CN105662546A - Color-doppler-ultrasound dual-guiding control system for orthopedic-department puncturing - Google Patents
Color-doppler-ultrasound dual-guiding control system for orthopedic-department puncturing Download PDFInfo
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- CN105662546A CN105662546A CN201610006516.6A CN201610006516A CN105662546A CN 105662546 A CN105662546 A CN 105662546A CN 201610006516 A CN201610006516 A CN 201610006516A CN 105662546 A CN105662546 A CN 105662546A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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Abstract
The invention discloses a color-doppler-ultrasound dual-guiding control system for orthopedic-department puncturing. A main control system is respectively connected with an ultrasound module and an orthopedic-department puncturing device; an ultrasonic probe is connected to the ultrasound module, the main control system receives color-doppler-ultrasound data information transmitted by the ultrasound module to process the information and guides and controls the orthopedic-department puncturing device to perform orthopedic-department puncturing work. According to the color-doppler-ultrasound dual-guiding control system for orthopedic-department puncturing, use is convenient, and structural design is reasonable; as the dual-guiding method combining a color-doppler-ultrasound image and the physical function is adopted to control the position and the shape of orthopedic-department puncturing, puncturing can be effectively carried out during orthopedic operation, operative instruments are conveniently operated, and the operation efficiency is improved; effective nerve blocking and effective puncturing can be carried out in the sedation state or the basal anesthesia state, the color-doppler-ultrasound dual-guiding control system is suitable for dissecting variant patients, children and patients who can not carry out good cooperation, the medical level is improved, the medical risk is reduced, pain of the patients is relieved, and medical cost is reduced.
Description
Technical field
The invention belongs to orthopaedic medical treatment technical field, relate in particular to a kind of color ultrasound orthopaedics puncture dual boot control systemSystem.
Background technology
At present, in human body orthopedic, find hyperosteogeny focus, need to carry out Minimally Invasive Surgery and controlTreat, apparatus need to be penetrated in human body, under the Arthroscopic visual field, perform the operation. In prior art, be mostlyThe shape of opening that human body is cut is performed the operation, and its defect is that patient's wound is large, operation bothers, can not meet reasonThe surgical effect of thinking. Present hospital with good conditionsi generally adopts the single method of image or physics to guidePuncture, i.e. ultrasonic guidance or arthroscope guiding. The advantage of ultrasonic guidance is directly perceived, and shortcoming is that precision is at 2mmLeft and right is high not enough, cannot solve error that tissue and textured bone and stack bring, complicated operation,Cost is very high.
All the time, in order to improve the SN ratio of audio-band, known have an A/D that has used Δ ∑ modulatorConverting means, this Δ ∑ modulator has makes the regulating noise effect of quantizing noise to high frequency side displacement. AsThis device, has: Δ ∑ modulator, carries out the modulation of Δ ∑ also according to the 1st clock to input signalProduce Δ ∑ modulation output; Timing generator, based on the 1st clock and asynchronous with the 1st clockThe 2nd clock and there is commencing signal and settling signal, this commencing signal represents as Δ ∑ modulatorThe time slot that the processing time of each sample distributes starts, and this settling signal represents the Δ ∑ tune of Δ ∑ modulatorSystem is finished dealing with; And output transform portion, the commencing signal and the settling signal that occur according to timing generator,This A/D converting means can easily be mounted in ASIC (towards the IC of special-purpose) and FPGA (gate arrayRow) etc. in Upper system, and can evade the impact of shake (time shaft error), and can not causeApparatus structure complexity.
Summary of the invention
The object of the present invention is to provide a kind of color ultrasound orthopaedics puncture dual boot control system, be intended to solve existingColor ultrasound orthopaedics puncture dual boot control system use the problem of inconvenient, directly perceived, the wasting of resources etc.
This color ultrasound orthopaedics puncture dual boot control system comprises: master control system, ultrasonic module and orthopaedics puncture dressPut;
Master control system connects respectively ultrasonic module and orthopaedics sting device; Ultrasonic module is connected with ultrasonic probe,The color ultrasound data message that master control system reception ultrasonic module transmits instructs after treatment controls orthopaedics sting deviceCarry out orthopaedics puncture working;
Master control system comprises: power switch, input module, output module, de-noising filtration module, control mouldPiece, power module;
Power switch is connected with the power input of control module, the letter of input module and de-noising filtration moduleNumber input is connected, and the signal output part of de-noising filtration module is connected with the signal input part of control module;The power output end of power module is connected with control module, the signal output part of control module and output moduleBe connected;
Power module comprises: power supply connecting device, electrical storage device, protective relaying device; Power supply connecting deviceElectrical storage device is connected with external power source, protective relaying device is installed on electrical storage device;
Output module comprises LCDs and printer, and the signal input part of LCDs and printer dividesBe not connected with the signal output part of control module
Orthopaedics sting device comprises: joystick, puncture needle, puncture cover, puncture seat, needle handle, shank,Blocking cap, Connection Block, dop, deck;
Needle handle is installed on joystick, puncture seat is installed on needle handle, the front end of puncture seat is provided with puncturePin, puncture needle outer cover is equipped with puncture cover, and the front end of puncture cover is provided with shank; The lower end of needle handle is provided withDeck, the upper end of needle handle is provided with Connection Block, and blocking cap is installed on Connection Block, and the lower end of blocking cap is provided with cardHead.
The lower end of described joystick is provided with shift knob, and the right-hand member of shift knob is provided with indicator lamp, opensThe upper end of closing button is provided with display floater, and the right-hand member of display floater is provided with operation push-button, joystickOuter cover is equipped with anti-slip veins; Indicator lamp comprises one or more emitting led, lens and light absorption/reflecting element,Lens receive from the light of one or more LED and light are collimated;
Described LCDs comprises: display floater, elementary layer, adhesive linkage;
Elementary layer is arranged on the outside of display floater, and adhesive linkage is arranged on to be stated between display floater and elementary layer,Wherein, the first edge of the bonding plane that is adhered to display floater of adhesive linkage and adhesive linkage be adhered to elementary layerThe second edge of bonding plane be mutually shifted along bonding plane direction;
Described power supply connecting device comprises that at least one connects the power supply input circuit of external power source and at least oneThe load output circuit of individual connection load;
Described electrical storage device comprises the accumulator charging/discharging circuit that connects battery.
