CN108992086A - Supersonic detection device, trolley and ultrasonic system - Google Patents
Supersonic detection device, trolley and ultrasonic system Download PDFInfo
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- CN108992086A CN108992086A CN201710983124.XA CN201710983124A CN108992086A CN 108992086 A CN108992086 A CN 108992086A CN 201710983124 A CN201710983124 A CN 201710983124A CN 108992086 A CN108992086 A CN 108992086A
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- 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
- A61B8/4405—Device being mounted on a trolley
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
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- 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
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
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- 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
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Abstract
The present invention provides a kind of supersonic detection device, comprising: ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；Force sensing apparatus, for sensing the power between the ultrasonic probe and the measurand；Mechanical arm, the mechanical arm include movable terminal and fixing end, and the movable terminal is connected with the force sensing apparatus；Picture pick-up device, for obtaining the video image data of the tested region and the ultrasonic probe；Communication module, for carrying out data interaction with a terminal；And controller, it is electrically connected respectively with the ultrasonic probe, the force sensing apparatus, the mechanical arm, the picture pick-up device and the communication module.The present invention also provides a kind of trolleys and ultrasonic system for ultrasound detection.
Description
Technical field
The present invention relates to ultrasound detection fields, and in particular, to suitable for remotely control supersonic detection device, trolley and
Ultrasonic system.
Background technique
In medical domain, ultrasonic imaging utilizes ultrasonic scanning biological tissue, and receives the echo of biological tissue reflection
Signal, by carrying out the image that processing obtains the biological tissue to echo-signal.Ultrasonic imaging is a kind of common medical image
Technology, supersonic imaging apparatus are widely used in clinical medicine detection.However, lacking ultrasound in many basic medical units
Imaging device can not provide ultrasonic imaging detection for location resident.In recent years, this case adopts Medical Devices with government
It purchases and makes moderate progress under the increase of investment and the popularization of portable ultrasound imaging equipment, but examined in ultrasonic imaging detection and ultrasound
Disconnected aspect still has some problems.
Mainly pass through internet sets up remote medical consultation with specialists center to existing solution, asks the ultrasonic imaging of high-grade hospital special
Family provides assistance for basic medical unit.For example, being completed by the operator of ultrasonic imaging expert's remote guide basic medical unit
Then corresponding ultrasonic scanning remotely checks that ultrasonic image diagnoses by ultrasonic imaging expert or specialist.However, ultrasonic
Imaging device usually requires experienced professional and directly operates personally, could obtain the ultrasonic image for being conducive to diagnosis.?
In existing remote medical consultation with specialists method, ultrasonic imaging expert can only check the ultrasound image of patient in client, can not know that this is super
The accurate location that supersonic imaging apparatus corresponding to acoustic image (such as ultrasonic probe) is contacted with patient body generally requires repeatedly remote
Journey instruct operator and repeatedly observation ultrasound image can just make diagnosis, reduce ultrasound detection efficiency and ultrasound diagnose it is reliable
Property.
Summary of the invention
In view of the foregoing, it is necessary to which a kind of apparatus and system suitable for long-range ultrasonic imaging is provided.
Present invention firstly provides a kind of supersonic detection devices, comprising:
Ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；
Force sensing apparatus, for sensing the power between the ultrasonic probe and the measurand；
Mechanical arm, the mechanical arm include movable terminal and fixing end, the movable terminal and the force sensing apparatus phase
Connection；
Picture pick-up device, for obtaining the video image data of the tested region and the ultrasonic probe；
Communication module, for carrying out data interaction with a terminal；
Controller, respectively with the ultrasonic probe, the force sensing apparatus, the mechanical arm, the picture pick-up device and institute
State communication module electric connection.
Further, which further includes clamping device, and the clamping device includes clamping part and interconnecting piece,
For the clamping part for removably holding the ultrasonic probe, the interconnecting piece is connected to the force sensing apparatus, the company
Socket part is used to the power between the ultrasonic probe and the measurand being transferred to the force sensing apparatus.
Further, the interconnecting piece includes an at least connecting rod, and the connecting rod is parallel to the axis of the ultrasonic probe
To direction.
