KR101516241B1 - Ultrasound system and control method for the same - Google Patents

Abstract

The present invention provides an ultrasound diagnostic apparatus, an ultrasound system, and a control method thereof, which can tactually output a bio-signal or a motion signal of a target object so that the state of the target object can be felt by touch. According to one aspect of the present invention, there is provided an ultrasonic diagnostic apparatus comprising: a signal acquiring unit acquiring an ultrasonic signal relating to a target object; A signal generator for generating a biological signal or a motion signal relating to a target object from the obtained ultrasound signal; A signal converting unit for converting a bio-signal or a motion signal related to the object into a tactile signal; And a signal transmitter for transmitting the haptic signal to the haptic device.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an ultrasound system,

The present invention relates to an ultrasound system for converting an ultrasound signal acquired for a target object into a sensory signal and outputting the ultrasound signal and a control method thereof.

Ultrasonic diagnostic devices have non-invasive and non-destructive properties and are widely used in the medical field to obtain information inside the object. In particular, an ultrasound diagnostic system can visualize the fetal condition and show it to a pregnant woman or use a Doppler signal to audibly hear the fetal heartbeat.

This not only makes it possible to diagnose the condition of the fetus, but also the pregnant woman can feel the bond with the fetus and have a touching experience.

Thus, providing sensory output of the fetal state can be a useful service to the mother, and development of various technologies capable of outputting the fetal state as well as auditory or visual tactile sense is required.

The present invention provides a sound wave system and a control method for converting a bio-signal or a motion signal of a target into a sensory signal including a visual, auditory, and tactile sense, and outputting the sensed signal so that the state of the target object can be sensed in various senses.

According to one aspect of the present invention, there is provided an ultrasonic diagnostic apparatus comprising: a signal acquiring unit acquiring an ultrasonic signal relating to a target object; A signal generator for generating a biological signal or a motion signal relating to a target object from the obtained ultrasound signal; A signal converter for converting a bio-signal or a motion signal related to the object into a sensory signal; And a signal transmitter for transmitting the sensory signal to the haptic device.

The signal converting unit may convert a bio-signal of the subject into a digital signal including characteristics of a biological signal, and convert the pulse signal into the sensory signal.

The bio-signal is a heartbeat signal, and the signal converter may convert the intensity of the sensory signal differently according to the intensity of the bio-signal.

The bio-signal is a heartbeat signal, and the signal converter may convert the output time of the sensory signal differently according to the strength of the bio-signal.

The signal generator may generate a motion signal of the object by applying a tracking algorithm.

The ultrasound system may further include an input unit for setting a motion recognition target and a reference line.

The signal generating unit may generate a motion signal based on the set motion detection target and the relation between the reference line.

The signal generating unit may generate the motion signal when the distance between the set motion detection target and the reference line approaches a preset distance or less.

The ultrasound system may further include a haptic device that receives a sensory signal transmitted from the signal transmitter and outputs the sensed signal in a tactile and aural manner.

And an input unit for setting reaction sensitivity of the haptic device with respect to a biological signal or a motion signal of the object.

The ultrasound system may further include a storage unit for storing the sensory signal, and the sensory signal stored in the storage unit may be loaded and transmitted to the haptic device through the signal transmission unit.

The haptic device may further include: a signal receiver for receiving the sensory signal from the signal transmitter; A storage unit for storing the received sensory signal; And an actuator that is driven according to a sensed signal loaded when the sensed signal stored in the storage unit is loaded.

An ultrasound system according to an aspect of the present invention includes: an ultrasound system; Generating a biological signal or a motion signal of the object from the obtained ultrasonic signal; Converting a biological signal or a motion signal of the object into a sensory signal; And transmitting the sensed signal to the haptic device.

Converting the biological signal of the subject into a sensory signal may include converting the biological signal of the subject into a pulse signal and converting the pulse signal into the sensory signal.

The biomedical signal may be a heartbeat signal and the converting of the biomedical signal of the subject into a sensory signal may include converting the sensory signal intensity differently according to the strength of the biometric signal.

The biomedical signal may be a heartbeat signal and the converting of the biomedical signal of the subject into a sensory signal may include converting the sensory signal output time differently according to the strength of the biometric signal.