Described deck is set to square groove, and deck one end is provided with turning cylinder, on turning cylinder, be provided with depression bar andPin, is arranged to 110 degree angles between depression bar and pin, the deck other end is provided with baffle plate.
The detection method of described ultrasonic module comprises the following steps:
Step 1: start detection circuit board;
Step 2: the ultrasonic probe being connected with testing circuit plate by panel computer control produces ultrasound emission and swashsEncourage signal;
Step 3: ultrasonic probe contact human body, obtains small-signal;
Step 4: signal is sent to testing circuit plate and amplifies, reconcile and sample, convert through A/D;
Step 5: by the signal of processing by wireless module deliver to panel computer show comprise spectral image and/Or the result of data.
In described A/D conversion, A/D converting means comprises:
Subtracter, numerical data is inputted this subtracter;
Δ ∑ modulator, to carrying out the modulation of Δ ∑ from the numerical data of described subtracter output;
Quantizer, quantizes the output of described Δ ∑ modulator;
PWM follower, output pulse width modulation signal, this pulse width modulating signal has based on by instituteState the dutycycle of the output after quantizer quantizes;
And output element, outputting analog signal, this analog signal have with from described PWM followerThe level corresponding to dutycycle of pulse width modulating signal;
Described quantizer, according to the output of described Δ ∑ modulator, is read because described output unit from memoryThe drive characteristic of part and the error part of the described pulse width modulating signal that produces, and offer described subtractionDevice, and described subtracter deducts described pulse width modulating signal from the numerical data of described inputAfter error part, offer described Δ ∑ modulator;
Many groups stored by described memory corresponding to the output voltage of described output element because described output elementDrive characteristic and the error part of the pulse width modulating signal that produces, also tool of described A/D converting meansAlternative device, according to input data that can be approximate with the output voltage of described output element, from described storageIn many grouping errors part of storing in device, select the error part of respective sets;
Described A/D converting means, also has: temperature sensor, detects the operating temperature of described output element;
And temperature compensation division, according to the operating temperature of the output element being detected by described temperature sensor, rightThe error part of the pulse width modulating signal of reading from described memory is carried out temperature-compensating.
Described A/D transform method is carried out by A/D converting means, and A/D transform method is:
Subtracter, numerical data is inputted this subtracter;
Δ ∑ modulator, to carrying out the modulation of Δ ∑ from the numerical data of described subtracter output;
Quantizer, quantizes the output of described Δ ∑ modulator;
PWM follower, output pulse width modulation signal, this pulse width modulating signal has based on describedThe dutycycle of the output of the described Δ ∑ modulator after quantification;
And output element, outputting analog signal, this analog signal have with from described PWM followerThe level corresponding to dutycycle of pulse width modulating signal;
In described A/D transform method, described quantizer is according to the output of described Deltasigma modulator, from memoryRead the error portion of the described pulse width modulating signal producing because of the drive characteristic of described output elementPoint, and offering described subtracter, it is wide that described subtracter deducts described pulse from the numerical data of described inputAfter the error part of degree modulation signal, offer described Δ ∑ modulator.
Described puncture needle comprises: syringe needle, silicone tube, negative-pressure suction bottle, tube connector, chlorination equipment, profitSliding device, adjuster, conduit;
Syringe needle is connected to tube connector by silicone tube, and negative-pressure suction bottle is arranged on the below of tube connector, sterilization dressPut be arranged on lubricating arrangement above, adjuster is arranged on the below of tube connector, conduit be arranged on syringe needle inPortion is connected to chlorination equipment and lubricating arrangement;
Described chlorination equipment comprises placed cavity, squeeze buttons and thimerosal outlet, and squeeze buttons is arranged on putsPut the front side of the outside in chamber, thimerosal outlet is arranged on the rear side of placed cavity;
Described syringe needle specifically adopts the stainless steel material of inner hollow to make;
Described silicone tube specifically adopts the nonpoisonous and tasteless transparent wriggling flexible pipe of medical grade, and it is 4mm that diameter is set, the endPortion arranges silica gel pad and silica gel sealing ring, operating temperature range is set and is-60～220 DEG C, silica gel sealing ringFor thering is the seal of arc hermetically-sealed construction, also can be made into the elastic sealing element of oval spherical hermetically-sealed construction,Be connected on silicone tube shower nozzle bellows;
Described negative-pressure suction bottle specifically adopts the disposable stamping forming liquid-collecting bottle of clear polymer material, arrangesVolume is 1.2L, carries anti-overflow valve and stainless steel stent, and surface anti-skidding frosted is set, and adopts split type negative pressureAttract unit, pressure regulator is set and adopts fine aluminum alloy material, form pressure regulation through Digit Control Machine Tool Precision MachiningThe range of the vacuum attraction table of device is 0～200mmHg.
Described electrical storage device comprises: rechargeable battery, current diverter, multiple current comparator and multiple defeatedOutlet, the input of described current diverter is connected with described rechargeable battery, the output of described current diverterEnd is connected with the input of described each current comparator, and the output of described each current comparator is connected to respectivelyThe delivery outlet corresponding with it
Electrical storage device also comprises multiple electronic switches, and described each electronic switch is separately positioned on corresponding described electricityBetween stream comparator and delivery outlet, two ends are connected with described current comparator and delivery outlet respectively;
The quantity of described current comparator, delivery outlet and electronic switch is four, is respectively: the first electric currentComparator, the second current comparator, the 3rd current comparator, the 4th current comparator, the first delivery outlet,The second delivery outlet, the 3rd delivery outlet, the 4th delivery outlet, the first electronic switch, the second electronic switch, the 3rdElectronic switch and quadrielectron switch, the output of described current diverter respectively with described the first current ratioDevice, the second current comparator, the 3rd current comparator are connected with the input of the 4th current comparator, described inThe output of the first current comparator is connected with described the first delivery outlet by described the first electronic switch, described inThe output of the second current comparator is connected with described the second delivery outlet by described the second electronic switch, described inThe output of the 3rd current comparator is connected with described the 3rd delivery outlet by described the 3rd electronic switch, described inThe output of the 4th current comparator is connected with described the 4th delivery outlet by described quadrielectron switch;
The rated current of described power supply unit is I, and the output current of described the first delivery outlet is I1, describedThe output current of two delivery outlets is I2, and the output current of described the 3rd delivery outlet is I3, described the 4th delivery outletOutput current be I4; Correspondingly, a reference value of described the first current comparator is I, and described second relativelyThe a reference value of device is I-I1, and a reference value of described the 3rd comparator is I-I1-I2, described the 4th comparatorA reference value is I-I1-I2-I3.
