WO2019075719A1 - Ultrasonic detection device, ultrasonic control device, ultrasonic system and ultrasonic imaging method - Google Patents

Abstract

An ultrasonic system (1), comprising a first terminal and a second terminal that may communicate with each other. The first terminal is used to acquire ultrasonic image data of a detection area of a detected object, a force signal between an ultrasonic probe (1102) and the detected object, as well as first video image data of the detection area and the ultrasonic probe (1102), and controls the ultrasonic probe (1102) by means of a robotic arm module (130) on the basis of a command signal; the second terminal is used to display an ultrasonic image based on the ultrasonic image data, and a first video image based on the first video image data, and output a haptic effect on the basis of the force signal, the second terminal receiving an input signal, and determining, on the basis of the input signal, a command signal for controlling the robotic arm module (130). An ultrasonic detection device (10), an ultrasonic control device (20), and an ultrasonic imaging method for use in remote ultrasonic imaging.

Description

Ultrasonic testing device, ultrasonic control device, ultrasonic system and ultrasonic imaging method Technical field

The present invention relates to the field of ultrasonic testing, and in particular to ultrasonic devices, systems and methods suitable for remote control.

Background technique

In the medical field, ultrasound imaging uses ultrasound to scan biological tissue and receive an echo signal reflected by the biological tissue, and obtain an image of the biological tissue by processing the echo signal. Ultrasound imaging is a commonly used medical imaging technique, and ultrasound imaging equipment is widely used in clinical medical testing. However, ultrasound imaging equipment is lacking in many primary care facilities and it is not possible to provide ultrasound imaging for local residents. In recent years, this situation has improved with the government's increased investment in medical equipment procurement and the promotion of portable ultrasound imaging equipment, but there are still some problems in ultrasound imaging detection and ultrasound diagnosis.

The existing solution is mainly to set up a remote consultation center through the Internet, and the ultrasound imaging experts of high-level hospitals are provided to assist the primary medical institutions. For example, an ultrasound imaging specialist remotely directs the operator of the primary care facility to perform a corresponding ultrasound scan, and then the ultrasound imaging specialist or specialist can remotely view the ultrasound image for diagnosis. However, ultrasound imaging equipment typically requires hands-on experience by experienced professionals to obtain ultrasound images that are useful for diagnosis. In the existing remote consultation method, the ultrasound imaging expert can only view the ultrasound image of the patient at the client, and cannot know the exact position of the ultrasound imaging device (such as the ultrasound probe) corresponding to the ultrasound image of the ultrasound image, which often requires more The operator is remotely instructed and repeatedly observed the ultrasound image to make a diagnosis, which reduces the efficiency of ultrasound detection and the reliability of ultrasound diagnosis.

Summary of the invention

In view of this, it is necessary to provide an ultrasound system, apparatus, and ultrasound imaging method suitable for remote control.

The invention firstly provides an ultrasound system comprising a first terminal and a second terminal;

The first terminal includes:

An ultrasonic detecting module, configured to acquire ultrasound image data of a detection area of the object to be tested,

The ultrasonic detecting module includes an ultrasonic probe;

a haptic sensing module, configured to acquire a force signal between the ultrasonic probe and the measured object;

a robot arm module that controls the ultrasonic probe based on a command signal;

a first video module, configured to acquire the detection area and the first video image data of the ultrasound probe;

a first communication module, configured to send the ultrasound image data, the force signal, and the first video image data to the second terminal, and configured to receive the command signal from the second terminal;

The second terminal includes:

a second communication module, configured to receive the ultrasound image data, the force signal, and the first video image data from the first terminal, and send the command signal to the first terminal;

a second video module, configured to display an ultrasound image based on the ultrasound image data and display a first video image based on the first video image data;

a haptic feedback control module including a haptic output module, a user interface, and an identification module, the haptic output module outputting a haptic effect through the user interface based on the force signal, the user interface receiving a first input signal The identification module determines the command letter for controlling the robot arm module based on the first input signal number.

Further, the second terminal includes an ultrasound control module, configured to receive a second input signal and obtain a detection parameter command signal based on the second input signal; the second communication module sets the detection parameter The command signal is sent to the first terminal; the first terminal sets the detection parameter of the ultrasound detection module based on the detection parameter command signal.

Further, the second terminal includes a synchronization control module, the ultrasound image data includes a first timestamp, the force signal includes a second timestamp, and the first video image data includes a third timestamp; the synchronization The control module displays the ultrasound image by the second terminal based on the first timestamp, the second timestamp, and the third timestamp, displays the first video image based on the first video image, and outputs the tactile sense The effect is aligned.

Further, the identification module determines a force command signal based on the first input signal, the second communication module sends the force command signal to the first terminal, and the mechanical arm module is based on the force command signal The force applied by the ultrasonic probe to the object to be measured is changed.

Further, the identification module determines a position command signal based on the first input signal, the second communication module sends the position command signal to the first terminal, and the mechanical arm module is based on the position command signal The ultrasound probe is moved in at least one direction and at least one angle to a corresponding position.

Further, the first terminal includes a clamping mechanism, and the clamping mechanism includes a clamping portion for detachably holding the ultrasonic probe, and a connecting portion connected to the a tactile sensing module, the connecting portion configured to transmit a force between the ultrasonic probe and the measured object to the tactile sensing module.

