CN106562804A - B ultrasonic detection robot - Google Patents
B ultrasonic detection robot Download PDFInfo
- Publication number
- CN106562804A CN106562804A CN201610937096.3A CN201610937096A CN106562804A CN 106562804 A CN106562804 A CN 106562804A CN 201610937096 A CN201610937096 A CN 201610937096A CN 106562804 A CN106562804 A CN 106562804A
- Authority
- CN
- China
- Prior art keywords
- ultrasonic
- robot
- control module
- main control
- human body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4411—Device being modular
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/56—Details of data transmission or power supply
- A61B8/565—Details of data transmission or power supply involving data transmission via a network
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Radiology & Medical Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Computer Networks & Wireless Communication (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention discloses a B ultrasonic detection robot. The B ultrasonic detection robot mainly comprises a B ultrasonic probe arranged on an arm of the robot, an infrared detection unit, a main control module, an Internet communication module, a robot walking mechanism and an arm moving mechanism; when the infrared detection unit detects a human body, the main control module controls the robot walking mechanism to walk to the human body to perform B ultrasonic detection; the B ultrasonic probe enables detected B ultrasonic information to be processed by the main control module, and then transmits the processed information to a B ultrasonic host through the Internet communication module to display an image; the main control module controls the arm moving mechanism to perform movable detection on the human body; and meanwhile, the B ultrasonic host and the B ultrasonic probe are independent mutually. Therefore, the problem of waste of human resource caused by the fact that a medical staff is needed in B ultrasonic detection in the prior art is solved; and in addition, the shortcoming of inconvenience in use, which is caused by the condition that the B ultrasonic host and the B ultrasonic probe are connected mutually in the prior art, is overcome.
Description
Technical field
The present invention relates to B ultrasonic detection technique field, in particular it relates to a kind of B ultrasonic detection robot.
Background technology
B ultrasonic, is a kind of clinically most widely used and easy diasonograph.Human body viscera can be obtained by B ultrasonic each
The various tangent plane graphics Web publishings of organ are clear.B ultrasonic is relatively specific for various organ diseases such as liver, courage kidney, bladder, uterus, ovary
Diagnosis." B ultrasonic " said at ordinary times be exactly to human-body emitting ultrasonic wave, while in acceptor internal organs back wave, by taken information
It is reflected on screen.
Ultrasonic Diagnosis is mainly using ultrasonic good directive property and the reflection similar to light, scattering, decay and Doppler
（Doppler）The physical characteristics such as effect, using its different physical parameter, using different types of diagnostic ultrasonic equipment, adopt
Various checking methods, by ultrasound emission into the human body, and propagate in the tissue, when the acoustic impedance of normal structure or pathological tissue has
During different, the interface that they are constituted will be reflected and scatter, then this echo signal is received, and in addition detection etc. is processed
Afterwards, waveform, curve or image etc. are shown as.Due to the interface configuration of various tissues, the moving situation of histoorgan and to ultrasound
The difference such as degree of absorption, its echo has certain general character and some characteristics, with reference to physiology, pathological anatomy knowledge and clinical doctor
Learn, observe, analyze, summarizing these different rules, generality can be made to ill position, property or dysfunction degree with
To the judgement of certainty.
Ultrasonic Diagnosis is regenerated due to the continuous renewal of instrument, and method is easy, and report is rapid, and its accuracy rate of diagnosis is improved year by year,
Today that state's living quality of patients is increasingly improved, the higher quality of medical care of pursuit and experience are possibly realized.Possessing high-quality medical treatment money
The hospital in source, it will usually exist and more ask doctor.In order to obtain higher quality of medical care, generally require to take more time
Wait in line.Especially for B ultrasonic demander, the often not good patient of health, such as pregnant woman, seriously injured person, no
It is adapted to be waited for a long time in crowded, noisy environment；Or some patients are not suitable for movement, can only stay in ward.It is right
This kind of crowd carries out ultrasound diagnosis and is even more difficulty, needs medical personnel or household that sick bed is pushed in β-Ultrasound Room, again will after checking out
Patient withdraws and sends ward back to, in whole process, if running into β-Ultrasound Room and arranging needs farther out the spaces such as upper and lower floor or corridor narrow
It is little, operate and even more waste time and energy, while be also required to several personnel to assist to complete, compare waste of manpower.