The generating of the motion signal of the object may include generating a motion signal of the object by applying a tracking algorithm.

The control method of the ultrasound system may further comprise setting a motion recognition object and a reference line to generate a motion signal of the object.

Generating the motion signal of the object may include generating a motion signal based on the relationship between the set motion target and the reference line.

The generation of the motion signal of the object may include generating the motion signal when the distance between the set motion target and the reference line approaches a preset distance or less.

The control method of the ultrasound system may further include receiving the sensory signal from the haptic device and outputting the sensing signal in a tactile and audible manner.

The control method of the ultrasound system may further include setting a reaction sensitivity of the haptic device with respect to a biological signal or a motion signal of the object.

The control method of the ultrasound system may further include storing the converted sensed signal and transmitting the sensed signal to the haptic device may include loading the stored sensed signal and transmitting the sensed signal to the haptic device have.

The tactile and audible output of the sensory signal in the haptic device may include storing the received sensory signal; And driving the actuator according to the loaded sensed signal when the stored sensed signal is loaded.

According to the present invention, it is possible to make the state of a target object feel various sensations such as visual, auditory, and tactile sensations. Particularly, when the target object is a fetus, the heartbeat and the fetal heart of the fetus can be sensed with various senses By making you feel that you can improve the bond between the fetus and pregnant women. In addition, it can reproduce the heartbeat and the birth of the fetus in a place other than a hospital such as a home.

FIG. 1 is a control block diagram of an ultrasound image system according to an embodiment of the present invention.
2 is an external view illustrating an overall configuration of an ultrasound imaging system according to an embodiment of the present invention.
3 is a control block diagram showing the configuration of the signal acquiring unit.
4 shows a fetal heartbeat signal generated by the signal generator.
5A shows a pulse signal based on the fetal heartbeat signal.
5B shows the tactile signal converted from the pulse signal.
In FIG. 6A, a signal indicating the intensity of the vibration varies according to the intensity of the heartbeat signal.
6B shows a signal in which the vibration time varies according to the intensity of the heartbeat signal.
7 is a control block diagram of an ultrasound system further including an input unit and a display unit.
8A and 8B show diagrams relating to generation of a motion signal of a fetus.
9 is a control block diagram of an ultrasound system capable of storing and loading biological signals or motion signals of a target object.
FIG. 10 is a flowchart illustrating a method of controlling an ultrasound system according to an embodiment of the present invention.
FIG. 11 is a flowchart illustrating a control method of an ultrasonic system for expressing fetal movement by applying a tracking algorithm and a collision detection algorithm.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a control block diagram of an ultrasound image system according to an embodiment of the present invention. FIG. 2 is an external view illustrating an overall configuration of an ultrasound image system according to an embodiment of the present invention.

Referring to FIG. 1, an ultrasound system 100 according to an embodiment of the present invention includes a signal acquisition unit 110 for acquiring an ultrasound signal of a target object, a bio-signal or a motion signal of the object from the obtained ultrasound signal A signal converting unit 130 for converting a biological signal or a motion signal of a target object into a sensory signal, a signal transmitting unit 140 for transmitting the sensed signal to the haptic device, And a haptic device 150 for implementing the haptic device. Here, the sensory signal includes a tactile signal, and in some cases, it may further include an auditory signal or a visual signal.

The signal acquisition unit 110, the signal generation unit 120, the signal conversion unit 130 and the signal transmission unit 140 may be included in the ultrasonic diagnostic apparatus 101. As shown in FIG. 2, 150 are connected to the ultrasonic diagnostic apparatus 101 through a wireless or wired network and receive a tactile signal.

The haptic device 150 includes a signal receiving unit 151 for receiving a tactile signal and an actuator 153 driven according to the received tactile signal. The haptic device 150 may be a device having a haptic function added to a portable device such as a mobile phone or a separate device provided for haptic implementation. Therefore, the haptic device 150 may be any device capable of driving a tactile sense by being driven according to a transmitted tactile signal, and there is no limitation to the type.

3 is a control block diagram showing the configuration of the signal acquiring unit.