Accordingly, the present invention provides an ultrasonic detecting apparatus comprising:

An ultrasonic detecting module, configured to acquire ultrasonic image data of a detection area of the object to be tested, the ultrasonic detecting module comprising an ultrasonic probe;

a haptic sensing module, configured to acquire a force signal between the ultrasonic probe and the measured object;

a robot arm module that controls the ultrasonic probe based on a command signal;

a video module, configured to acquire video image data of the detection area and the ultrasound probe;

And a communication module, configured to send the ultrasound image data, the force signal, and the video image data to a terminal, and to receive the command signal.

Further, the ultrasonic detecting device further includes a clamping mechanism including a clamping portion and a connecting portion, the clamping portion is configured to detachably hold the ultrasonic probe, and the connecting portion is connected to the a tactile sensing module, the connecting portion configured to transmit a force between the ultrasonic probe and the measured object to the tactile sensing module.

Accordingly, the present invention provides an ultrasonic control apparatus comprising:

a communication module, configured to receive ultrasound image data, force signals, and video image data, and to send a command signal to a terminal;

a video module for displaying an ultrasound image based on the ultrasound image data and displaying a video image based on the video image data;

a haptic feedback control module including a haptic output module, a user interface, and an identification module, the haptic output module outputting a haptic effect through the user interface based on the force signal, the user interface receiving a first input signal The identification module determines the command signal based on the first input signal.

Further, the ultrasonic control device includes an ultrasonic control module, configured to receive a second input signal and obtain a detection parameter command signal based on the second input signal; the communication module is configured to send the Detect parameter command signals.

Further, the identification module of the ultrasonic control device determines a force command signal based on the first input signal, and the communication module is configured to send the force command signal to a terminal.

Further, the identification module of the ultrasonic control device determines a position command signal based on the first input signal, and the communication module is configured to issue the position command signal to a terminal.

The invention also provides an ultrasound imaging method comprising the following steps:

Obtaining ultrasonic image data of a detection area of the object to be tested by using an ultrasonic probe;

Obtaining a force signal between the ultrasound probe and the measured object;

Obtaining the detection area and the first video image data of the ultrasound probe;

Displaying an ultrasound image based on the ultrasound image data and displaying a video image based on the first video image data;

Outputting a haptic effect based on the force signal;

Receiving a first input signal and determining a command signal based on the first input signal;

The ultrasound probe is controlled based on the command signal.

Compared with the prior art, the ultrasound system, device and method provided by the present invention enable ultrasonic transmission and presentation of an ultrasonic image, a force signal and a video image between the ultrasonic probe and the measured object during ultrasonic testing. The imaging expert can remotely control the ultrasonic probe to act on the measured object according to the above information to better obtain an effective ultrasonic detection image, thereby improving the detection efficiency of the remote ultrasonic and the reliability of the remote ultrasonic diagnosis.

DRAWINGS

1 is a schematic diagram of functional modules of an ultrasound system according to a first embodiment of the present invention.

2 is a schematic view of an ultrasonic detecting apparatus according to a second embodiment of the present invention.

3 is a partial enlarged view of an embodiment of an ultrasonic detecting apparatus provided by the present invention.

4 is a schematic diagram of functional modules of an ultrasonic control device according to a third embodiment of the present invention.

Main component symbol description

Ultrasound system

1

Ultrasonic testing device	10
Ultrasonic control device	20
Ultrasonic testing module	110
Tactile sensing module	120
Clamping mechanism	125
Robotic arm module	130
First video module	140
First communication module	150
First controller	160
Ultrasound control module	210
Haptic feedback control module	220
Second video module	240
Second communication module	250
Second controller	260
Synchronous control module	300
Ultrasound probe	1102
Ultrasonic signal processing module	1104
Force sensing device	1210
Connection	1251
Grip	1253

fastener	1255
Robotic arm	1320
Camera equipment	1410
display screen	1420
Haptic output module	2210
User Interface	2230
Identification module	2250
Box	500
Roof section	510
Mounting table	5112
case	530
Probe holder	532
handle	536
Limit block	538
Base	550

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

Detailed ways

The technical solutions of the present invention will be described below in conjunction with preferred embodiments and examples of the present invention. It should be noted that when a unit is described as being "connected" to another unit, it may be directly connected to the other unit or the central unit may be present at the same time. When a unit is described as being "set to" another unit, it can be placed directly on another unit or There is also a centered unit. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The names of the elements or devices used in the description of the present invention are for the purpose of describing the specific embodiments and are not intended to limit the invention.

A first embodiment of the present invention provides an ultrasound system for remote ultrasound detection. The ultrasound system allows the operator to remotely control the ultrasound probe to acquire an ultrasound image of the subject by real-time transmission of various signals and/or data during the ultrasound detection process.

Figure 1 shows an ultrasound system provided by a first embodiment. The ultrasound system 1 includes a first terminal and a second terminal. The first terminal may be an ultrasonic detecting device 10 disposed at a location of a test object (such as a patient, a medical examiner, etc.), and the second terminal may be an ultrasonic device disposed at a location of a professional ultrasonic operator or a medical imaging specialist. The control device 20, the first terminal and the second terminal can implement bidirectional transmission of signals and data by means of wired or wireless communication.

