed only by a skilled physician, and the subjective opinion of the analyzing physician in this case is significant. In addition, it is difficult to determine the exact position of the cerebral blood vessels of the subject, so that it takes a long time for the examination, and the quality of the test result may be changed according to the skill of the subject.

Therefore, in order to facilitate the operation of the ultrasonic measuring instrument and improve the efficiency of the medical treatment, it is required to fabricate an ultrasonic probe manipulating apparatus based on a robotic guiding technology. In order to accurately estimate the position of the cerebral blood vessel to be measured, It is necessary to develop a system for controlling the position of the ultrasonic probe and the ultrasonic propagation path in conjunction with the medical data.

It is an object of the present invention to provide a cerebral blood flow measurement system that facilitates adjustment of the position and angle of an ultrasonic probe based on a three-dimensional robotics guide technique.

Another object of the present invention is to provide a cerebral blood flow measuring system for measuring cerebral blood flow by precisely estimating the position of a cerebral blood vessel to be measured in conjunction with cerebral angiographic data.

According to an aspect of the present invention, there is provided a cerebral blood flow measurement system including: an ultrasonic probe; A three-axis (x-y-z) feed portion for adjusting the position of the ultrasonic probe; A three-degree-of-freedom angle adjusting unit for adjusting the angle of the ultrasonic probe; And a controller for controlling the angle of the ultrasonic probe, wherein the three-degree-of-freedom adjusting unit for adjusting the angle of the ultrasonic probe comprises a base, an ultrasonic probe supporting part mounted on an upper surface of the base, And a plurality of actuators provided between the probe supporting portions, wherein the angles of the ultrasonic probe supporting portions are adjusted by up-and-down driving of the plurality of actuators.

Here, the three-axis (x-y-z) transfer portion for adjusting the position of the ultrasonic probe includes a first transfer table that moves along the x-axis guide portion, a first connecting member installed at one side of the x- And a first stepping motor provided at one side of the first linking member and providing a driving force to the first transporting table, wherein the second transporting table moves along the y-axis guide portion, the second linking portion provided at one side of the y- absence; And a second stepping motor provided on one side of the second linking member and providing a driving force to the second conveying table, the third conveying table being movable along the z-axis guide portion, the third transferring table being provided on one side of the z- absence; And a third stepping motor installed at one side of the third linking member and providing a driving force to the third transfer table.

 The base portion of the angle adjusting portion is fixed to the first transfer table, the first linking member is fixed to the second transfer table, and the second linking member is fixed to the third transfer table.

In the ultrasonic probe supporting portion, an opening is formed at the center of the ultrasonic probe supporting portion, and an ultrasonic probe is protruded to the opening of the ultrasonic probe supporting portion. The angles of the ultrasonic probe are controlled by driving the actuators up and down.

Here, the 3-degree-of-freedom angle adjusting portion for adjusting the angle of the ultrasonic probe may include a plurality of actuators provided at regular intervals on a virtual circumference having the center of the circle as the center of the circle.

The three-degree-of-freedom angle adjusting portion for adjusting the angle of the ultrasonic probe may include three actuators provided at intervals of 120 degrees on a virtual circumference having the center of the circle as the center of the circle.

In addition, in the 3-degree-of-freedom angle adjusting unit for adjusting the angle of the ultrasonic probe, the angle of the ultrasonic probe is adjusted as a plurality of actuators are driven up and down differently from each other.

Further, in the three-degree-of-freedom angle adjusting unit for adjusting the angle of the ultrasonic probe, the projecting height of the ultrasonic probe is adjusted as a plurality of actuators are driven in the same up and down direction.

The input unit for adjusting the position and angle of the ultrasonic probe includes a first input unit for controlling the position of the three-axis (xyz) transfer unit for adjusting the position of the ultrasonic probe and a second input unit for controlling the angle of the three- 2 input section.

Here, the first input unit comprises a joystick for controlling the positions of the first and second transfer tables in the x and y axes, and a button for controlling the position of the third transfer table in the z axis.

The second input unit includes an input base unit, an input ultrasonic probe support unit mounted on the upper surface of the input base unit, and a plurality of input actuators disposed between the input base unit and the input ultrasonic probe support unit. In accordance with the control of the second input unit, Is controlled in the same manner.