The de-noising filtering method of described de-noising filtration module comprises the following steps:
Step 1, leakage sound wave signals trailing edge length are the letter that signal amplitude bust to amplitude returns to null valueNumber length; Sound wave signals time domain waveform is truly leaked in matching, obtains matching and leaks sound wave signals;
Step 2, the noise signal of adding, the pseudo-sound wave signals that leaks of acquisition;
Step 3, utilize preselected various filtering methods to puppet leak sound wave signals carry out filtering processing,To waveform after filtering;
Step 4, calculating and obtain filtering after the evaluation index of signal, determine optimal filter method, with trulyLeak the validity of sound wave signals checking optimal filter method.
In step 3, preselected filtering method has: Fourier Transform Filtering, wavelet filtering, intermediate value filterRipple, Wiener filtering, FIR filter filtering and iir filter filtering;
The characteristic parameter of preselected filtering method is:
(1) Fourier Transform Filtering band connection frequency 0Hz～100Hz;
(2) in wavelet filtering, wavelet basis is sym8 small echo, and decomposing the number of plies is 5 layers, and threshold value selection principle isRigrsure rule, threshold process principle is quadratic polynomial differential technique;
(3) medium filtering length of window isIndividual sampled point, wherein fsFor sample frequency, the Hz of unit;
(4) Wiener filtering length of window isIndividual sampled point, wherein fsFor sample frequency, the Hz of unit;
(5) FIR wave filter is selected Kaiser window, and cut-off frequecy of passband is 30Hz, and stopband initial frequency is60Hz, passband ripple maximum is 0.01, stopband ripple maximum is 0.1;
(6) iir filter is selected Chebyshev II mode filter, and cut-off frequecy of passband is 30Hz, passbandInterior maximum attenuation is 0.5dB, and stopband cut-off frequency is 90Hz, and in stopband, minimal attenuation is 80dB.
Adopt after technique scheme of the present invention, under the control of master control system, by ultrasonic module and orthopaedicsThe mutual collaborative work of sting device, acquisition parameter information realizes after the processing of master control system to be shared, and usesCross-reference in ultrasonic module and orthopaedics sting device parameter information is revised mutually, makes puncture location moreAccurately, neurotrosis incidence is low, reduces puncture time, expands the range of application of peripheral blockade, asCan carry out lumbal plexus, femoral nerve, sciatic nerve blockade etc.; Beginner can obtain reliable anaesthetic effect,Under calmness or basal anaesthesia state, can implement equally effective nerve block and puncture, be applicable to anatomical variationPatient, children's and can not carry out the patient of good cooperation, improve medical level, reduces medical-risk, subtractsLight patient suffering, reduces medical expense. The present invention has that precision is high, speed is fast, use feature richness perfect,Possess intelligent processing capacity, safe, easy to use and reliable advantage, can meet strict Medical treatment deviceThe requirement of tool management regulation.
Brief description of the drawings
Fig. 1 is the structural representation of the color ultrasound orthopaedics puncture dual boot control system that provides of the embodiment of the present invention;
Fig. 2 is the structural representation of the master control system that provides of the embodiment of the present invention;
Fig. 3 is the structural representation of the orthopaedics sting device that provides of the embodiment of the present invention;
Fig. 4 is the structural representation of the joystick that provides of the embodiment of the present invention;
Fig. 5 is the detection method flow chart of the ultrasonic module that provides of the embodiment of the present invention;
Fig. 6 is the structural representation of the puncture needle that provides of the embodiment of the present invention;
Fig. 7 is the circuit structure schematic diagram of the power supply adaptor that provides of the embodiment of the present invention;
Fig. 8 is the circuit structure schematic diagram of the power supply adaptor that provides of the embodiment of the present invention;
Fig. 9 is the flow chart of the de-noising filtering method that provides of the embodiment of the present invention;
In figure: 1, master control system; 1-1, power switch; 1-2, input module; 1-3, output module;1-3-1, LCDs; 1-3-2, printer; 1-4, de-noising filtration module; 1-5, control module;1-6, power module; 1-6-1, power supply connecting device; 1-6-2, electrical storage device; 1-6-3, relay protectionDevice; 2, ultrasonic module; 2-1, ultrasonic probe; 3, orthopaedics sting device; 3-1, joystick; 3-1-1,Shift knob; 3-1-2, indicator lamp; 3-1-3, display floater; 3-1-4, operation push-button; 3-1-5, anti-Sliding line; 3-2, puncture needle; 3-2-1, syringe needle; 3-2-2, silicone tube; 3-2-3, negative-pressure suction bottle; 3-2-4,Tube connector; 3-2-5, chlorination equipment; 3-2-6, lubricating arrangement; 3-2-7, adjuster; 3-2-8, conduit;3-3, puncture cover; 3-4, puncture seat; 3-5, needle handle; 3-6, shank; 3-7, blocking cap; 3-8, connectionSeat; 3-9, dop; 3-10, deck.
Figure 10 is the A/D converting means structural representation that the embodiment of the present invention provides.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment,The present invention is further elaborated. Should be appreciated that specific embodiment described herein only in order toExplain the present invention, be not intended to limit the present invention.
Below in conjunction with accompanying drawing 1 to 9 and specific embodiment, application principle of the present invention is further described.