As shown in FIG. 1, the ultrasonic detecting device 10 includes an ultrasonic detecting module 110, a tactile sensing module 120, a robot arm module 130, a first video module 140, a first communication module 150, and a first controller 160. The first controller 160 is electrically connected to the ultrasonic detecting module 110, the haptic sensing module 120, the mechanical arm module 130, the first video module 140, and the first communication module 150 directly or indirectly for transmission. And exchange data or signals. The ultrasonic detecting module 110 is configured to acquire ultrasound image data of the object to be tested. The ultrasonic detecting module 110 includes an ultrasonic probe for acquiring an ultrasonic echo signal of the object to be measured. The haptic sensing module 120 is configured to acquire a force signal between the ultrasonic probe and the measured object. The robotic arm module 130 controls the ultrasound probe 1102 based on a command signal. The first video module 140 is configured to acquire first video image data of the ultrasound detection scene. The first communication module 150 is configured to send the ultrasound image data, the force signal, and the first video image data acquired by the first terminal to a second terminal (such as the ultrasound control device 20).

As shown in FIG. 1, the ultrasound control device 20 includes a haptic feedback control module 220, a second video module 240, a second communication module 250, and a second controller 260. The second controller 260 is electrically connected to the haptic feedback control module 220, the second video module 240, and the second communication module 250 directly or indirectly to transmit and exchange data or signals. The second communication module 250 receives ultrasound image data, a force signal, and first video image data from at least one terminal, such as the ultrasound detecting device 10. The second video module 240 includes at least one display device for displaying an ultrasound image based on the received ultrasound image data and displaying a video image based on the received first video image data. The haptic feedback control module 220 includes a haptic output module 2210, a user interface 2230, and an identification module 2250. The haptic output module 2210 outputs a corresponding haptic effect through the user interface 2230 based on the force signal received by the second communication module 250. The identification module 2250 can receive a first input signal from the user interface 2230 and determine a command signal based on the first input signal. The second communication module 250 is configured to send the command signal to the first terminal (such as the ultrasonic detecting device 10).

In the remote ultrasonic testing, the ultrasonic system 1 provided by the first embodiment of the present invention can remotely acquire various kinds of detection information of the ultrasonic detecting device 10 disposed at the A site through the ultrasonic control device 20 disposed at the B site, and the ultrasonic control The device 20 can remotely control the ultrasound probe of the ultrasound detecting device 10. When the ultrasound system 1 is employed, the ultrasound imaging expert at the B site can change the position of the ultrasonic probe located at the A site to the object to be measured and/or the mutual relationship between the ultrasound probe and the measured object in real time according to various detection information. The force is better to obtain an effective ultrasonic detection image, thereby improving the efficiency of ultrasonic detection and the reliability of ultrasonic diagnosis.

The ultrasonic detecting device 10 according to the second embodiment of the present invention will be described in detail below with reference to FIG.

In the embodiment shown in FIG. 2, the ultrasound detection module 110 includes an ultrasound probe 1102 and an ultrasound signal processing module 1104. It can be understood that during the ultrasound imaging process, the ultrasound probe 1102 Usually in direct contact with the body surface of the subject. During the ultrasound imaging process, the ultrasound probe 1102 converts the electrical signal into an ultrasound wave, so that the ultrasound wave propagates in a target area (such as an organ, tissue, blood vessel, etc. in the human body or animal body) in the body to be measured, and then receives the reflection from the target area. The ultrasonic echo containing the information of the measured object and convert the ultrasonic echo into an electrical signal. The ultrasonic signal processing module 1104 receives the converted electrical signal and performs a series of processing thereon to obtain ultrasound image data. The ultrasound image data includes, but is not limited to, two-dimensional image data such as B-type, C-type, and D-type, three-dimensional ultrasonic image data, and four-dimensional image data including a time dimension. The ultrasound image data may be one or more image frames or a video file formed from a sequence of image frames. Further, the ultrasound image data may further include related detection modes for generating ultrasound echoes, detection parameters, and related information of the measured object data (such as age, past medical history, etc.). The ultrasound probe 1102 and the ultrasound signal processing module 1104 can be directly connected by wire or wirelessly.

The haptic sensing module 120 includes a force sensing device 1210, which may include one or more force sensors for acquiring a force signal between the ultrasonic probe 1102 and the object to be measured, thereby being located at the distal end. An operator of the ultrasound control device 20 (e.g., a professional sonographer) provides information on the condition of contact between the ultrasound probe 1102 and the subject being measured. The force sensing device 1210 can be coupled to the ultrasound probe 1102 either directly or indirectly. It can be understood that the ultrasonic probe 1102 has a tip end in direct contact with the object to be measured and an end located at an end opposite to the tip end. The axial direction of the ultrasound probe 1102 is defined as the direction from the tip to the tip. In an embodiment, the force sensing device 1210 is coupled to the end of the ultrasound probe 1102. In another embodiment, the force sensing device 1210 is indirectly coupled to the ultrasound probe 1102 by a connection mechanism that is capable of transmitting a force between the ultrasound probe 1102 and the object under test to the force sensing device 1210. The force sensing device 1210 of the haptic sensing module 120 can sense the force in the axial direction of the ultrasound probe 1102. The force sensing device 1210 can also be further configured to sense forces in various directions in a plane perpendicular to the axial direction of the ultrasonic probe 1102, ie, the object to be measured is laterally applied to the ultrasonic probe The power of 1102. The force sensing device 1210 can be further configured to sense a tangential force that rotates about the axial direction of the ultrasound probe 1102, thereby enabling the haptic sensing module 120 to acquire the ultrasound probe 1102 and the measured object in a comprehensive and authentic manner. The situation of contact between. In addition, the force signal acquired by the haptic sensing module 120 may further include a time dimension. For example, the haptic sensing module 120 continuously senses a set of force vectors, each force vector corresponding to a time frame.