Meanwhile, do B ultrasonic and detect that hold ultrasonic probe often by medical personnel tests and analyzes to patient, in medical treatment
In the case of resource anxiety so that patient can not seek medical advice in time.
The content of the invention
It is an object of the present invention to be directed to the problems referred to above, propose that a kind of B ultrasonic detects robot, to realize B ultrasonic main frame and B
Super probe is separated, and carries out B ultrasonic detection, and the advantage of Real-time Feedback B ultrasonic detection information by robot.
For achieving the above object, the technical solution used in the present invention is：A kind of B ultrasonic detects robot, mainly includes：
B ultrasonic main frame detached with Ultrasonic-B probe, also includes, Ultrasonic-B probe, infrared detection unit, the master being arranged on robot arm
Control module, the Internet communication module, robot running gear and arm travel mechanism, when infrared detection unit detection has human body,
Master control module controls robot running gear moves towards human body, carries out B ultrasonic detection, and the Ultrasonic-B probe is by B ultrasonic information Jing for detecting
After main control module process, sent to B ultrasonic main frame by the Internet communication module, carry out image and show, the master control module controls
Arm travel mechanism moves detection on human body.
Further, the Ultrasonic-B probe includes ultrasonic transducer, A/D change-over circuits, switch key and power supply mould
Block, ultrasonic transducer sends detectable signal to A/D change-over circuits, after be transferred to main control module, main control module is to signal
Processed, the disconnection of on ＆ off switch control Ultrasonic-B probe and closure state, the power module to ultrasonic transducer and
A/D change-over circuits are powered.
Further, also including voice broadcast module, when human body is detected, point out human body to carry out detection and prepare, medical care
Personnel are sent analysis voice messaging Jing the Internet communication modules to robot by B ultrasonic host analysis B ultrasonic image, by machine
After device people's main control module is processed voice messaging, report is analyzed.
Further, the B ultrasonic main frame also sends control command letter by the Internet communication module to arm travel mechanism
Number, Jing after robot main control module is processed, control arm travel mechanism carries out corresponding moving operation.
Further, it is described to send control command signal for voice messaging to arm travel mechanism, including " on " D score
" left side " " right side ".
A kind of B ultrasonic detection robot of various embodiments of the present invention, due to mainly including：The B being arranged on robot arm
Super probe, infrared detection unit, main control module, the Internet communication module, robot running gear and arm travel mechanism, it is infrared
When detector unit detection has human body, master control module controls robot running gear moves towards human body, carries out B ultrasonic detection, and the B ultrasonic is visited
Head Jing after main control module process, sends the B ultrasonic information for detecting to B ultrasonic main frame by the Internet communication module, carries out image
Show, the master control module controls arm travel mechanism moves detection on human body, while B ultrasonic main frame and Ultrasonic-B probe phase
It is mutually independent；B ultrasonic detection in such that it is able to overcome prior art is necessarily required to medical personnel's participation, waste of manpower resource, on the one hand,
B ultrasonic main frame and Ultrasonic-B probe are connected with each other, it has not been convenient to the defect for using.
Other features and advantages of the present invention will be illustrated in the following description, also, the partly change from specification
Obtain it is clear that or being understood by implementing the present invention.
Below by embodiment, technical scheme is described in further detail.
Specific embodiment
Below in conjunction with illustrating to the preferred embodiments of the present invention, it will be appreciated that preferred embodiment described herein
The present invention is merely to illustrate and is explained, is not intended to limit the present invention.