This color ultrasound orthopaedics puncture dual boot control system comprises: master control system 1, ultrasonic module 2 and orthopaedics punctureDevice 3;
Master control system 1 connects respectively ultrasonic module 2 and orthopaedics sting device 3; Ultrasonic module 2 is connected with ultrasonicProbe 2-1, master control system 1 receives the color ultrasound data message that ultrasonic module 2 transmits and instructs after treatment controlOrthopaedics sting device 3 carries out orthopaedics puncture working;
Master control system 1 comprises: power switch 1-1, input module 1-2, output module 1-3, de-noising filteringModule 1-4, control module 1-5, power module 1-6;
Power switch 1-1 is connected with the power input of control module 1-5, input module 1-2 and de-noisingThe signal input part of filtration module 1-4 is connected, the signal output part of de-noising filtration module 1-4 and control mouldThe signal input part of piece 1-5 is connected; The power output end of power module 1-6 is connected with control module 1-5Connect, the signal output part of control module 1-5 is connected with output module 1-3;
Power module 1-6 comprises: power supply connecting device 1-6-1, electrical storage device 1-6-2, protective relaying device1-6-3; Power supply connecting device 1-6-1 is connected electrical storage device 1-6-2 with external power source, electrical storage deviceProtective relaying device 1-6-3 is installed on 1-6-2;
Output module 1-3 comprises LCDs 1-3-1 and printer 1-3-2, LCDs 1-3-1 andThe signal input part of printer 1-3-2 is connected with the signal output part of control module 1-5 respectively
Orthopaedics sting device 3 comprises: joystick 3-1, puncture needle 3-2, puncture cover 3-3, a puncture seat 3-4,Needle handle 3-5, shank 3-6, blocking cap 3-7, Connection Block 3-8, dop 3-9, deck 3-10;
Needle handle 3-5 is installed on joystick 3-1, puncture seat 3-4 is installed on needle handle 3-5, puncture seat 3-4Front end puncture needle 3-2 is installed, puncture needle 3-2 outer cover is equipped with puncture cover 3-3, before puncture cover 3-3End is provided with shank 3-6; The lower end of needle handle 3-5 is provided with deck 3-10, and the upper end of needle handle 3-5 is provided withConnection Block 3-8, is provided with blocking cap 3-7 on Connection Block 3-8, the lower end of blocking cap 3-7 is provided with dop 3-9.
The lower end of described joystick 3-1 is provided with shift knob 3-1-1, the right-hand member peace of shift knob 3-1-1Indicator lamp 3-1-2 is housed, and the upper end of shift knob 3-1-1 is provided with display floater 3-1-3, display floaterThe right-hand member of 3-1-3 is provided with operation push-button 3-1-4, and the outer cover of joystick 3-1 is equipped with anti-slip veins 3-1-5;Indicator lamp 3-1-2 comprises one or more emitting led, lens and light absorption/reflecting element, and lens receiveFrom the light of one or more LED and light is collimated;
Described LCDs 1-3-1 comprises: display floater 3-1-3, elementary layer, adhesive linkage;
Elementary layer is arranged on the outside of display floater 3-1-3, adhesive linkage be arranged on state display floater 3-1-3 andBetween elementary layer, wherein, the first edge of the bonding plane that is adhered to display floater 3-1-3 of adhesive linkage and stickyThe second edge that connects the bonding plane that is adhered to elementary layer of layer is shifted mutually along bonding plane direction;
Described power supply connecting device 1-6-1 comprise at least one connect external power source power supply input circuit andAt least one connects the load output circuit of load;
Described electrical storage device 1-6-2 comprises the accumulator charging/discharging circuit that connects battery.
Described deck 3-10 is set to square groove, and deck 3-10 one end is provided with turning cylinder, on turning cylinder, establishesBe equipped with depression bar and pin, be arranged to 110 degree angles between depression bar and pin, the deck 3-10 other end is provided with gearPlate.
The detection method of described ultrasonic module 2 comprises the following steps:
S101: start detection circuit board;
S102: the ultrasonic probe 2-1 being connected with testing circuit plate by panel computer control produces ultrasound emissionPumping signal;
S103: ultrasonic probe 2-1 contacts human body, obtains small-signal;
S104: signal is sent to testing circuit plate and amplifies, reconcile and sample, convert through A/D;
S105: by the signal of processing by wireless module deliver to panel computer show comprise spectral image and/orThe result of data.
The compact conformation of ultrasonic module 2, is convenient to move and carries; Produce simply, cost is low; Integrated establishingMeter, line is few, and reliability is high; Low in energy consumption, battery backed longevity of service. Adapt to the Android of environment instantlyAPP under operating system, for this system has increased demonstration editor's function, what more increased this APP simultaneously canRange of application, not only panel computer can be used, and also can nowadays carrying on the TV of Android system, mobile phoneUse.
Described puncture needle 3-2 comprises: syringe needle 3-2-1, silicone tube 3-2-2, negative-pressure suction bottle 3-2-3,Tube connector 3-2-4, chlorination equipment 3-2-5, lubricating arrangement 3-2-6, adjuster 3-2-7, conduit 3-2-8;
Syringe needle 3-2-1 is connected to tube connector 3-2-4 by silicone tube 3-2-2, and negative-pressure suction bottle 3-2-3 installsBelow tube connector 3-2-4, chlorination equipment 3-2-5 be arranged on lubricating arrangement 3-2-6 above, regulateDevice 3-2-7 is arranged on the below of tube connector 3-2-4, and the inside that conduit 3-2-8 is arranged on syringe needle 3-2-1 connectsReceive chlorination equipment 3-2-5 and lubricating arrangement 3-2-6;
Described chlorination equipment 3-2-5 comprises placed cavity, squeeze buttons and thimerosal outlet, and squeeze buttons is establishedPut in the front side of the outside of placed cavity, thimerosal outlet is arranged on the rear side of placed cavity;
Described syringe needle 3-2-1 specifically adopts the stainless steel material of inner hollow to make;
Described silicone tube 3-2-2 specifically adopts the nonpoisonous and tasteless transparent wriggling flexible pipe of medical grade, diameter is set and is4mm, bottom arranges silica gel pad and silica gel sealing ring, operating temperature range is set and is-60～220 DEG C, silica gelSealing ring is the seal with arc hermetically-sealed construction, and the elasticity that also can be made into oval spherical hermetically-sealed construction is closeSealing, is connected on silicone tube 3-2-2 shower nozzle bellows;
Described negative-pressure suction bottle 3-2-3 specifically adopts the disposable stamping forming liquid-collecting bottle of clear polymer material,It is 1.2L that volume is set, and carries anti-overflow valve and stainless steel stent, and surface anti-skidding frosted is set, and adopts split typeVacuum suction unit, arranges pressure regulator and adopts fine aluminum alloy material, forms through Digit Control Machine Tool Precision Machining,The range of the vacuum attraction table of pressure regulator is 0～200mmHg.