The robotic arm module 130 includes a robotic arm 1320 that is coupled directly or indirectly to the ultrasound probe 1102. The robot arm 1320 includes a fixed end and a movable end. The robot arm 1320 can achieve multiple degrees of freedom of motion, including but not limited to the three-dimensional position (x, y, z), three-dimensional angle (x, y, z) of the ultrasound probe 1102, and the axial direction around the ultrasound probe 1102. The angle of rotation. Preferably, the robot arm 1320 is a six degree of freedom robot arm. The first controller 160 controls the robot arm 1320 to move in one or more directions or angles based on the position command signal, thereby changing the detected position of the ultrasonic probe 1102. The first controller 160 can also control the mechanical arm 1320 to change the force applied by the ultrasonic probe 1102 to the object to be measured based on the force command signal.

It will be appreciated that the force sensing device 1210 described above can be coupled to the movable end of the robotic arm 1320 or can be coupled to the end of the ultrasonic probe 1102. In an embodiment of the present embodiment, the ultrasonic detecting device 10 further includes a clamping mechanism 125 coupled to the force sensing device 1210, and the force sensing device 1210 is disposed on the mechanical arm 1320. Mobile. In the embodiment shown in FIG. 3, the clamping mechanism 125 includes a connecting portion 1251 and a clamping portion 1253. The connecting portion 1251 is coupled to the force sensing device 1210 for transmitting the force between the ultrasonic probe 1102 and the object to be measured to the force sensing device 1210. In this embodiment, the connecting portion 1251 includes two connecting rods that are parallel to each other, and is disposed on one side of the ultrasonic probe and parallel to the axial direction of the ultrasonic probe 1102. It can be understood that the connecting portion 1251 can also adopt any other. The force experienced by the ultrasound probe 1102 can be communicated to the settings of the force sensing device 1210. The clamping portion 1253 is for detachably holding the ultrasonic probe 1102. In the embodiment, the clamping portion 1253 is wrapped. The fastener 1255 is included, and the ultrasonic probe 1102 is detachably fixed to the clamping portion 1253 by the fastener 1255. In other embodiments, the clamping portion 1253 can also be an electric clamping jaw, and the control unit controls the opening of the electrical clamping jaw to clamp the ultrasonic probe 1102.

Optionally, the robot arm module 130 may further include a locking unit for controlling the position of the robot arm 1320 and the force between the ultrasonic probe 1102 and the object to be measured. Optionally, when the robot arm module 130 does not receive the position command signal and/or the force command signal, the locking unit may control the robot arm 1320 to maintain the previous running state or control the robot arm 1320 to return to a preset initial position. .

The first video module 140 includes at least an imaging device 1410 for acquiring first video image data of the ultrasound detection scene. Specifically, the first video image data includes a detection area of the object to be measured and an ultrasound probe. The first video image data further includes an object to be measured, a part or all of the robot arm, and the like. The first video image data is mainly used to provide the remote operator with the position information of the visual ultrasound probe and the measured object. It can be understood that the first video image data may further include video acquisition time information, for example, the acquisition time is added to the data of the image frame every time the image of one frame is acquired. The imaging device 1410 may be integrated in the ultrasonic detecting device 10 or may be one or more cameras that are independently provided. The independently provided camera may be disposed at a suitable position of the ultrasonic detecting device 10 or may be disposed at a suitable position other than the ultrasonic detecting device 10. Further, the first video module 140 further includes a display device 1420, such as a display screen, which can be used to display the ultrasonic image acquired by the local ultrasonic detecting module 110 in real time, and can also be used to display the scene of the remote end where the ultrasonic control device 20 is located. Picture. The first video module 140 may further include a voice device (such as a microphone, a voice signal processing module, a speaker, etc.) for generating a first voice signal, thereby implementing the ultrasound detecting device 10 through the first and second communication modules and network transmission. The object to be measured interacts with the real-time voice video of the operator of the ultrasound control device 20. In the embodiment shown in FIG. 2, the camera device 1410 is a camera disposed at the top of the display device 1420. In turn, the ultrasonic testing device 10 sets the height and angle of the display device 1420 via an adjustable bracket. In another embodiment, the imaging device 1410 is a camera that is secured to the trolley on which the ultrasonic testing device 10 is placed by a clamping mechanism. In another embodiment, the imaging device 1410 is a camera that is fixed to the outer surface of the robot arm 1320. It can be understood that the first controller 160 is electrically connected to the ultrasonic probe 1102, the force sensing device 1210, the mechanical arm 1320, and the imaging device 1410, respectively, to control the operation of the ultrasonic detecting device 10.