Here, the control unit may include an algorithm for displaying the progress path and the position of the ultrasound on the monitor in cooperation with the cerebral blood vessel photograph of the patient or the pre-stored reference cerebral blood vessel image information so as to facilitate the tracking of the cerebral blood vessel of the patient to be measured.

According to the cerebral blood flow measurement system of the present invention, the position and angle of the ultrasonic probe can be easily adjusted based on the three-dimensional robotics guide technology.

In addition, in conjunction with cerebrovascular medical data, the position of the cerebral blood vessel to be measured is precisely estimated, and the cerebral blood flow is measured.

FIG. 1 is a configuration diagram showing a cerebral blood flow measurement system according to the present invention,
FIG. 2 is a configuration diagram showing a conveyance unit according to the present invention,
3 to 4 are block diagrams showing an angle adjusting unit according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a configuration diagram showing a cerebral blood flow measurement system according to the present invention, FIG. 2 is a configuration diagram showing a conveying part according to the present invention, and FIGS. 3 to 4 are block diagrams showing an angle adjusting part according to the present invention.

1 to 3, a cerebral blood flow measurement system according to the present invention includes an ultrasonic probe; A three-axis (x-y-z) feed portion for adjusting the position of the ultrasonic probe; A three degree of freedom angle adjusting unit for adjusting the angle of the ultrasonic probe; And a controller for controlling the angle of the ultrasonic probe, wherein the three-degree-of-freedom adjusting unit for adjusting the angle of the ultrasonic probe comprises a base, an ultrasonic probe supporting part mounted on an upper surface of the base, And a plurality of actuators provided between the probe supporting portions, and the angles of the ultrasonic probe supporting portions can be adjusted by driving the plurality of actuators up and down.

The cerebral blood flow measuring system 1 according to the present invention mainly comprises a conveying unit 2, an angle adjusting unit 3, an input unit 4 and a control unit 5 and is connected to an ultrasound probe And a monitor (not shown) for displaying a progress path and a position of the display unit 11.

2, the x-axis of the conveying unit 2 includes a first conveying table 211, an x-axis guide unit 212, a first connecting member 213, And a y-axis is constituted by a second transfer table 221, a y-axis guide part 222, a second connecting member 223 and a second stepping motor 224, and the z- A transfer table 231, a z-axis guide portion 232, a third linking member 233, and a third stepping motor 234.

The first transfer table 211 is in the form of a rectangular parallelepiped and has a configuration in which the first transfer table 211 is pierced and coupled by the x-axis guide portion 212. The first transfer table 211 moves along the x-axis guide part 212 and the base part 31 of the angle adjusting part 3 is mounted and fixed to the first transfer table 211.

The x-axis guide portion 212 may be composed of two circular bars and may be combined with the first feed table 211, but the number of bars of the x-axis guide portion 212 is not limited thereto.

The x-axis guide portion 212 is provided with a first connection member 213 at one side thereof and the other side thereof may be formed with a blocking plate which blocks the end of the x-axis guide portion 212. The x-axis guide portion 212 serves as a rail through which the first transfer table 211 moves.

The first linking member 213 has a b shape and is provided on one side of the x-axis guide portion 212. The first linking member 213 provides a space for installing the first stepping motor 214 inside the b shape and the first linking member 213 is attached and fixed to the second transfer table 221.

The first stepping motor 214 is installed inside the bifurcated structure of the first linking member 213 and provides a driving force for the first transfer table 211 to move along the x-axis guide portion 212.

The first stepping motor 214 rotates in units of a certain angle (1.8 degrees) in proportion to the number of input pulses. In order to realize accurate distance movement to the patient's measurement site, using the driving device as a stepping motor requires accuracy And ease of control.

The second transfer table 221 has a rectangular parallelepiped shape and is configured such that the second transfer table 222 is coupled through the y-axis guide portion 222. The second transfer table 221 moves along the y-axis guide part 222 and the first connection member 213 is mounted and fixed to the second transfer table 221.

The y-axis guide portion 222 is formed of two round bars, a second connecting member 223 is provided on one side, and a blocking plate is formed on the other side to block the end of the y-axis guide portion 222. The y-axis guide portion 222 serves as a rail through which the second transfer table 221 moves.

The second linking member 223 has a U-shaped shape and is provided on one side of the y-axis guide portion 222. The second linking member 223 provides a space for installing the second stepping motor 224 inside the U shape and the second linking member 223 is attached to the third transfer table 231 and fixed.