Chlorination equipment 3-2-5 comprises placed cavity, squeeze buttons and thimerosal outlet; Carrying out abdominal cavity at needs wearsWhen thorn, press squeeze buttons and first syringe needle 3-2-1 is carried out disinfection, after syringe needle 3-2-1 enters into abdominal cavity,The sterilised liq of chlorination equipment 3-2-5 enters in silicone tube 3-2-2 by conduit 3-2-8, utilizes silicone tube3-2-2 enters into tube connector 3-2-4, utilizes adjuster 3-2-7 to adjust air pressure, sterilize complete,Sterilised liq is squeezed in negative-pressure suction bottle 3-2-3, freely can not makes if syringe needle 3-2-1 enters in bodyBe lubricated with lubricating fluid in lubricating arrangement 3-2-6, reduce friction, reduce patient's pain.
Described electrical storage device 1-6-2 comprises: rechargeable battery, current diverter, multiple current comparator andMultiple delivery outlets, the input of described current diverter is connected with described rechargeable battery, described current diverterOutput be connected with the input of described each current comparator, the output of described each current comparator is respectivelyBe connected to the delivery outlet corresponding with it
Electrical storage device 1-6-2 also comprises multiple electronic switches, and described each electronic switch is separately positioned on correspondingBetween described current comparator and delivery outlet, two ends are connected with described current comparator and delivery outlet respectively;
The quantity of described current comparator, delivery outlet and electronic switch is four, is respectively: the first electric currentComparator, the second current comparator, the 3rd current comparator, the 4th current comparator, the first delivery outlet,The second delivery outlet, the 3rd delivery outlet, the 4th delivery outlet, the first electronic switch, the second electronic switch, the 3rdElectronic switch and quadrielectron switch, the output of described current diverter respectively with described the first current ratioDevice, the second current comparator, the 3rd current comparator are connected with the input of the 4th current comparator, described inThe output of the first current comparator is connected with described the first delivery outlet by described the first electronic switch, described inThe output of the second current comparator is connected with described the second delivery outlet by described the second electronic switch, described inThe output of the 3rd current comparator is connected with described the 3rd delivery outlet by described the 3rd electronic switch, described inThe output of the 4th current comparator is connected with described the 4th delivery outlet by described quadrielectron switch;
The rated current of described power supply unit is I, and the output current of described the first delivery outlet is I1, describedThe output current of two delivery outlets is I2, and the output current of described the 3rd delivery outlet is I3, described the 4th delivery outletOutput current be I4; Correspondingly, a reference value of described the first current comparator is I, and described second relativelyThe a reference value of device is I-I1, and a reference value of described the 3rd comparator is I-I1-I2, described the 4th comparatorA reference value is I-I1-I2-I3.
Priority is arranged in order to OP4 from high to low according to OP1, and interface is all given tacit consent to unlatching. When use, whenInterface OP1 inserts the equipment of a 5V2A, OP2, and OP3, OP4 port is closed immediately. Treat interface OP1After filling apparatus is full, then open successively OP2, OP3, OP4 interface, and look OP2, OP3, the merit of OP4 interfaceRate is opened successively.
When the equipment of a 5V1A of interface OP1 insertion, interface OP2 maintains unlatching, interface OP3, and OP4 is verticalClose, if interface OP2 also inserts the equipment of 5V1A, also normal power supply of interface OP2, if interface OP2The equipment inserting is 5V2A, and interface OP2 can close automatically, treats that adapter gross output has the surplus of 2AAfter unlock interface OP2 again; OP3, OP4 interface is at OP1, logical order successively after the filling apparatus of OP2 interface is fullOpen.
Output logic is in the time that general power is greater than the permission peak power of adapter, according to priority, first closesThe port of the lowest priority of opening at present.
Power supply unit arranges multiple output interfaces, and designs the priority of each output interface, can be according toThe prioritization logic rotation of setting, to equipment charge, has reduced the quantity of the charger of going out to carry,And no matter at home or go out, all increase substantially the utilization rate of adapter, can fully rationally utilize the time to fillElectricity, improves charge efficiency, reduces the wasting of resources, very easy to use.
The de-noising filtering method of described de-noising filtration module 1-4 comprises the following steps:
S201, leakage sound wave signals trailing edge length are the signal that signal amplitude bust to amplitude returns to null valueLength; Sound wave signals time domain waveform is truly leaked in matching, obtains matching and leaks sound wave signals;
S202, interpolation noise signal, obtain the pseudo-sound wave signals that leaks;
S203, utilize preselected various filtering methods to puppet leak sound wave signals carry out filtering processing, obtainWaveform after filtering;
S204, calculating and obtain filtering after the evaluation index of signal, determine optimal filter method, truly to let outLeak the validity of sound wave signals checking optimal filter method.
In S203, preselected filtering method has: Fourier Transform Filtering, wavelet filtering, medium filtering,Wiener filtering, FIR filter filtering and iir filter filtering;
The characteristic parameter of preselected filtering method is:
(1) Fourier Transform Filtering band connection frequency 0Hz～100Hz;
(2) in wavelet filtering, wavelet basis is sym8 small echo, and decomposing the number of plies is 5 layers, and threshold value selection principle isRigrsure rule, threshold process principle is quadratic polynomial differential technique;
(3) medium filtering length of window isIndividual sampled point, wherein fsFor sample frequency, the Hz of unit;
(4) Wiener filtering length of window isIndividual sampled point, wherein fsFor sample frequency, the Hz of unit;
(5) FIR wave filter is selected Kaiser window, and cut-off frequecy of passband is 30Hz, and stopband initial frequency is60Hz, passband ripple maximum is 0.01, stopband ripple maximum is 0.1;
(6) iir filter is selected Chebyshev II mode filter, and cut-off frequecy of passband is 30Hz, passbandInterior maximum attenuation is 0.5dB, and stopband cut-off frequency is 90Hz, and in stopband, minimal attenuation is 80dB.