The first communication module 150 is configured to perform data and/or signal transmission with other terminals, such as the ultrasound control device 20. In the ultrasound system 1 provided by the present invention, the first communication module 150 is adapted to emit the ultrasound image data acquired by the ultrasound detection module 110, the force signal acquired by the haptic sensing module 120, and the first video module 140. The acquired first video image data is adapted to receive position command signals from other terminals for controlling the robot arm module 130. The first communication module 150 can adopt a network communication technology based on the TCP/UDP protocol, and can also adopt other communication technologies such as Wireless Fidelity (Wifi) and Bluetooth.

It can be understood that the ultrasonic detecting device 10 further includes a memory, a processor, and the like directly or indirectly connected to the first controller 160 to transmit and exchange data or signals. The ultrasonic testing device 10 further includes a power module, a heat dissipating component, and the like, which are not described herein.

In the second embodiment, the ultrasonic detecting device 10 is mounted on a movable platform. Specifically, in the embodiment shown in FIG. 2, the ultrasonic detecting device 10 is a trolley type ultrasonic detecting device, and includes a case 500 having a top plate portion 510, a housing 530, and a base 550.

In the present embodiment, the top plate portion 510 is provided with a mounting table 5112 for mounting an input/output device (such as an operation panel, a display screen, etc.) in the ultrasonic detecting module 110. The mounting table 5112 may be a part of the top plate portion 510 or may be connected to the top plate portion 510 by a connecting mechanism. For the latter, the attachment mechanism can include movable components such as sliders and guides, The bracket or the like can be stretched so that the mounting table 5112 can move horizontally and/or vertically within a certain range. It will be appreciated that for non-remote ultrasound imaging systems, the mounting station 5112 can also be used to carry portable ultrasound diagnostic equipment. The fixed end of the robot arm 1320 is disposed on the top plate portion 510, and the robot arm 1320 is coupled to the case 500. The top plate portion 510 may further be provided with one or more brackets having a plurality of movable joints, thereby connecting the display device 1420 and/or the imaging device 1410 in the first video module 140 to the cabinet 500, and may be active. The joint adjusts the position and angle of display device 1420 and/or imaging device 1410. The base 550 of the case 500 is provided with a caster frame and a plurality of casters, the caster frame is disposed at the bottom of the base, and the plurality of casters are disposed on the caster frame.

As shown in FIG. 2, a plurality of probe holders 532 for placing an ultrasonic probe are disposed on an outer surface of an upper portion of the housing 530. A handle 536 for pushing and pulling the ultrasonic detecting device 10 is further provided on the outer surface of the upper portion of the housing 530. Preferably, the box 500 has a limiting mechanism, including a manual control switch, a transmission mechanism (not shown), and a limiting block 538 disposed on the handle 536. The limiting block 538 is disposed at the bottom of the case 500 and located inside the caster. In this embodiment, the limiting mechanism includes a plurality of limiting blocks 538, wherein each limiting block 538 includes an adjustment portion and a non-slip foot. The adjustment portion connects the base 550 and the non-slip feet, and the length thereof can be adjusted by a transmission mechanism. When the non-slip foot contacts the ground, the friction can be increased to prevent the trolley type ultrasonic detecting device from rotating or sliding. The limiting mechanism includes an unlocked state and a locked state. When the handle 536 is not subjected to an external force, the limiting mechanism is in an unlocked state, and the adjusting portion of the limiting block 538 is in a retracted position, so that the position of the bottom surface of the non-slip foot is higher in the vertical direction than the bottom surface of the caster, that is, The anti-slip feet are not in contact with the ground when unlocked. When an external force acts on the manual control switch on the handle 536, if the handle 536 is pressed down to a predetermined position, the limiting mechanism is in the locked state, and the adjustment portion of the limiting block 538 is in the extended position, thereby making the anti-slip The position of the bottom surface of the foot is not higher than the bottom surface of the caster in the vertical direction, that is, the non-slip foot contacts the ground in the locked state to fix the position of the trolley type ultrasonic detecting device. Set. It can be understood that the first controller 160, the memory, the processor, the power module, and the like of the ultrasonic detecting device 10 can be housed inside the housing 530. To stabilize the position of the center of gravity of the ultrasonic detecting device 10, a weight may also be provided inside the housing 530.

By using the movable ultrasonic detecting device 10, the object to be tested (such as a patient) can no longer perform ultrasonic imaging in a special ultrasonic testing room, and the medical worker can push the ultrasonic detecting device 10 to the corresponding ward to provide ultrasonic imaging detection for the patient. It reduces the difficulty of ultrasound testing in patients with severe or inconvenient movements.

Corresponding to the above-described trolley type ultrasonic detecting device, the present invention also provides a trolley suitable for remote ultrasonic imaging, which can be equipped not only with an ultrasonic detecting device but also directly or indirectly with the mounted ultrasonic detecting device. Sexual connections to transmit and exchange data or signals. The trolley includes the tactile sensing module 120, the robot arm module 130, the first video module 140, the first communication module 150, and the first controller 160 as described above, and the ultrasonic detecting device interface is disposed on the casing 500. . The ultrasonic testing device interface is electrically connected to the first controller 160, and the ultrasonic detecting device interface can be electrically connected to the ultrasonic detecting device, thereby performing data transmission and command control between the trolley and the ultrasonic detecting device. It will be understood by those skilled in the art that the probe of the ultrasonic detecting device is connected to the tactile sensing module 120 and the mechanical arm module 130 of the trolley in use, and the trolley can acquire ultrasonic image data from the ultrasonic detecting device, and can also transmit The ultrasonically sensed parameter command signal is sent to the ultrasonic testing device. The ultrasonic control device 20 according to the third embodiment of the present invention will be described in detail below with reference to FIG.