3, the signal acquisition unit 110 includes a transmission signal generation unit 111 that generates a transmission signal to be transmitted to a target object, a transmission signal generation unit 111 that receives the transmission signal, converts the transmission signal, And a beam former 113 that receives the ultrasound echo signals received by the probe 112 and the probe 112 and generates a receive focus signal.

The ultrasonic probe 112 includes a plurality of transducer elements for converting an ultrasonic signal and an electric signal, and a driving unit for driving the transducer to swing. The driving unit includes a stepping motor Lt; / RTI >

When the transmission signal is transmitted from the transmission signal generation unit 111, the conversion element converts the transmitted transmission signal into an ultrasonic signal, transmits the ultrasonic signal to the object, and receives the ultrasonic echo signal reflected from the object to generate a reception signal. Here, the received signal is an analog signal.

Specifically, the ultrasonic probe 112 appropriately delays the input time of the pulses input to each conversion element, thereby transmitting the focused ultrasonic beam along the scan line to the object. On the other hand, the ultrasonic echo signals reflected from the object are input to the conversion elements with different reception times, and each conversion element outputs the input ultrasonic echo signals.

The beam former 113 adjusts the driving timing of each conversion element of the probe 112 when the probe 112 transmits an ultrasonic wave to focus the ultrasonic wave to a specific position. When the reception signal is transmitted from the probe 112, Into a digital signal. Then, the reception-focused signal is generated by receiving and focusing the digital signal in consideration of the position of the conversion element and the focal point. Hereinafter, the ultrasound signal may be a receive focusing signal output from the beam former 113, or may be an ultrasound image signal subjected to image processing so as to image the object.

The signal generating unit 120 generates a biological signal or a motion signal of the object from the ultrasound signal of the object. First, an embodiment for generating a bio-signal of a target object will be described.

4 shows a fetal heartbeat signal generated by the signal generator.

There are many types of bio-signals of a subject. When the subject is a fetus, the bio-signal may be a heartbeat signal, and a Doppler effect may be used to generate a heartbeat signal of the fetus from the ultrasound signal. Ultrasonic waves irradiated into the human body from the ultrasonic probe 112 are returned by colliding with moving objects in the human body. The reflected ultrasonic waves and the returned ultrasonic waves have different frequencies. This frequency difference is called a Doppler shift, and a phenomenon in which a Doppler shift appears is called a Doppler effect.

Specifically, the ultrasonic waves irradiated from the ultrasonic probe 112 into the abdomen of the pregnant woman are reflected by the moving parts synchronized with the heartbeat of the fetus such as the heart wall of the fetus, the blood vessel walls, and the blood, and the reflected ultrasonic waves are reflected at a shifted frequency I have. Accordingly, the signal generating unit 120 may extract a frequency-shifted signal from the ultrasound signal to generate a fetal heartbeat signal as shown in FIG.

5A shows a pulse signal based on a fetal heartbeat signal, and FIG. 5B shows a haptic signal converted from a pulse signal.

The signal converting unit 130 converts the heartbeat signal of FIG. 4 into a tactile signal. Referring again to FIG. 4, since the heartbeat signal of the fetus has a periodicity in accordance with the ventricular contraction, the signal conversion unit 130 generates a simple digital signal as shown in FIG. 5A based on the ventricular contraction shown in the heartbeat signal, For example, a pulse signal. Digital signals include the characteristics of a heartbeat signal.

Then, the signal converting unit 130 generates a tactile signal as shown in FIG. 5B based on the generated pulse signal. The haptic signal is a signal that causes the haptic device 150 to perform an operation that can vibrate or otherwise implement a tactile sense. The signal transmitting unit 140 transmits a tactile signal to the haptic device 160 through a wired or wireless network, and the tactile signal implements a tactile sense through the haptic device 160.

Haptic refers to all sensations felt from external mechanical, thermal, chemical and electrical stimuli in human skin, muscle, tendon and joints, and tactile senses are divided into tactile and kinesthetic have.