The second stepping motor 224 is installed inside the C-shaped structure of the second linking member, and the second transfer table 221 provides a driving force for moving along the y-axis guide portion 222.

The second stepping motor 224 rotates in units of a certain angle (1.8 degrees) in proportion to the number of input pulses. In order to realize accurate distance movement to the patient's measurement site, using the driving device as a stepping motor requires accuracy And ease of control.

The third transfer table 231 is in the form of a rectangular parallelepiped, and the third transfer table 231 is pierced and coupled by the z-axis guide portion 232. The third transfer table 231 moves along the z-axis guide portion 232 and the second linking member 223 is mounted on the third transfer table 231 and fixed.

The z-axis guide portion 232 is formed of two rods, a third connecting member 233 is provided on one side, and a blocking plate is formed on the other side to block the end of the z-axis guide portion 232. The z-axis guide portion 232 serves as a rail through which the third transfer table 231 moves.

The third linking member 233 has a b shape and is provided on one side of the z-axis guide portion 232. The third connecting member 233 provides a space in which the third stepping motor 234 is installed inside the b-shaped portion.

The third stepping motor 234 is installed inside the bifurcated structure of the third linking member 233 and the third transfer table 231 provides a driving force for moving along the z-axis guide portion 232.

The third stepping motor 234 rotates by a certain angle (1.8 degrees) in proportion to the number of input pulses. It is desirable to use a driving device as a stepping motor in order to realize a precise distance movement to a patient's measurement site in terms of accuracy and ease of control.

Since the third stepping motor 234 is located at the lowermost end, the load of the xy-axis conveying unit 2 and the angle adjusting unit 3 is supported, and a load of up to 2.4 kg is applied. Therefore, 33 g · cm 2) can be maintained.

Next, referring to FIGS. 1 and 3, an angle adjusting unit 3 according to an embodiment of the present invention will be described. The angle adjusting unit 3 includes an angle adjusting unit 3, an ultrasonic probe 11, The ultrasonic probe supporting portion 32 and the actuator 33. The ultrasonic probe supporting portion 32 includes a base portion 31, an ultrasonic probe supporting portion 32, and an actuator 33,

Here, the base portion 31 is in the form of a flat plate and is attached and fixed to the first transfer table 211. A plurality of actuators may be installed and fixed on a virtual circumference having a center of the circle as the center of the base 31. In the embodiment of the present invention, three actuators 33 are installed at intervals of 120 degrees And is fixed.

The ultrasonic probe supporting portion 32 is formed in such a manner that three extending portions are formed at intervals of 120 degrees on a virtual circumference having the center of the circle as the center of the ultrasonic probe supporting portion 32 to be connected and fixed to the three actuators 33, The three extensions are connected and fixed to the three actuators 33. [ The ultrasonic probe support portion 32 is formed with an opening at its center, and an ultrasonic probe 11 is installed to protrude from the opening.

The actuator 33 is installed between the base 31 and the ultrasonic probe support 33 in parallel at regular intervals on a virtual circumference with the center of the base 31 as the center of the circle.

In addition, the actuator 33 adjusts the length of the actuator 33 in proportion to the analog input voltage, and adjusts the angle of the ultrasonic probe support portion 32 and performs a slight forward / backward movement by up / .

4, when the diameter of the actuator 3 is 115 mm and the height is 148 mm, the angles of movement of the three actuators 33 are ± 20 ° in the roll and pitch directions, , And the front and back displacement (Z translation) is ± 12 mm.

In addition, when adjusting the angle? In the cross-sectional direction and the angle? 'In the tubular surface direction by the three actuators 33, the lengths of the three actuators can be obtained by Equation (1).

[Equation 1]

The angle in the cross-sectional direction (?) Is an angle in the roll direction, and is an angle change from the tip of the forehead to the direction of the occiput relative to the side of the patient's face. The angle (Θ ') in the coronal plane direction is the angle in the pitch direction, which is the angle change from the top of the head to the submandibular direction with respect to the side of the patient's face. In Equation (1), H is the height according to the length change of the three actuators 33, and R is the length from the center of the base portion 31 to the actuator 33.

1, the input unit 4 includes a first input unit (not shown) for controlling the position of the transfer unit 2 and a second input unit And a second input unit 42 for angle control of the angle adjusting unit 3 and the angle adjusting unit 3.

The first input unit 41 is configured to control the conveying unit 2 and includes a joystick 411 and a button 412.