The second communication module 250 is configured to perform data transmission with other terminals, such as the ultrasonic detecting device 10. In the ultrasound system 1 provided by the present invention, the second communication module 250 is adapted to receive ultrasound image data, force signals and first video image data from other terminals, and is adapted to emit a position command signal. The second communication module 250 can adopt a network communication technology based on the TCP/UDP protocol, or can use a wireless area network technology (Wireless Fidelity, Wifi), Bluetooth technology. Other communication technologies such as (Bluetooth).

The second video module 240 includes a display device for displaying ultrasound image data from the ultrasound detecting apparatus 10 and an image corresponding to the first video image data. The second video module 240 may further include an imaging device and a voice device (such as a microphone, a voice signal processing module, a speaker, etc.) for respectively generating a second video image and a second audio signal, through the first and second communication modules, and The network implements real-time voice and video interaction of the operator of the ultrasound control device 20 with the object under test of the ultrasound detection device 10.

The haptic feedback control module 220 is mainly configured to output a force (or haptic) corresponding to the force signal received by the second communication module 250, and generate a corresponding position command according to an action and/or a force applied from the operator. a signal, so that an operator of the remotely located ultrasound control device 20 can feel the contact force between the ultrasound probe 1102 of the ultrasound detection device 10 and the object to be measured, and observe the ultrasound image displayed by the second video module 240 and A video image is then controlled by the robotic arm 1320 to change the position of the ultrasound probe 1102 acting on the object being measured. The haptic output module 2210, the user interface 2230, and the recognition module 2250 of the haptic feedback control module 220 can be integrated into a force feedback operator.

The haptic output module 2210 includes at least one actuator that outputs a haptic effect (eg, an electrostatic haptic effect, a tactile effect of a vibrotactile sensation, a deformed haptic effect, etc., or a combination of several haptic effects in response to a force signal from the ultrasonic detecting device 10 ). The actuator includes, but is not limited to, an electric motor, an electromagnetic actuator, a voice coil, a shape memory alloy, an electroactive polymer ("ΕΑΡ") actuator, a solenoid, an eccentric rotating mass motor ("ERM"), Harmonic ERM motor ("HERM"), linear resonant actuator ("LRA"), piezoelectric actuator, high bandwidth actuator, electrostatic friction display or ultrasonic vibration generator. In some embodiments, The actuator can include an actuator drive circuit.

The user interface 2230 includes an output unit for human-computer interaction, and the haptic effect output by the haptic output module 2210 can be experienced at an output unit of the user interface 2230. The output unit can So button, analog or digital lever, drive wheel, trigger, etc.

The user interface 2230 also includes an input unit for human-computer interaction. The input unit includes, but is not limited to, a joystick, a handle, a mouse, a keyboard, a trackball, a touch screen, a wearable device, and the like. Optionally, the input unit includes a motion transmitting mechanism having a plurality of degrees of freedom, and the motion transmitting mechanism may have a degree of freedom matching the mechanical arm 1320 of the ultrasonic detecting device 10, or may have less than The degree of freedom of the number of degrees of freedom of the robot arm 1320. The output unit and the input unit of the user interface 2230 may be separately provided or integrated.

The identification module 2250 is configured to identify a first input signal from an input unit of the user interface 2230 and determine a command signal based on the first input signal. The identification module 2250 includes one or more sensors including, but not limited to, pressure sensors, motion sensors, and position sensors. The sensor can be used for sensing such as, but not limited to, sound, movement, acceleration, force/pressure/stress/bending, linear position, orientation/tilt, rotational position, rotational speed, switching operation, and the like. The identification module 2250 converts the physical quantity detected by the sensor into an electrical signal, and the identification module 2250 determines a command signal for remotely controlling the robot arm based on the converted electrical signal. The command signal may include a position command signal, and the ultrasonic detecting device 10 controls the movement of the robot arm 1320 in at least one direction and at least one angle based on the received position command signal to move the ultrasonic probe 1102 to a corresponding position. The command signal may also include a force command signal, and the ultrasonic detecting device 10 controls the robot arm 1320 based on the received force command signal to adjust the force applied by the ultrasonic probe 1102 to the object to be measured.

It can be understood that the ultrasonic control device 20 further includes a memory, a processor, or the like directly or indirectly connected to the second controller 260 to transmit and exchange data or signals.