The sense of touch is the sensation of the geometric shape, roughness, temperature and slip of the contact surface through the skin sensation spreading in and around the skin such as the palm of the hand. In addition, the reversed sense is a sensation that senses the total contact force, flexibility, and weight through the receptive senses of the bones and joints as well as the muscles of the fingers, wrists and arms.

 For example, when vibration occurs in the haptic device 160 according to the haptic signal shown in FIG. 5B, the user can feel the heartbeat of the fetus through the vibration.

Meanwhile, the haptic device 150 can implement not only the tactile sense, but also other senses such as visual and auditory sense along with the tactile sense. For this purpose, the signal converting unit 130 may convert the heartbeat signal, which is a biological signal, into an auditory signal, and may transmit the converted auditory signal to the haptic device 160 through the signal transmitting unit 140. Then, the haptic device 160 can output the heartbeat sound of the fetus through the speaker.

The ultrasound signal acquired by the signal acquisition unit 110 may be transmitted to the haptic device 150 through the signal transmission unit 140 and the haptic device 150 may transmit the ultrasound signal, Can be displayed visually through the display. In addition, the Doppler signal generated by the signal generating unit 120 can also be transmitted to the haptic device 150 through the signal transmitter 140 and output in the form of a graph through display, The image as shown in FIG. 4A can be output through the haptic device 150. [0156] FIG. However, the embodiment of the present invention is not limited thereto, and it is possible to output any visual signal related to the state of the fetus through the haptic device 150.

In FIG. 6A, a signal indicating the intensity of the vibration according to the intensity of the heartbeat signal is shown. In FIG. 6B, a signal showing the vibration time varies according to the intensity of the heartbeat signal.

The tactile signal of FIG. 5B is a signal expressing only the heartbeat cycle of the fetus. In the ultrasound system according to the embodiment of the present invention, not only the heartbeat cycle of the fetus but also the heartbeat intensity of the fetus can be represented by a tactile sense. For example, as shown in FIG. 6A, The intensity of the vibration signal can be made different. Accordingly, the haptic device 150 strongly outputs the intensity of the vibration as the heartbeat intensity of the fetus becomes stronger.

As another example, as shown in FIG. 6B, the vibration generation time may be different according to the intensity of the heartbeat signal of the fetus. Accordingly, the haptic device 160 outputs a longer vibration generation time as the heartbeat intensity of the fetus becomes stronger.

The haptic device 160 can express the heartbeat of the fetus through not only the same vibration but also the backwardness as described above. As an example, it is possible to adopt a method in which the liquid is concentrated at a predetermined position of the haptic device 160 so as to inflate, so that contraction and expansion can be repeated according to the tactile signal shown in FIG. 5B to express the heartbeat of the fetus have. The position where the liquid is concentrated may be a fixed position that reaches the user's hand, a position of the heart of the fetal image displayed on the display unit of the haptic device 160, or an arbitrary position designated by the user.

In addition, it is also possible to express only the heartbeat cycle of the fetus according to the signal shown in FIG. 5B, and it is also possible to express the degree of expansion of the liquid differently according to the heartbeat intensity of the fetus by the signal shown in FIG. It is also possible to express the liquid inflation time differently according to the heartbeat intensity of the fetus by the signals shown in FIGS.

As mentioned above, since the auditory signal can also be outputted through the haptic device 150, the heartbeat of the fetus can be expressed with the sense of touch as well as with the auditory sense, that is, with the sound, It is also possible to express the size of the sound differently and to express the sound output time differently.

The embodiments described with reference to FIGS. 4 to 6 relate to an ultrasound system in which the heartbeat of a fetus is expressed by a tactile sense or the like when the subject is a fetus. Hereinafter, an ultrasound system that expresses the motion of a fetus (tactile sense) by a sense of touch or the like will be described.

FIG. 7 is a control block diagram of an ultrasound system further including an input unit and a display unit, and FIGS. 8A and 8B show diagrams related to generation of motion signals of a fetus.

Referring to FIG. 7, the ultrasound system illustrated in FIG. 1 may further include an input unit 160 for receiving a user command for signal generation and a display unit 170 for displaying an internal image of the object.

The signal generating unit 120 may generate a motion signal of the fetus. As an example of this, a tracking algorithm and a collision detection algorithm can be applied.