By meeting signal to noise ratio evaluation index maximum, root-mean-square error evaluation index minimum and leaking trailing edgeAmplitude loss assessment index minimum, selects optimal filter method, has filled up present stage and has selected to leak sound wave signalsThe blank of filtering method, has evaluated the filter effect that leaks sound wave signals quantitatively, has increased to greatest extentLeak the signal to noise ratio of sound wave signals, improved the applicability of sound wave method leak detection technology.
Data message process arround the position of described ultrasonic probe 2-1 collection patient's needs puncture and injuryDescribed ultrasonic module 2 sends to master control system 1, and described master control system 1 receives that described ultrasonic module 2 transmitsColor ultrasound data message carries out the processing of de-noising filtering through de-noising filtration module 1-4, by control module 1-5 rootIt is believed that breath make command information instruct control described orthopaedics sting device 3 carry out orthopaedics puncture working, simultaneously doctorLife can be inputted corresponding director data by input module 1-2, also can pass through the liquid crystal of output module 1-3Show that screen 1-3-1 analyzes the position of holding a consultation and checking at any time the puncture needle 3-2 place of orthopaedics sting device 3,The information that orthopaedics sting device 3 sends by joystick 3-1 receiving control system 1 is also controlled orthopaedics punctureDevice 3 carries out the localised puncture work of orthopaedics injury.
As Figure 10: as described in A/D conversion in A/D converting means comprise:
Subtracter, numerical data is inputted this subtracter;
Δ ∑ modulator, to carrying out the modulation of Δ ∑ from the numerical data of described subtracter output;
Quantizer, quantizes the output of described Δ ∑ modulator;
PWM follower, output pulse width modulation signal, this pulse width modulating signal has based on by instituteState the dutycycle of the output after quantizer quantizes;
And output element, outputting analog signal, this analog signal have with from described PWM followerThe level corresponding to dutycycle of pulse width modulating signal;
Described quantizer, according to the output of described Δ ∑ modulator, is read because described output unit from memoryThe drive characteristic of part and the error part of the described pulse width modulating signal that produces, and offer described subtractionDevice, and described subtracter deducts described pulse width modulating signal from the numerical data of described inputAfter error part, offer described Δ ∑ modulator;
Many groups stored by described memory corresponding to the output voltage of described output element because described output elementDrive characteristic and the error part of the pulse width modulating signal that produces, also tool of described A/D converting meansAlternative device, according to input data that can be approximate with the output voltage of described output element, deposits from describedIn many grouping errors part of storing in reservoir, select the error part of respective sets;
Described A/D converting means, also has: temperature sensor, detects the operating temperature of described output element;
And temperature compensation division, according to the operating temperature of the output element being detected by described temperature sensor, rightThe error part of the pulse width modulating signal of reading from described memory is carried out temperature-compensating.
Described A/D transform method is carried out by A/D converting means, and A/D transform method is:
Subtracter, numerical data is inputted this subtracter;
Δ ∑ modulator, to carrying out the modulation of Δ ∑ from the numerical data of described subtracter output;
Quantizer, quantizes the output of described Δ ∑ modulator;
PWM follower, output pulse width modulation signal, this pulse width modulating signal has based on describedThe dutycycle of the output of the described Δ ∑ modulator after quantification;
And output element, outputting analog signal, this analog signal have with from described PWM followerThe level corresponding to dutycycle of pulse width modulating signal;
In described A/D transform method, described quantizer is according to the output of described Δ ∑ modulator, from memoryRead the error portion of the described pulse width modulating signal producing because of the drive characteristic of described output elementPoint, and offering described subtracter, it is wide that described subtracter deducts described pulse from the numerical data of described inputAfter the error part of degree modulation signal, offer described Δ ∑ modulator.
Specifically, be quantizer output valve, this quantizer output valve be output element because of buffer(PWM exports letter for the difference of drop-down/pulling drive characteristic (driving force) and the pulse width data that generatesNumber), in above-mentioned Δ ∑ modulator, from input data Din deduct comprise with duty cycle error suitableDifference after the quantizer output valve of variation part becomes minimum, the result of moving by this way, energyEnough get rid of the duty cycle error of PWM output signal and improve conversion precision. Using quantizer output valve as feedbackValue and pre-stored in value of feedback memory, this quantizer output valve be with because of buffer drop-down/above drawThe difference of drive characteristic (driving force) and the pulse width data (PWM output signal) that generatesThe variation part that duty cycle error is suitable, deposits the quantification corresponding to Δ Σ modulation output from this value of feedbackThe value of feedback FBVn feed back input that reservoir is read is to subtracter, and from input data Din deduct comprise withThe quantizer output valve of the variation part that duty cycle error is suitable, so that this difference becomes minimum mode in factExecute the modulation of Δ ∑, carry out the duty cycle error of compensated pulse width data (PWM output signal), thus,Can get rid of the duty cycle error of PWM output signal and realize the raising that converts precision.
And, the pre-stored many group value of feedback corresponding with buffer output voltage in value of feedback memory,According to the input data Din of output voltage that can be similar to buffer, from many groups value of feedback, select correspondingThe value of feedback of group. And, from the value of feedback of selected group, will modulate the quantification of output corresponding to Δ ∑And the value of feedback FBVn feed back input of reading is in subtracter, and deducts and comprise and account for from input data DinThe quantizer output valve of the variation part that empty ratio error is suitable, implements so that this difference becomes minimum modeΔ ∑ modulates the duty cycle error of compensated pulse width data (PWM output signal), thus, and canGet rid of the duty cycle error of PWM output signal and realize conversion precision and improve.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, not all at thisAny amendment of doing within bright spirit and principle, be equal to and replace and improvement etc., all should be included in the present inventionProtection domain within.