The ultrasound control device 20 can also include an ultrasound control module 210 for remotely setting and controlling the ultrasound detection device 10 to perform a certain mode of ultrasound imaging detection. Can It is understood that the remotely located operator can preset a plurality of ultrasonic detection parameters before the ultrasonic detection by operating the ultrasonic control module 210, and can also change one or more ultrasonic detection parameters during the ultrasonic detection, thereby Improve ultrasound imaging. The ultrasound detection parameters include, but are not limited to, imaging modes of the ultrasound detection apparatus 10 (eg, B mode, Doppler, M mode, or three-dimensional imaging mode), size and/or angle of the ultrasound imaging range, and fundamental frequency for ultrasound imaging Or the frequency of harmonics, system gain, time gain, focus area, and so on. The ultrasound control module 210 includes an ultrasound control input unit (such as a push-button or touch-screen input panel) for receiving a second input signal. The ultrasound control module 210 converts the operation from the operator into a second input signal and further generates a detection parameter command signal. The detection parameter command signal is transmitted by the second communication module 250 to the first communication module 150 of the ultrasonic detecting device 10, and the first controller 160 of the ultrasonic detecting device 10 sets the ultrasonic detection parameter based on the received detection parameter command signal. By placing the ultrasound control module 210 at the remotely located ultrasound control device 20, the remotely located operator can observe the ultrasound image data from the ultrasound detection device 10 presented by the display device of the second video module 240 in real time, and The ultrasonic detecting device 10 is remotely controlled by the ultrasonic control module 210 to change the ultrasonic detecting parameters. This setting allows the operator to remotely control the process of ultrasonic imaging detection in real time and directly based on his rich experience, eliminating the need for remote voice and/or video guidance staff at the end of the ultrasonic testing device 10 to assist in changing the ultrasonic testing parameters, saving The labor cost of ultrasound imaging detection. In addition, considering that one ultrasonic control device 20 can match one or more ultrasonic detecting devices 10, this design reduces the cost and operation complexity of the ultrasonic detecting device 10, and is advantageous for the application of the ultrasonic system provided by the present invention. Promotion.

Further, the ultrasound system 1 provided by the present invention further includes a synchronization control module 300 for synchronizing a plurality of signals or/and data. Preferably, the synchronization control module 300 is disposed in the ultrasound control device 20, coupled to the haptic feedback control module 220, the second video module 240, and the second controller 260, respectively, for using ultrasound image data from the ultrasound detecting device 10, Force The signal and the first video image data are time synchronized. The synchronization control module 300 aligns the time stamps of the three to control the second video module 240 by adding the first, second, and third timestamps respectively in the ultrasound image data, the force signal, and the first video image data. The displayed ultrasound image data and the first video image data and the haptic effect output by the haptic output module 2210 are presented in synchronization. Those skilled in the art can understand that based on the temporal characteristics of the ultrasound system 1 in the signal and data transmission process, the synchronization control module 300 can include a pre-processing unit for each time stamp of the ultrasound image data, the force signal, and the first video image data. Therefore, a certain group of signals/data is played in advance or delayed to realize the synchronous presentation of the above visual and tactile effects. It is to be understood that, for the first video module 140 and the second video module 240 having the voice device, a time stamp may also be added to the first voice signal acquired by the first video module 140, and the synchronization control module 300 according to the The time stamp of the voice signal controls the voice content played by the second video module 240 to be presented in synchronization with the displayed first video image data. Similarly, the synchronization control module 300 can also be disposed on the ultrasonic detecting device 10, coupled to the robot arm module 130, the first video module 140, and the first controller 160, respectively, for the position command signal from the ultrasonic control device 20. The (and/or force command signal), the second video image, and the second audio signal are time synchronized, and are not described here.

Corresponding to the above ultrasound system, the present invention also discloses an ultrasound imaging method, comprising the following steps:

Step S110, acquiring ultrasound image data of a detection area of the object to be tested by using an ultrasound probe.

Step S120, acquiring a force signal between the ultrasonic probe and the measured object.

Step S130, acquiring the detection area and the first video image data of the ultrasound probe.

Step S160, displaying an ultrasound image based on the ultrasound image data and displaying a video image based on the first video image data.

Step S170, outputting a haptic effect based on the force signal.

Step S180, receiving a first input signal, and determining a command signal based on the first input signal.

Step S190, controlling the ultrasonic probe based on the command signal.

Among them, steps S110, S120, and S130 can be performed by the ultrasonic detecting device 10 disclosed above. Steps S160, S170, and S180 can be performed by the ultrasonic control device 20 disclosed above. The command signal may be a position command signal for moving the ultrasonic probe to a corresponding position; the command signal may also be a force command signal for changing a force applied by the ultrasonic probe to the measured object.

Further, step S140 is further included between steps S130 and S160 to transmit the ultrasound image data, the force signal and the first video image data to a terminal, such as the ultrasound control device 20 disclosed above. The transmission may be a wired transmission or a wireless transmission.

Further, step S150 may be further included between steps S130 and S160, displaying an ultrasound image and displaying the first video image based on the ultrasound image data, the force signal, and a time frame included in the first video image data. Output haptic effects for alignment.

Further, step S185 is further included between steps S180 and S190, and the command signal is sent to the ultrasonic detecting end, such as the ultrasonic detecting device 10.

Optionally, after step S170, the method may further include: step S182, receiving a second input signal, and determining a detection parameter command signal based on the second input signal; and step S187, sending the detection parameter command signal to the ultrasound detecting end; S192. Set an ultrasonic detection parameter based on the detection parameter command signal.

For a specific implementation of the ultrasound imaging method, reference may be made to the corresponding content in the above, which is not described herein.