Further, the mechanical arm is sixdegree-of-freedom simulation.
Further, which further includes display equipment and speech ciphering equipment.
The present invention also provides a kind of trolleys, comprising:
Cabinet, the cabinet include top plate portion and the pedestal for being provided with castor；
The top plate portion is provided with the carrying platform for placing ultrasonic detection equipment；
Ultrasonic detection equipment interface is set to the cabinet, for being electrically connected with a ultrasonic detection equipment；
Mechanical arm, the mechanical arm include movable terminal and fixing end, and the fixing end is set to the top of the top plate portion
Face；
Force sensing apparatus is connected to the movable terminal of the mechanical arm；Clamping device, the clamping device include interconnecting piece
And clamping part, the interconnecting piece of the clamping device are connected to the force sensing apparatus, the clamping part is for removably holding
One ultrasonic probe；
Communication module, for carrying out data interaction with a terminal；And
Controller, respectively with the ultrasonic detection equipment interface, the mechanical arm, the force sensing apparatus and the communication
Module is electrically connected.
Further, it is provided with clump weight in the cabinet of the trolley, for balancing the center of gravity of the trolley.
The present invention also provides a kind of ultrasonic systems, including first terminal and second terminal；
The first terminal includes: ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；Power
Sensing equipment, for sensing the force signal between the ultrasonic probe and the measurand；Mechanical arm, the mechanical arm include
Movable terminal and fixing end, the movable terminal are connected with the force sensing apparatus；Picture pick-up device, it is described tested for obtaining
The video image data of region and the ultrasonic probe；First communication module, for sending the ultrasound to the second terminal
Image data, the force signal and the video image data, and for receiving the command signal from the second terminal；
The second terminal includes: second communication module, for receiving the ultrasound image from the first terminal
Data, the force signal and the video image data, and for issuing the command signal to the first terminal；Display is set
It is standby, for showing the ultrasound image based on the ultrasound image data and the video image based on the video image data；With
And force feedback operator, the force feedback operator are based on the force signal and export haptic effect, the force feedback operator quilt
It is set as receiving the first input signal and the order for controlling the mechanical arm is determined based on first input signal
Signal.
Further, the first terminal includes clamping device, and the clamping device includes clamping part and interconnecting piece, described
For clamping part for removably holding the ultrasonic probe, the interconnecting piece is connected to the force sensing apparatus, the interconnecting piece
For the power between the ultrasonic probe and the measurand to be transferred to the force sensing apparatus.
Further, the second terminal includes super sound control apparatus, and the super sound control apparatus is defeated for receiving second
Enter signal and detection parameters command signal is obtained based on second input signal；The second communication module joins the detection
Number command signal is sent to the first terminal；The first terminal is based on the detection parameters command signal and the ultrasound is arranged
The detection parameters of probe.
Compared with the prior art, supersonic detection device provided by the present invention, trolley and ultrasonic system pass through to ultrasound detection
The remote transmission and presentation of force signal between ultrasound image, ultrasonic probe and the measurand and video image in the process,
Allow ultrasonic imaging expert remotely controlled according to above- mentioned information in real time ultrasonic probe act on measurand mode it is more preferable
Ground obtains effective ultrasound detection image, to improve the detection efficiency of long-range ultrasound and the reliability of long-range ultrasound diagnosis.
Detailed description of the invention
Fig. 1 is the functional block diagram of ultrasonic system provided by first embodiment of the invention.
Fig. 2 is the schematic diagram of supersonic detection device provided by second embodiment of the invention.
Fig. 3 is the partial enlarged view of an embodiment of supersonic detection device provided by the present invention.
Fig. 4 is the functional block diagram of ultrasound control device provided by third embodiment of the invention.Main element
Symbol description
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Technical solution of the present invention is described below in conjunction with the preferred embodiment of the present invention and embodiment.It needs
Illustrate, when a unit is described as " connecting " in another unit, it can be directly to another unit or
Person may be simultaneously present unit placed in the middle.When a unit is described as " being set to " another unit, it can be direct setting
On another unit or it may be simultaneously present unit placed in the middle.Unless otherwise defined, all technologies used herein and
Scientific term has the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.In the description of the invention
The title of used element or equipment, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.