The joystick 411 controls the positions of the first conveyance table 211 and the second conveyance table 221 which are moved by the x-axis guide part 212 and the y-axis guide part 222. On the other hand, the left and right controls of the joystick 411 control the position of the first transfer table 211 in the x-axis, and the upper and lower controls of the joystick 411 control the position of the second transfer table 221 ).

The button 412 is configured to control the position of the third transfer table 231 in the z axis. The button 412 is composed of two pieces, and the one button controls the third transfer table 231 in the downward direction of the z axis An input button for moving the other one button, and an input button for moving the other button upward on the z axis.

The joystick 411 and the button 412 of the first input unit 41 may be combined to enable the control of the conveying unit 2 by the joystick 411 alone.

For example, the left / right control of the joystick 411 controls the position of the first transfer table 211 in the x-axis, and the up / down control of the joystick 411 controls the position of the second transfer table 221 and controls the position of the third feeding table 231 to move downward or upward in the z axis by pressing or pulling the joystick 411. [

The second input unit 42 is configured to control the angle adjusting unit 3 and includes an input base unit 421, an input ultrasonic supporter 422 and an input actuator 423. Since the mounting of the ultrasonic probe 11 is not required, no opening is formed.

The second input unit 42 is configured in the same manner as the angle adjusting unit 3 for easy control of the angle adjusting unit 3. When the user controls the second input unit 42, And operates in the same manner as the second input section 42.

In addition, an angle (? ') In the tubular surface direction and an angle (?) In the cross-sectional direction according to the lengths of the three actuators (33) input from the second input unit (42) can be obtained.

&Quot; (2) "

X is one vertex above the triangle (Δ), and Y and Z are the bottom two vertices.

Next, the control unit 5 receives an input signal from the input unit 4 and sends an operation signal for adjusting the transfer unit 2 and the angle adjusting unit 3, and also controls the position and angle of the ultrasonic probe 11 Is displayed on the monitor in association with the previously stored cerebral blood vessel image information.

The input signal from the first input unit 41 is transmitted as an operation signal for moving the first transfer table 211 of the transfer unit 2 when the joystick 411 is moved leftward and rightward, When moved downward, it is transmitted as an operation signal for moving the second transfer table 221 of the transfer unit 2.

When one of the two buttons 412 is pressed, an input signal for moving the third transfer table 234 downward is transmitted as an operation signal for moving the third transfer table 234 via the control unit 5, and An input signal for moving the third transfer table 234 upward is transmitted as an operation signal for moving the third transfer table 234 upward via the control unit 5. [

The length of the X, Y, and Z actuators 33 input from the second input unit 42 by the measurer is transmitted to the controller 5 to calculate the angle? 'In the tubular plane direction and the angle?' In the cross- And the angle Θ 'of the transformed tubular surface direction and the angle Θ of the transverse direction are converted into angles θ by using the X, Y, and Z actuators 33 of the angle adjusting unit 3 according to Equation (1) , And is transmitted as an operation signal to the angle adjusting unit 3. [

In addition, the control unit 5 estimates the path of the ultrasonic wave based on the previously stored cerebral blood vessel image information and the input signal of the position and angle of the ultrasonic probe 11 input from the input unit 4, and provides the estimated path to the monitor .

The controller 5 may include an algorithm for displaying the progress path and the position of the ultrasound on the monitor in cooperation with the cerebral blood vessel photograph of the patient or the pre-stored reference cerebral blood vessel image information to facilitate the tracking of the cerebral blood vessel of the patient to be measured.

The algorithm displays the position and angle of the current ultrasonic probe 11 on the monitor, displays the position of the target cerebral blood vessel based on the cerebral blood vessel photograph of the patient, and displays the position of the ultrasound probe 11 on the basis of the position and angle of the ultrasonic probe 11 And guiding the path and position of the target cerebral blood vessel to match the position of the target cerebral blood vessel.

It will be apparent to those skilled in the art that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. It should be seen as belonging.