Claims (10)
1. a color ultrasound orthopaedics puncture dual boot control system, is characterized in that, this color ultrasound orthopaedics puncture pair is drawnLeading control system comprises: master control system, ultrasonic module and orthopaedics sting device;
Master control system connects respectively ultrasonic module and orthopaedics sting device; Ultrasonic module is connected with ultrasonic probe,The color ultrasound data message that master control system reception ultrasonic module transmits instructs after treatment controls orthopaedics sting deviceCarry out orthopaedics puncture working;
Master control system comprises: power switch, input module, output module, de-noising filtration module, control mouldPiece, power module;
Power switch is connected with the power input of control module, the letter of input module and de-noising filtration moduleNumber input is connected, and the signal output part of de-noising filtration module is connected with the signal input part of control module;The power output end of power module is connected with control module, the signal output part of control module and output moduleBe connected;
Power module comprises: power supply connecting device, electrical storage device, protective relaying device; Power supply connecting deviceElectrical storage device is connected with external power source, protective relaying device is installed on electrical storage device;
Output module comprises LCDs and printer, and the signal input part of LCDs and printer dividesBe not connected with the signal output part of control module
Orthopaedics sting device comprises: joystick, puncture needle, puncture cover, puncture seat, needle handle, shank,Blocking cap, Connection Block, dop, deck;
Needle handle is installed on joystick, puncture seat is installed on needle handle, the front end of puncture seat is provided with puncturePin, puncture needle outer cover is equipped with puncture cover, and the front end of puncture cover is provided with shank; The lower end of needle handle is provided withDeck, the upper end of needle handle is provided with Connection Block, and blocking cap is installed on Connection Block, and the lower end of blocking cap is provided with cardHead.
2. color ultrasound orthopaedics puncture dual boot control system as claimed in claim 1, is characterized in that described controlThe lower end of handle processed is provided with shift knob, and the right-hand member of shift knob is provided with indicator lamp, shift knob upperEnd is provided with display floater, and the right-hand member of display floater is provided with operation push-button, and the outer cover of joystick is equipped withAnti-slip veins; Indicator lamp comprises one or more emitting led, lens and light absorption/reflecting element, and lens receiveFrom the light of one or more LED and light is collimated;
Described LCDs comprises: display floater, elementary layer, adhesive linkage;
Elementary layer is arranged on the outside of display floater, and adhesive linkage is arranged on to be stated between display floater and elementary layer,Wherein, the first edge of the bonding plane that is adhered to display floater of adhesive linkage and adhesive linkage be adhered to elementary layerThe second edge of bonding plane be mutually shifted along bonding plane direction;
Described power supply connecting device comprises that at least one connects the power supply input circuit of external power source and at least oneThe load output circuit of individual connection load;
Described electrical storage device comprises the accumulator charging/discharging circuit that connects battery.
3. color ultrasound orthopaedics puncture dual boot control system as claimed in claim 1, is characterized in that, describedDeck is set to square groove, and deck one end is provided with turning cylinder, is provided with depression bar and pin, depression bar on turning cylinderAnd between pin, be arranged to 110 degree angles, the deck other end is provided with baffle plate.
4. color ultrasound orthopaedics puncture dual boot control system as claimed in claim 1, is characterized in that, describedThe detection method of ultrasonic module comprises the following steps:
Step 1: start detection circuit board;
Step 2: the ultrasonic probe being connected with testing circuit plate by panel computer control produces ultrasound emission and swashsEncourage signal;
Step 3: ultrasonic probe contact human body, obtains small-signal;
Step 4: signal is sent to testing circuit plate and amplifies, reconcile and sample, convert through A/D;
Step 5: by the signal of processing by wireless module deliver to panel computer show comprise spectral image and/Or the result of data.
5. the detection method of ultrasonic module as claimed in claim 4, is characterized in that, described A/D becomesChanging middle A/D converting means comprises:
Subtracter, numerical data is inputted this subtracter;
Δ ∑ modulator, to carrying out the modulation of Δ ∑ from the numerical data of described subtracter output;
Quantizer, quantizes the output of described Δ ∑ modulator;
PWM follower, output pulse width modulation signal, this pulse width modulating signal has based on by instituteState the dutycycle of the output after quantizer quantizes;
And output element, outputting analog signal, this analog signal have with from described PWM followerThe level corresponding to dutycycle of pulse width modulating signal;
Described quantizer, according to the output of described Deltasigma modulator, is read because described output unit from memoryThe drive characteristic of part and the error part of the described pulse width modulating signal that produces, and offer described subtractionDevice, and described subtracter deducts described pulse width modulating signal from the numerical data of described inputAfter error part, offer described Δ ∑ modulator;
Many groups stored by described memory corresponding to the output voltage of described output element because described output elementDrive characteristic and the error part of the pulse width modulating signal that produces, also tool of described A/D converting meansAlternative device, according to input data that can be approximate with the output voltage of described output element, deposits from describedIn many grouping errors part of storing in reservoir, select the error part of respective sets;
Described A/D converting means, also has: temperature sensor, detects the operating temperature of described output element;
And temperature compensation division, according to the operating temperature of the output element being detected by described temperature sensor, rightThe error part of the pulse width modulating signal of reading from described memory is carried out temperature-compensating.
6. the A/D transform method of A/D converting means as claimed in claim 5, is characterized in that, described inA/D transform method carried out by A/D converting means, A/D transform method is:
Subtracter, numerical data is inputted this subtracter;
Δ ∑ modulator, to carrying out the modulation of Δ ∑ from the numerical data of described subtracter output;
Quantizer, quantizes the output of described Δ ∑ modulator;
PWM follower, output pulse width modulation signal, this pulse width modulating signal has based on describedThe dutycycle of the output of the described Δ ∑ modulator after quantification;
And output element, outputting analog signal, this analog signal have with from described PWM followerThe level corresponding to dutycycle of pulse width modulating signal;
In described A/D transform method, described quantizer is according to the output of described Deltasigma modulator, from memoryRead the error portion of the described pulse width modulating signal producing because of the drive characteristic of described output elementPoint, and offering described subtracter, it is wide that described subtracter deducts described pulse from the numerical data of described inputAfter the error part of degree modulation signal, offer described Δ ∑ modulator.