First embodiment of the invention provides a kind of ultrasonic system for long-range ultrasound detection.The ultrasonic system is logical
The real-time Transmission to multi-signal during ultrasound detection and/or data is crossed, so that operator is remotely controlled ultrasonic probe and obtains
Take the ultrasound image of measurand.
Fig. 1 shows ultrasonic system provided by first embodiment.The ultrasonic system 1 includes that first terminal and second are whole
End.Wherein, which can be the supersonic detection device for being set to measurand (such as patient, examinee) site
10, which can be the ultrasound control for being set to professional ultrasound procedure personnel or medical image specialist site
Device 20, the first terminal and the second terminal can realize the two-way of signal and data by way of wired or wireless communication
Transmission.
As shown in Figure 1, the supersonic detection device 10 includes ultrasound detection module 110, tactile sensing module 120, mechanical arm
Module 130, the first video module 140, first communication module 150 and the first controller 160.Wherein, first controller 160 with
The ultrasound detection module 110, the tactile sensing module 120, the mechanical arm module 130, first video module 140 and this first
Communication module 150 is directly or indirectly electrically connected to transmit and exchange data or signal.The ultrasound detection module 110 is for obtaining
Take the ultrasound image data of measurand.The ultrasound detection module 110 includes ultrasonic probe, and the ultrasonic probe is tested for obtaining
The ultrasound echo signal of object.The tactile sensing module 120 is used to obtain the force signal between the ultrasonic probe and measurand.
The mechanical arm module 130 is based on command signal and controls the ultrasonic probe 1102.First video module 140 is for obtaining ultrasonic inspection
Survey the first video image data of scene.The first communication module 150 is used to scheme above-mentioned ultrasound acquired in the first terminal
As data, force signal and the first video image data are sent to second terminal (such as ultrasonic control device 20).
As shown in Figure 1, the ultrasound control device 20 includes touch feedback control module 220, the second video module 240, the
Two communication modules 250 and second controller 260.Wherein, the second controller 260 and the touch feedback control module 220, this
Two video modules 240 and second communication module 250 are directly or indirectly electrically connected to transmit and exchange data or signal.This
Two communication modules 250, which receive, comes from an at least terminal, such as supersonic detection device 10, ultrasound image data, force signal and first
Video image data.Second video module 240 includes at least one display equipment, for showing based on the received ultrasound image of institute
The ultrasound images of data and display based on received first video image data video image.The touch feedback controls mould
Block 220 includes tactile output module 2210, user interface 2230 and identification module 2250.The tactile output module 2210 is based on should
The 250 received force signal of institute of second communication module exports corresponding haptic effect by the user interface 2230.The identification module
2250 can receive the first input signal from the user interface 2230, and determine order letter based on first input signal
Number.The second communication module 250 is used to the command signal being sent to first terminal (such as supersonic detection device 10).
In long-range ultrasound detection, ultrasonic system 1 provided by first embodiment of the invention can be by with being set to B
The ultrasonic control device 20 of point remotely obtains a variety of detection informations for being set to the supersonic detection device 10 in the place A, and this is super
Acoustic control device 20 can remotely control the ultrasonic probe of the supersonic detection device 10.When using the ultrasonic system 1, it is located at B
The ultrasonic imaging expert in place can act on according to the ultrasonic probe that the change of a variety of detection informations is located at the place A tested in real time
Interaction force between the position and/or ultrasonic probe and measurand of object preferably obtains effective ultrasound detection figure
Picture, to improve the reliability of ultrasound detection efficiency and ultrasound diagnosis.
Supersonic detection device 10 provided by second embodiment of the invention is described in detail below in conjunction with Fig. 2.