Specifically, a kind of B ultrasonic detects robot, mainly includes：
B ultrasonic main frame detached with Ultrasonic-B probe, also includes, Ultrasonic-B probe, infrared detection unit, the master being arranged on robot arm
Control module, the Internet communication module, robot running gear and arm travel mechanism, when infrared detection unit detection has human body,
Master control module controls robot running gear moves towards human body, carries out B ultrasonic detection, and the Ultrasonic-B probe is by B ultrasonic information Jing for detecting
After main control module process, sent to B ultrasonic main frame by the Internet communication module, carry out image and show, the master control module controls
Arm travel mechanism moves detection on human body.
The Ultrasonic-B probe includes ultrasonic transducer, A/D change-over circuits, switch key and power module, ultrasonic wave
Transducing head sends detectable signal to A/D change-over circuits, after be transferred to main control module, main control module is processed signal,
The disconnection of the on ＆ off switch control Ultrasonic-B probe and closure state, the power module is to ultrasonic transducer and A/D conversion electricity
Road powers.
Also include voice broadcast module, when human body is detected, point out human body to carry out detection and prepare, medical personnel pass through B
Super host analysis B ultrasonic image, and analysis voice messaging Jing the Internet communication modules are sent to robot, by robot master control mould
After block is processed voice messaging, report is analyzed.
The B ultrasonic main frame also sends control command signal, Jing machines by the Internet communication module to arm travel mechanism
After the process of people's main control module, control arm travel mechanism carries out corresponding moving operation.
It is described to send control command signal for voice messaging to arm travel mechanism, including " on " D score " left side " " right side ".
Following beneficial effect can at least be reached：Realize that B ultrasonic main frame and Ultrasonic-B probe are separated, and B is carried out by robot
Super detection, and the advantage of Real-time Feedback B ultrasonic detection information.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to,
Although being described in detail to the present invention with reference to the foregoing embodiments, for a person skilled in the art, it still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic.
All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of B ultrasonic detects robot, including B ultrasonic main frame detached with Ultrasonic-B probe, it is characterised in that also include, be arranged at machine
Ultrasonic-B probe, infrared detection unit, main control module, the Internet communication module, robot running gear and arm in device human arm
Travel mechanism, when infrared detection unit detection has human body, master control module controls robot running gear moves towards human body, carries out B ultrasonic
Detection, the Ultrasonic-B probe Jing after main control module process, sends the B ultrasonic information for detecting to B ultrasonic by the Internet communication module
Main frame, carries out image and shows, the master control module controls arm travel mechanism moves detection on human body.
2. B ultrasonic according to claim 1 detects robot, it is characterised in that the Ultrasonic-B probe is filled including ultrasonic wave transducer
Put, A/D change-over circuits, switch key and power module, ultrasonic transducer sends detectable signal to A/D conversion electricity
Road, after be transferred to main control module, main control module is processed signal, the disconnection of on ＆ off switch control Ultrasonic-B probe and closure
State, the power module to ultrasonic transducer and A/D change-over circuits are powered.
3. B ultrasonic according to claim 2 detects robot, it is characterised in that also including voice broadcast module, when detecting
During human body, point out human body to carry out detection and prepare, medical personnel pass through B ultrasonic host analysis B ultrasonic image, and will analysis voice messaging Jing
The Internet communication module is sent to robot, after being processed voice messaging by robot main control module, is analyzed report.
4. B ultrasonic according to claim 3 detects robot, it is characterised in that the B ultrasonic main frame also passes through internet communication
Module to arm travel mechanism sends control command signal, and Jing after robot main control module is processed, control arm travel mechanism enters
The corresponding moving operation of row.
5. B ultrasonic according to claim 4 detects robot, it is characterised in that described transmission to arm travel mechanism controls
Command signal is voice messaging, including " on " D score " left side " " right side ".