7. color ultrasound orthopaedics puncture dual boot control system as claimed in claim 1, is characterized in that, describedPuncture needle comprises: syringe needle, silicone tube, negative-pressure suction bottle, tube connector, chlorination equipment, lubricating arrangement, tuneJoint device, conduit;
Syringe needle is connected to tube connector by silicone tube, and negative-pressure suction bottle is arranged on the below of tube connector, sterilization dressPut be arranged on lubricating arrangement above, adjuster is arranged on the below of tube connector, conduit be arranged on syringe needle inPortion is connected to chlorination equipment and lubricating arrangement;
Described chlorination equipment comprises placed cavity, squeeze buttons and thimerosal outlet, and squeeze buttons is arranged on putsPut the front side of the outside in chamber, thimerosal outlet is arranged on the rear side of placed cavity;
Described syringe needle specifically adopts the stainless steel material of inner hollow to make;
Described silicone tube specifically adopts the nonpoisonous and tasteless transparent wriggling flexible pipe of medical grade, and it is 4mm that diameter is set, the endPortion arranges silica gel pad and silica gel sealing ring, operating temperature range is set and is-60～220 DEG C, silica gel sealing ringFor thering is the seal of arc hermetically-sealed construction, also can be made into the elastic sealing element of oval spherical hermetically-sealed construction,Be connected on silicone tube shower nozzle bellows;
Described negative-pressure suction bottle specifically adopts the disposable stamping forming liquid-collecting bottle of clear polymer material, arrangesVolume is 1.2L, carries anti-overflow valve and stainless steel stent, and surface anti-skidding frosted is set, and adopts split type negative pressureAttract unit, pressure regulator is set and adopts fine aluminum alloy material, form pressure regulation through Digit Control Machine Tool Precision MachiningThe range of the vacuum attraction table of device is 0～200mmHg.
8. color ultrasound orthopaedics puncture dual boot control system as claimed in claim 1, is characterized in that, describedElectrical storage device comprises: rechargeable battery, current diverter, multiple current comparator and multiple delivery outlet, described inThe input of current diverter is connected with described rechargeable battery, the output of described current diverter and described eachThe input of current comparator connects, and the output of described each current comparator is connected to respectively corresponding with itDelivery outlet
Electrical storage device also comprises multiple electronic switches, and described each electronic switch is separately positioned on corresponding described electricityBetween stream comparator and delivery outlet, two ends are connected with described current comparator and delivery outlet respectively;
The quantity of described current comparator, delivery outlet and electronic switch is four, is respectively: the first electric currentComparator, the second current comparator, the 3rd current comparator, the 4th current comparator, the first delivery outlet,The second delivery outlet, the 3rd delivery outlet, the 4th delivery outlet, the first electronic switch, the second electronic switch, the 3rdElectronic switch and quadrielectron switch, the output of described current diverter respectively with described the first current ratioDevice, the second current comparator, the 3rd current comparator are connected with the input of the 4th current comparator, described inThe output of the first current comparator is connected with described the first delivery outlet by described the first electronic switch, described inThe output of the second current comparator is connected with described the second delivery outlet by described the second electronic switch, described inThe output of the 3rd current comparator is connected with described the 3rd delivery outlet by described the 3rd electronic switch, described inThe output of the 4th current comparator is connected with described the 4th delivery outlet by described quadrielectron switch;
The rated current of described power supply unit is I, and the output current of described the first delivery outlet is I1, described secondThe output current of delivery outlet is I2, the output current of described the 3rd delivery outlet is I3, described the 4th delivery outlet defeatedGoing out electric current is I4; Correspondingly, a reference value of described the first current comparator is I, the base of described the second comparatorAccurate value is I-I1, a reference value of described the 3rd comparator is I-I1-I2, a reference value of described the 4th comparator isI-I1-I2-I3。
9. color ultrasound orthopaedics puncture dual boot control system as claimed in claim 1, is characterized in that, describedThe de-noising filtering method of de-noising filtration module comprises the following steps:
Step 1, leakage sound wave signals trailing edge length are the letter that signal amplitude bust to amplitude returns to null valueNumber length; Sound wave signals time domain waveform is truly leaked in matching, obtains matching and leaks sound wave signals;
Step 2, the noise signal of adding, the pseudo-sound wave signals that leaks of acquisition;
Step 3, utilize preselected various filtering methods to puppet leak sound wave signals carry out filtering processing,To waveform after filtering;
Step 4, calculating and obtain filtering after the evaluation index of signal, determine optimal filter method, with trulyLeak the validity of sound wave signals checking optimal filter method.
10. color ultrasound orthopaedics puncture dual boot control system as claimed in claim 7, is characterized in that, in stepIn three, preselected filtering method has: Fourier Transform Filtering, wavelet filtering, medium filtering, dimension nanofiltrationRipple, FIR filter filtering and iir filter filtering;
The characteristic parameter of preselected filtering method is:
(1) Fourier Transform Filtering band connection frequency 0Hz～100Hz;
(2) in wavelet filtering, wavelet basis is sym8 small echo, and decomposing the number of plies is 5 layers, and threshold value selection principle isRigrsure rule, threshold process principle is quadratic polynomial differential technique;
(3) medium filtering length of window isIndividual sampled point, wherein fsFor sample frequency, the Hz of unit;
(4) Wiener filtering length of window isIndividual sampled point, wherein fsFor sample frequency, the Hz of unit;
(5) FIR wave filter is selected Kaiser window, and cut-off frequecy of passband is 30Hz, and stopband initial frequency is 60Hz,Passband ripple maximum is 0.01, and stopband ripple maximum is 0.1;
(6) iir filter is selected Chebyshev II mode filter, and cut-off frequecy of passband is 30Hz, in passbandMaximum attenuation is 0.5dB, and stopband cut-off frequency is 90Hz, and in stopband, minimal attenuation is 80dB.
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