In the embodiment shown in Figure 2, ultrasound detection module 110 includes ultrasonic probe 1102 and ultrasonic signal processing module
1104.It is understood that ultrasonic probe 1102 usually directly connects with the skin surface of measurand in ultrasound imaging procedure
Touching.In ultrasound imaging procedure, converting electrical signal is ultrasonic wave by ultrasonic probe 1102, makes ultrasonic wave one in measurand body
Target area (the intracorporal organ of such as human body or animal, tissue, blood vessel) is propagated, and receives be reflected back from the target area later
The ultrasonic echo containing measurand information come, and the ultrasonic echo is converted into electric signal.Ultrasonic signal processing module
1104 receptions, which convert the electric signal generated and carry out a series of processing to it, obtains ultrasound image data.The ultrasound image data packet
Include but be not limited only to the two-dimensional image datas such as Type B, c-type, D type, three dimensional ultrasonic image data and the four-dimensional figure containing time dimension
As data.The ultrasound image data can be one or more picture frames, be also possible to the video formed by image frame sequence text
Part.Further, the ultrasound image data can also include for generate the corresponding detection pattern of ultrasonic echo, detection parameters and
The relevant informations such as measurand data (such as age, passing medical history).The ultrasonic probe 1102 and the ultrasonic signal processing module
1104 can directly be connected by wired or wireless mode.
The tactile sensing module 120 includes force sensing apparatus 1210, which may include one or more power
Sensor, for obtaining the force signal between the ultrasonic probe 1102 and measurand, thus for positioned at the ultrasound control of distal end
Operator's (e.g., professional ultrasonic doctor) of device 20 provides the letter that situation is contacted between the ultrasonic probe 1102 and measurand
Breath.Force sensing apparatus 1210 can either directly or indirectly be connected to ultrasonic probe 1102.It is understood that the ultrasonic probe
1102 have with the top that measurand directly contacts and positioned at the end of one end opposite with top.The ultrasonic probe 1102
Axial direction is defined as the direction from the top to the end.In one embodiment, it is super to be connected to this for force sensing apparatus 1210
The end of sonic probe 1102.In another embodiment, force sensing apparatus 1210 is indirectly attached to the ultrasound by bindiny mechanism
Probe 1102, which can be transferred to the force sensing apparatus for the power between ultrasonic probe 1102 and measurand
1210.The force sensing apparatus 1210 of the tactile sensing module 120 can sense the power of the axial direction along the ultrasonic probe 1102.
Force sensing apparatus 1210 can also be further arranged to sense in the plane perpendicular to the axial direction of the ultrasonic probe 1102
The power of all directions, that is, measurand is from side to the power for being applied to the ultrasonic probe 1102.Force sensing apparatus 1210 can also be into one
Step is arranged to the tangential force that sensing is rotated around the axial direction of the ultrasonic probe 1102, to make the tactile sensing module
120 can comprehensively, truly obtain the contact situation between the ultrasonic probe 1102 and measurand.In addition, the tactile sensing
Force signal acquired in module 120 can also include time dimension, for example, the tactile sensing module 120 continuously senses one group
Force vector, each force vector correspond to a time frame.
The mechanical arm module 130 includes the mechanical arm 1320 being either directly or indirectly connected with ultrasonic probe 1102.It should
Mechanical arm 1320 includes fixing end and movable terminal.Multivariant movement may be implemented in the mechanical arm 1320, including but not only
It is limited to the three-dimensional position (x, y, z), three-dimensional perspective (x, y, z) and the axial direction around the ultrasonic probe 1102 of the ultrasonic probe 1102
The angle that direction rotates.Preferably, which is sixdegree-of-freedom simulation.First controller 160 is based on position command
Signal controls the mechanical arm 1320 along one or more directions or angular movement, to change the check bit of ultrasonic probe 1102
It sets.First controller 160 be also based on power command signal control mechanical arm 1320 change ultrasonic probe 1102 be applied to by
Survey the active force of object.