The ultrasound signal acquired by the signal acquisition unit 110 may include a two-dimensional or three-dimensional ultrasound image signal of the fetus. 8A, when the ultrasound image signal of the fetus acquired by the signal acquisition unit 110 is outputted through the display unit 170, the user sets a reference line and a motion recognition object through the input unit 160 . When the display unit 170 is implemented as a touch screen, the touch screen controls the functions of the display unit 170 and the input unit 160. For example, You can do it all.

The input unit 160 and the display unit 170 may be provided in the ultrasonic diagnostic apparatus 101 or may be provided in the haptic device 150 and may be provided in the ultrasonic diagnostic apparatus 101 and the haptic device 150, Or the like.

The signal generating unit 120 can grasp the movement of the set object in real time by applying a tracking algorithm such as particle tracking, Kalman tracking, and blob detection.

Then, the signal generator 120 determines whether or not the relationship between the reference line and the object satisfies predetermined conditions. Here, the preset condition is a condition for determining whether the set object has moved when the reference line is taken as a reference. For example, the case where the distance between the reference line and the object approaches a predetermined distance or less or the case where the set object touches the reference line can be set as a condition for tactile signal generation.

In the latter case, the motion of the set target is tracked in real time. When the set object touches the reference line as shown in FIG. 8B, that is, when the set object collides with the reference line, the signal generating unit 120 generates a motion signal indicating the motion of the fetus , The signal converting unit 130 converts the motion signal into a tactile signal such as a vibration signal and transmits the tactile signal to the haptic device 150 through the signal transmitting unit 140.

The signal converting unit 130 may convert the motion signal of the fetus into an audible signal and transmit the signal to the haptic device 150 through the signal transmitting unit 140. Here, the audible signal may be a sound indicating that the set object collides with the reference line, or may be a sound capable of sensing the motion of the fetus.

8A and 8B may also be transmitted to the haptic device 150 and visually output through the display.

9 is a control block diagram of an ultrasound system capable of storing and loading biological signals or motion signals of a target object.

The ultrasound system according to an embodiment of the present invention may store bio-signals or motion signals of a target object, and may load and output the bio-signals or motion signals when necessary. The ultrasound system 100 further includes a storage unit 180 for storing the sensed signals converted by the signal converting unit 140. The haptic device 150 includes a storage unit 152 for storing transmitted sensed signals, As shown in FIG.

The user stores the ultrasound image and the sensory signal of the fetus acquired at the time of diagnosis of the pregnant woman in the storage unit 180 so as to check the fetal state again or when the pregnant woman wants to feel the newborn again, Can be loaded and output.

When the haptic device 150 is implemented as a portable device such as a mobile phone, the pregnant part receives the fetal ultrasound image and the sensory signal from the ultrasound diagnostic device 101, stores it in the memory 152, So that the sensory signal can be output through the haptic device 150 in a tactile sense such as vibration.

On the other hand, as another method of outputting the motion of the object by a tactile sense, there is a method of outputting a motion vibration wave in accordance with the motion of the object. When this method is applied, a tactile signal can be outputted so that the vibration flows according to the movement of the object.

Specifically, when the target object is a fetus, the ultrasound image acquired by the signal acquisition unit 110 and the tactile signal generated by the signal conversion unit 130 are transmitted to the haptic device 150, The tactile signal is output as a moving vibration wave in synchronism with the motion of the fetus in the ultrasound image displayed through the display unit 170. [ That is, the vibration outputted through the display unit 170 flows on the surface of the display unit 170 in synchronization with the movement of the fetus. In this case, the pregnant woman can feel the movement of the fetus more dynamically.

Meanwhile, the reaction sensitivity can be set through the input unit 160, and the reaction sensitivity means a degree of response of the haptic device to a biological signal or a motion signal of the object. When the response sensitivity is set low, the tactile sense is output. When the response sensitivity is set high, the tactile sense is outputted.

It is also possible to designate the position where the subject is to be generated through the input unit 160. For example, when the heartbeat signal of the fetus is generated using the Doppler effect, it is possible to automatically set the heart position of the fetus by locating the frequency shifted portion. However, when the user views the ultrasound image of the fetus, ), It is also possible to designate the heart position directly.