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610937096.3A CN106562804A (en) | 2016-11-01 | 2016-11-01 | B ultrasonic detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610937096.3A CN106562804A (en) | 2016-11-01 | 2016-11-01 | B ultrasonic detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106562804A true CN106562804A (en) | 2017-04-19 |
Family
ID=58534472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610937096.3A Pending CN106562804A (en) | 2016-11-01 | 2016-11-01 | B ultrasonic detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106562804A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6425865B1 (en) * | 1998-06-12 | 2002-07-30 | The University Of British Columbia | Robotically assisted medical ultrasound |
| US7753851B2 (en) * | 2004-10-18 | 2010-07-13 | Mobile Robotics Sweden Ab | Robot for ultrasonic examination |
| CN104105455A (en) * | 2011-12-03 | 2014-10-15 | 皇家飞利浦有限公司 | Robotic guidance of ultrasound probe in endoscopic surgery |
-
2016
- 2016-11-01 CN CN201610937096.3A patent/CN106562804A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6425865B1 (en) * | 1998-06-12 | 2002-07-30 | The University Of British Columbia | Robotically assisted medical ultrasound |
| US7753851B2 (en) * | 2004-10-18 | 2010-07-13 | Mobile Robotics Sweden Ab | Robot for ultrasonic examination |
| CN104105455A (en) * | 2011-12-03 | 2014-10-15 | 皇家飞利浦有限公司 | Robotic guidance of ultrasound probe in endoscopic surgery |
Non-Patent Citations (1)
| Title |
|---|
| 黄英，王永红: "《传感器原理及应用》", 30 April 2016 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7572223B2 (en) | Integrated physiology and imaging workstation | |
| JP4795939B2 (en) | Method and system for knowledge-based diagnostic imaging | |
| Peng et al. | Sound transmission in the chest under surface excitation: an experimental and computational study with diagnostic applications | |
| CN109152538A (en) | Device and method for the triage dominated for renal denervation based on intravascular pressure and the measurement of cross section lumen | |
| US20200352542A1 (en) | Guided-transcranial ultrasound imaging using neural networks and associated devices, systems, and methods | |
| CN113288204B (en) | Semi-autonomous B ultrasonic detection system of robot | |
| CN104352230A (en) | Non-invasive thrombosis detector | |
| CN110415248A (en) | A kind of blood vessel monitoring method, device, equipment and storage medium based on ultrasound | |
| CN2891973Y (en) | Compact bone substance ultrasonic measuring and analytical device | |
| CN104225780A (en) | Intelligent ultrasonic diagnosis and treating instrument and application method of intelligent ultrasonic diagnosis and treating instrument | |
| CN111839730A (en) | Photoacoustic imaging surgical navigation platform for guiding tumor resection | |
| CN101664323B (en) | Method for switching imaging state at real time by ultrasonic equipment in Doppler blood flow measurement | |
| CN203885529U (en) | Remote controlled B ultrasonic device | |
| CN106562804A (en) | B ultrasonic detection robot | |
| CN210722083U (en) | Ultrasonic teaching simulator for critical obstetrics and gynecology department | |
| CN102783972B (en) | System for monitoring identification of gender of fetus without medical needs | |
| CN104510503A (en) | Integral computer-aided ultrasonic system for detecting, diagnosing and treating various cerebrovascular blood circulation states | |
| US11684336B2 (en) | Systems and methods for detecting neurological conditions | |
| CN106667430A (en) | Nano-reinforced functional blood oxygen imaging diagnosing and treating system for breast tumor and application thereof | |
| CN106725591A (en) | A kind of B ultrasonic detection method based on robot | |
| CN204133492U (en) | A kind of Ultrasonic-B probe | |
| McCafferty et al. | Point of Care Ultrasound Made Easy | |
| CN205163039U (en) | Diagnosis of tumor of breast blood oxygen nanometer enhance function image and treatment system | |
| CN202699161U (en) | Intelligent physical examination diagnostic instrument | |
| CN205360274U (en) | Diagnosis of X ray exciting light power and treatment deep tumour system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170419 |
|
| RJ01 | Rejection of invention patent application after publication |