It is understood that above-mentioned force sensing apparatus 1210 can be coupled to the movable terminal of the mechanical arm 1320,
It can be coupled to the end of the ultrasonic probe 1102.In an embodiment of present embodiment, supersonic detection device 10 into one
Step includes clamping device 125, which is connected to force sensing apparatus 1210, and the force sensing apparatus 1210 is set
In the movable terminal of the mechanical arm 1320.In the embodiment shown in fig. 3, which includes interconnecting piece 1251 and folder
Hold portion 1253.The interconnecting piece 1251 is connected to the force sensing apparatus 1210, for by the ultrasonic probe 1102 and measurand it
Between power pass to force sensing apparatus 1210.In the present embodiment, which includes two connecting rods being parallel to each other,
It is arranged at ultrasonic probe side and is parallel to 1102 axial direction of ultrasonic probe, it is to be appreciated that the interconnecting piece 1251
Other any settings that power suffered by ultrasonic probe 1102 can be transferred to force sensing apparatus 1210 can be used.The clamping
Portion 1253 is for removably holding ultrasonic probe 1102, and in the present embodiment, which includes fastener 1255, surpasses
Sonic probe 1102 is removably secured by the fastener 1255 and is set to the clamping part 1253.In other embodiments, the folder
It holds portion 1253 and is also possible to an electric clamping jaw, the opening and closing of the electricity clamping jaw are controlled to clamp ultrasonic probe 1102 by a control unit.
Optionally, which can also include lock cell, and the lock cell is for controlling the mechanical arm
Power between 1320 position and ultrasonic probe 1102 and measurand remains unchanged.Optionally, when the mechanical arm module 130 does not have
When receiving position command signal and/or power command signal, which be can control before the maintenance of mechanical arm 1320
Operating status or control mechanical arm 1320 return to a preset initial position.
First video module 140 includes at least picture pick-up device 1410, for obtaining the first video of ultrasound detection scene
Image data.Specifically, which includes the detection zone and ultrasonic probe of measurand.First video
Image data further includes measurand, all or part of mechanical arm etc..First video image data is mainly used for as distal end
Operator the location information of visual ultrasonic probe and measurand is provided.It should be understood that first video image data
It can also include video acquisition temporal information, for example, being added in the data of the picture frame while one frame image of every acquisition
Acquisition time.The picture pick-up device 1410 can integrate the one or more for being also possible to be independently arranged in supersonic detection device 10
Camera.The camera being independently arranged can be arranged at the suitable position of supersonic detection device 10, can also be arranged at
Suitable position other than the supersonic detection device 10.Further, which further includes display equipment 1420,
Such as a display screen, it can be used for ultrasound image acquired in real-time display local ultrasound detection module 110, can be used for showing
The scenic picture of distal end where ultrasonic control device 20.First video module 140 can also include speech ciphering equipment (such as Mike
Wind, voice signal processing module, loudspeaker etc.), for generating the first voice signal, to pass through the first, second communication module
And network transmission realizes the real-time voice video of the measurand of supersonic detection device 10 and the operator of ultrasonic control device 20
Interaction.In the embodiment shown in Figure 2, which is a camera, is arranged at the top of display equipment 1420,
The height and angle of the display equipment 1420 are arranged by an adjustable bracket for the supersonic detection device 10.In another embodiment
In, which is a camera, is fixed on the trolley for placing supersonic detection device 10 by clamping device.?
In another embodiment, which is a camera, is fixedly arranged on the outer surface of mechanical arm 1320.It is understood that
Be, first controller 160 respectively with ultrasonic probe 1102, force sensing apparatus 1210, mechanical arm 1320 and the picture pick-up device
1410 are electrically connected, to control the operation of supersonic detection device 10.
The first communication module 150 is used to carry out data and/or signal biography with other terminals, such as ultrasonic control device 20
It is defeated.In ultrasonic system 1 provided by the present invention, which is suitable for issuing the ultrasound detection module 110 and is obtained
Force signal acquired in the ultrasound image data that takes, the tactile sensing module 120, acquired in first video module 140
One video image data, and it is suitable for receiving the position command letter for controlling the mechanical arm module 130 from other terminals
Number.The first communication module 150 can use the network communication technology based on TCP/UDP agreement, can also use wireless zone
Other communication technologys such as network technology (Wireless Fidelity, Wifi), Bluetooth technology (Bluetooth).
It is understood that the supersonic detection device 10 further includes memory, processor etc. directly or indirectly with first
Controller 160 is electrically connected to transmit and exchange data or signal.The supersonic detection device 10 further includes power module, heat dissipation group
Part etc., it is no longer superfluous herein to chat.