The haptic device 150 includes the signal converting unit 130 and the signal converting unit 130. The signal converting unit 130 may be included in the ultrasonic imaging apparatus 101. However, The haptic device 150 may generate a biological signal or a motion signal of a fetus in the generation unit 120 and transmit the biological signal or the motion signal to the haptic device 150 so that the haptic device 150 converts the biological signal or the motion signal into a sensory signal such as a tactile signal,

Hereinafter, an embodiment of a method of controlling an ultrasonic system according to an aspect of the present invention will be described with reference to flowcharts.

FIG. 10 is a flowchart illustrating a method of controlling an ultrasound system according to an embodiment of the present invention. For the sake of concrete explanation, the object will be described as a fetus in this embodiment.

Referring to FIG. 10, an ultrasound signal regarding the fetus is obtained (311). The ultrasonic signal can be obtained by a general method of obtaining an ultrasonic signal by contacting an ultrasonic probe to the abdomen of a pregnant woman.

And generates a fetal heartbeat signal or a motion signal from the obtained ultrasound signal (312). The heartbeat signal of the fetus can be generated by using the Doppler effect, and the fetal heartbeat signal can be generated by extracting the frequency-shifted signal from the ultrasonic signal. The motion signal of the fetus will be described later.

Then, the fetal heartbeat signal or the motion signal is converted into a sensory signal (313). When converting the heartbeat signal, it is possible to convert the heartbeat signal into a simple signal such as a pulse signal, and then convert the pulse signal into a sensory signal. Here, the sensory signal may be a tactile signal such as vibration, or may include a tactile signal and a visual signal or an auditory signal. On the other hand, it is also possible that the sensory signal is stored, loaded when needed, and transmitted to the haptic device.

If the converted tactile signal is transmitted to the haptic device (314), the actuator of the haptic device operates according to the sensory signal (315). For example, when the sensory signal is a tactile signal and the haptic device is a device that vibrates by a tactile signal, the haptic device vibrates by the operation of the actuator, and the user can feel the heartbeat or movement of the fetus through vibration do.

As another example, it is possible to concentrate the liquid at a predetermined position of the haptic device, and to repeat the contraction and expansion according to the tactile signal to express the heartbeat of the fetus.

When the sensory signal further includes a visual signal or an auditory signal, a visual signal may be output through a display provided on the haptic device or an auditory signal may be output through a speaker. The visual signal may be a Doppler signal represented by a fetal video signal or a graph, and the auditory signal may be an acoustic signal representing a heartbeat.

At this time, the user can set the reaction sensitivity, and the haptic device can adjust the intensity of the sensed signal according to the set sensitivity. In addition, the sensory signal transmitted to the haptic device may be stored in the haptic device, and may be loaded when necessary to drive the actuator.

FIG. 11 is a flowchart illustrating a control method of an ultrasonic system for expressing fetal movement by applying a tracking algorithm and a collision detection algorithm.

Referring to FIG. 11, a reference line for motion recognition and an object to grasp motion are set (321). To this end, an ultrasound image of a target object can be displayed, and a user can set a desired reference line and an object of motion recognition in the displayed ultrasound image. In this case, the display unit on which the ultrasound image is displayed and the input unit used for setting the user may be provided in the ultrasonic diagnostic apparatus, or may be provided in the haptic device.

When the setting is completed, the motion of the set object is tracked in real time (322). At this time, a tracking algorithm such as Particle Tracking, Kalman Tracking, and Blob Detection can be applied to track the motion of an object.

Then, a tactile signal is generated based on the relationship between the set reference line and the object (323). As a specific example, if the relationship between the reference line and the object satisfies a predetermined condition, a signal indicating that the object has moved, that is, a motion signal, can be generated. Here, the preset condition is a condition for determining whether the set object has moved when the reference line is taken as a reference. For example, a case where the distance between the reference line and the object approaches a certain distance or less or a case where the object touches the reference line can be set as a condition for generating a motion signal. Then, the generated motion signal is converted into a tactile signal.