1: cerebral blood flow measurement system 2: feed part 3: angle adjusting part
4: Input part 5: Control part 11: Ultrasonic probe
211: first transfer table 212: x-axis guide portion
213: first connecting member 214: first stepping motor
221: second transfer table 222: y-axis guide section
223: second connecting member 224: second stepping motor
231: third transfer table 232: z-axis guide portion
233: third connecting member 234: third stepping motor
31: base portion 32: ultrasonic probe supporting portion
33: actuator 41: first input section
411: Joystick 412: Button
42: second input section 421: input base section
422: input ultrasonic probe supporting portion
423: Input actuator

Claims (12)

An ultrasonic probe;
A three-axis (xyz) transfer unit for position adjustment of the ultrasonic probe;
A three-degree-of-freedom angle adjusting unit for adjusting the angle of the ultrasonic probe;
An input unit for adjusting the position and angle of the ultrasonic probe;
And a controller of the ultrasonic probe,
Wherein the angle adjusting three-degree-of-freedom angle adjusting unit of the ultrasonic probe comprises a base, an ultrasonic probe supporting part mounted on the upper surface of the base part, and a plurality of actuators provided between the base part and the ultrasonic probe supporting part, The angle of the ultrasonic probe support portion is adjusted by the upward and downward driving,
The three-axis (xyz) transfer unit for positional adjustment of the ultrasonic probe includes:
a first conveying table that moves along the x-axis guide portion, a first connecting member installed at one side of the x-axis guide portion, And a first stepping motor installed at one side of the first linking member and providing a driving force to the first transfer table,
a second conveying table moving along the y-axis guide portion, a second connecting member provided on one side of the y-axis guide portion, And a second stepping motor installed at one side of the second linking member and providing a driving force to the second transfer table,
a third conveying table moving along the z-axis guide portion, a third connecting member provided on one side of the z-axis guide portion, And a third stepping motor installed at one side of the third linking member to provide a driving force to the third transfer table.
delete The method according to claim 1,
Wherein a base portion of the angle adjusting portion is fixed to the first transfer table, the first connecting member is fixed to the second transfer table, and the second connecting member is fixed to the third transfer table. system.
The method according to claim 1,
In the ultrasonic probe supporting portion,
Wherein an opening is formed at the center of the supporter of the ultrasonic probe and an ultrasonic probe is installed at an opening of the supporter of the ultrasonic probe and the angle of the ultrasonic probe is adjusted by driving the actuators up and down. Cerebral blood flow measurement system.
The method according to claim 1,
Wherein the angle adjusting three-degree-of-freedom angle adjusting unit of the ultrasonic probe comprises:
And a plurality of actuators provided at regular intervals on a virtual circumference with the center of the base as a center of the circle.
6. The method of claim 5,
Wherein the angle adjusting three-degree-of-freedom angle adjusting unit of the ultrasonic probe comprises:
And three actuators provided at intervals of 120 degrees on a virtual circumference having the center of the base as the center of the circle.
6. The method of claim 5,
In the three-degree-of-freedom angle adjusting portion for adjusting the angle of the ultrasonic probe,
Wherein the angle of the ultrasonic probe is adjusted as the plurality of actuators are driven up and down differently from each other.
6. The method of claim 5,
In the three-degree-of-freedom angle adjusting portion for adjusting the angle of the ultrasonic probe,
Wherein the projection height of the ultrasonic probe is adjusted as the plurality of actuators are driven in the same up and down direction.
The method according to claim 1,
Wherein the input unit for adjusting the position and angle of the ultrasonic probe includes:
A first input unit for controlling the position of the three-axis (xyz) transfer unit for controlling the position of the ultrasonic probe; And
A second input unit for angle control of the 3-degree-of-freedom angle adjusting unit for adjusting the angle of the ultrasonic probe; And a cerebral blood flow measurement system.
10. The method of claim 9,
Wherein the first input unit comprises:
a joystick for controlling the positions of the first transfer table and the second transfer table in the x- and y-axes; And
and a button for controlling the position of the third transfer table on the z-axis.
10. The method of claim 9,
Wherein the second input unit comprises:
An input base portion;
An input ultrasonic probe supporting part mounted on an upper surface of the input base part; And
And a plurality of input actuators provided between the input base unit and the input ultrasonic probe supporting unit,
And a third degree-of-freedom angle adjusting unit for controlling the angle of the ultrasonic probe is controlled in accordance with the control of the second input unit.
The method according to claim 1,
Wherein,
And an algorithm for displaying the progress path and the position of the ultrasound on the monitor in cooperation with the cerebral blood vessel photograph of the patient or the pre-stored reference cerebral blood vessel image information so as to facilitate the tracking of the cerebral blood vessel of the patient to be measured. .

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