The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above embodiments, and the above embodiments are merely for explaining the claims. Any person skilled in the art can easily think of changes or replacements within the technical scope of the present disclosure. It is intended to be included within the scope of the present invention.

Claims (13)

1. An ultrasound system, comprising: a first terminal and a second terminal;

   The first terminal includes:

   An ultrasonic detecting module, configured to acquire ultrasonic image data of a detection area of the object to be tested, the ultrasonic detecting module comprising an ultrasonic probe;

   a haptic sensing module, configured to acquire a force signal between the ultrasonic probe and the measured object;

   a robot arm module that controls the ultrasonic probe based on a command signal;

   a first video module, configured to acquire the detection area and the first video image data of the ultrasound probe;

   a first communication module, configured to send the ultrasound image data, the force signal, and the first video image data to the second terminal, and configured to receive the command signal from the second terminal;

   The second terminal includes:

   a second communication module, configured to receive the ultrasound image data, the force signal, and the first video image data from the first terminal, and send the command signal to the first terminal;

   a second video module, configured to display an ultrasound image based on the ultrasound image data and display a first video image based on the first video image data;

   a haptic feedback control module including a haptic output module, a user interface, and an identification module, the haptic output module outputting a haptic effect through the user interface based on the force signal, the user interface receiving a first input signal The identification module determines the command signal for controlling the robot arm module based on the first input signal.
2. The ultrasound system of claim 1 wherein said second terminal further comprises an ultrasound control module for receiving a second input signal and obtaining a detected parameter command signal based on said second input signal The second communication module sends the detection parameter command signal to the first terminal; the first terminal sets a detection parameter of the ultrasound detection module based on the detection parameter command signal.
3. The ultrasound system of claim 1 wherein said second terminal further comprises a synchronization control module, said ultrasound image data comprising a first timestamp, said force signal comprising a second timestamp, said first The video image data includes a third timestamp; the synchronization control module displays the ultrasound image by the second terminal based on the first timestamp, the second timestamp, and the third timestamp, and displays the Aligning based on the first video image, outputting the haptic effect.
4. The ultrasound system of claim 1 wherein said identification module determines a force command signal based on said first input signal, said second communication module transmitting said force command signal to said first terminal The robotic arm module changes a force applied by the ultrasonic probe to the object under test based on the force command signal.
5. The ultrasound system of claim 1 wherein said identification module determines a position command signal based on said first input signal, said second communication module transmitting said position command signal to said first terminal The robotic arm module moves the ultrasonic probe to at a corresponding position in at least one direction and at least one angle based on the position command signal.
6. The ultrasound system according to claim 1, wherein said first terminal further comprises a clamping mechanism, said clamping mechanism comprising a clamping portion and a connecting portion for detachably holding The ultrasonic probe is connected to the tactile sensing module, and the connecting portion is configured to transmit a force between the ultrasonic probe and the measured object to the tactile sensing module.
7. An ultrasonic detecting device comprising:

   An ultrasonic detecting module, configured to acquire ultrasonic image data of a detection area of the object to be tested, the ultrasonic detecting module comprising an ultrasonic probe;

   a haptic sensing module, configured to acquire a force signal between the ultrasonic probe and the measured object;

   a robot arm module that controls the ultrasonic probe based on a command signal;

   a video module, configured to acquire video image data of the detection area and the ultrasound probe;

   And a communication module, configured to send the ultrasound image data, the force signal, and the video image data to a terminal, and to receive the command signal.
8. The ultrasonic testing apparatus according to claim 7, further comprising a clamping mechanism, the clamping mechanism comprising a clamping portion and a connecting portion for detachably holding the ultrasonic probe, The connecting portion is coupled to the tactile sensing module, and the connecting portion is configured to transmit a force between the ultrasonic probe and the measured object to the tactile sensing module.
9. An ultrasonic control device comprising:

   a communication module, configured to receive ultrasound image data, force signals, and video image data, and to send a command signal to a terminal;

   a video module for displaying an ultrasound image based on the ultrasound image data and displaying a video image based on the video image data;

   a haptic feedback control module including a haptic output module, a user interface, and an identification module, the haptic output module outputting a haptic effect through the user interface based on the force signal, the user interface receiving a first input signal The identification module determines the command signal based on the first input signal.
10. The ultrasonic control apparatus according to claim 9, further comprising an ultrasonic control module for receiving a second input signal and based on said second input The input signal is a detection parameter command signal; the communication module is configured to send the detection parameter command signal to a terminal.
11. The ultrasonic control apparatus according to claim 9, wherein said identification module determines a force command signal based on said first input signal, said communication module for transmitting said force command signal to a terminal.
12. The ultrasonic control apparatus according to claim 9, wherein said identification module determines a position command signal based on said first input signal, and said communication module is operative to issue said position command signal to a terminal.
13. An ultrasonic imaging method, comprising the steps of:

    Obtaining ultrasonic image data of a detection area of the object to be tested by using an ultrasonic probe;

    Obtaining a force signal between the ultrasound probe and the measured object;

    Obtaining the detection area and the first video image data of the ultrasound probe;

    Displaying an ultrasound image based on the ultrasound image data and displaying a video image based on the first video image data;

    Outputting a haptic effect based on the force signal;

    Receiving a first input signal and determining a command signal based on the first input signal;

    The ultrasound probe is controlled based on the command signal.

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