If the generated tactile signal is transmitted to the haptic device (324), the actuator of the haptic device operates according to the tactile signal (326). For example, when the haptic device is a device that vibrates by a haptic signal, the haptic device vibrates by the operation of the actuator, and the user can feel the movement of the fetus through vibration.

In addition, the fetal movement signal can be converted into an auditory signal and transmitted to the haptic device 150 through the signal transmission unit 140. Here, the audible signal may be a sound indicating that the set object collides with the reference line, or may be a sound capable of sensing the motion of the fetus.

In addition, the motion image of the fetus or the ultrasound image of the fetus can also be transmitted to the haptic device 150 and visually output through the display.

100: Ultrasonic system 101: Ultrasonic diagnostic apparatus
110: Signal acquisition unit 120: Signal generation unit
130: Signal conversion unit 140: Signal transmission unit
150: portable device 160: input unit
170: display unit 180: storage unit

Claims (22)

A signal acquiring unit acquiring an ultrasonic signal relating to a target object;
A signal generator for tracking a target object from the obtained ultrasound signal to generate a motion signal for the target object;
A signal converter for converting a motion signal related to the object into a sensory signal;
A signal transmitter for transmitting the sensory signal to the haptic device; And
The haptic device receiving and outputting the sensory signal; . The method according to claim 1,
Wherein the sensory signal comprises a tactile signal. 3. The method of claim 2,
Wherein the sensory signal further comprises an auditory signal. The method of claim 3,
Wherein the signal transmitter comprises:
And transmits the ultrasound signal and the motion signal to the haptic device as a time signal. The method according to claim 1,
And an input unit for setting a motion recognition object and a reference line. 6. The method of claim 5,
Wherein the signal generator comprises:
And generates a motion signal based on the set motion detection target and the reference line. The method according to claim 6,
Wherein the signal generator comprises:
And generates the motion signal when a distance between the set motion detection target and the reference line approaches a preset distance or less. The method according to claim 1,
In the haptic device,
And outputs the ultrasonic signal and the motion signal visually. 9. The method of claim 8,
And an input unit configured to set a reaction sensitivity of the haptic device with respect to a motion signal of the object. The method according to claim 1,
And a storage unit for storing the sensory signal,
Wherein the sensory signal stored in the storage unit is loaded and transmitted to the haptic device through the signal transmission unit. The method according to claim 1,
In the haptic device,
A signal receiver for receiving the sensory signal from the signal transmitter;
A storage unit for storing the received sensory signal; And
And an actuator that is driven according to a loaded sensed signal when the sensed signal stored in the storage unit is loaded. Acquiring an ultrasonic signal relating to the object;
Generating a motion signal of the object by tracking the object from the ultrasound signal;
Converting a motion signal of the object into a sensory signal;
Transmitting the sensed signal to the haptic device; And
Receiving and outputting the sensory signal through the haptic device; And a control unit for controlling the ultrasonic system. 13. The method of claim 12,
Wherein the sensory signal includes a tactile signal. 14. The method of claim 13,
Wherein the sensory signal further includes an auditory signal. 15. The method of claim 14,
Transmitting the sensed signal to the haptic device,
And transmitting the ultrasound signal and the motion signal as time signals to the haptic device. 13. The method of claim 12,
Further comprising setting a motion detection object and a reference line to generate a motion signal of the object. 17. The method of claim 16,
Generating the motion signal of the object comprises:
And generating a motion signal based on the set motion detection target and the reference line. 18. The method of claim 17,
Generating the motion signal of the object comprises:
And generating the motion signal when a distance between the set motion detection target and the reference line approaches a preset distance or less. 13. The method of claim 12,
And outputting the ultrasonic signal and the motion signal visually through the haptic device. 20. The method of claim 19,
And setting the response sensitivity of the haptic device to the motion signal of the object. 20. The method of claim 19,
Further comprising storing the converted sensory signal,
Transmitting the sensed signal to the haptic device,
And transmitting the stored sensed signal to the haptic device. 20. The method of claim 19,
The haptic device receives and outputs the sensory signal,
Storing the received tactile signal;
And when the stored tactile signal is loaded, driving the actuator according to the loaded tactile signal.

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