In this second embodiment, which is mounted on moveable platform.Specifically, in Fig. 2
Shown in embodiment, which is the supersonic detection device of car-type, including cabinet 500, the cabinet 500 tool
There are top plate portion 510, shell 530 and pedestal 550.
In the present embodiment, which, which is provided with, carries platform 5112, and the carrying platform 5112 is for carrying ultrasound detection
Input-output equipment (such as operation panel, display screen) in module 110.The carrying platform 5112 can be the top plate portion 510
A part can also be connected to the top plate portion 510 by bindiny mechanism.For the latter, which may include moving
Component, such as sliding block and guide rail, stretchable bracket keep the carrying platform 5112 horizontal in a certain range and/or vertically move
It is dynamic.It is understood that the carrying platform 5112 can be used for carrying portable ultraphonic and examine for not remote ultrasonic image-forming system
Disconnected equipment.The fixing end of mechanical arm 1320 is arranged at the top plate portion 510, and mechanical arm 1320 is connected to the cabinet 500.The top
One or more brackets with multiple turning joints can also be set in plate portion 510, thus by the first video module 140
Display equipment 1420 and/or picture pick-up device 1410 are also connected to the cabinet 500, and can adjust display by turning joint and set
For 1420 and/or position and the angle of picture pick-up device 1410.The pedestal 550 of the cabinet 500 is provided with foot wheel carrier and multiple
The bottom of the pedestal 550 is arranged in castor, the foot wheel carrier, and the multiple castor is set on the foot wheel carrier.
As shown in Fig. 2, being provided in the outer surface on 530 top of shell for placing the multiple probe holders 532 of ultrasonic probe.?
The outer surface on 530 top of shell is additionally provided with the handle 536 for pushing and pulling the supersonic detection device 10.Preferably, the cabinet 500
With position-limit mechanism, hand control switch, transmission mechanism (not shown) and limited block including being set to the handle 536
538.The limited block 538 is arranged at the bottom of the cabinet 500 and is located at the inside of castor.In the present embodiment, position-limit mechanism
Including multiple limited blocks 538, wherein each limited block 538 includes adjustment section and non-slip feet.The adjustment section connects pedestal 550 and prevents
Shoes, length can be adjusted by transmission mechanism.The non-slip feet can increase friction when being contacted with ground, avoid car-type super
The rotation of sound detection device or sliding.The position-limit mechanism includes unlocked state and lock state.When handle 536 is not affected by external force
When, the position-limit mechanism is in the unlocked state, and the adjustment section of limited block 538 is in retracted position, to make the position of anti-skidding foot plate surface
Set in vertical direction be higher than castor bottom surface, in other words in the unlocked state non-slip feet not with ground face contact.When outer masterpiece
When hand control switch on handle 536, if handle 536 is pushed downwards a certain predeterminated position, at the position-limit mechanism
It is in extended position in the adjustment section of lock state, limited block 538, to not make the position of anti-skidding foot plate surface in vertical direction not
Higher than the bottom surface of castor, in other words in the locked state non-slip feet and ground face contact to fix car-type supersonic detection device
Position.It is understood that the first controller 160 of supersonic detection device 10, memory, processor, power module etc. can be with
It is accommodated in inside shell 530.For the position of centre of gravity for stablizing supersonic detection device 10, it can also be arranged inside shell 530 and match
Pouring weight.
By using moveable supersonic detection device 10, measurand (such as patient) can no longer go special ultrasound inspection
Survey room and carry out ultrasonic imaging, medical personnel supersonic detection device 10 can be shifted onto corresponding ward be patient provide it is ultrasonic at
As detection, reduces severe or handicapped patient carries out the difficulty of ultrasound detection.
Corresponding to above-mentioned car-type supersonic detection device, the present invention also provides a kind of platforms suitable for long-range ultrasonic imaging
Vehicle, the trolley can not only carry ultrasonic detection equipment, can also be directly or indirectly electric with ultrasonic detection equipment mounted
Property connection to transmit and exchange data or signal.The trolley includes cabinet as described above, tactile sensing module, mechanical arm mould
Block, the first video module, first communication module and the first controller, and ultrasonic detection equipment interface is provided on cabinet.It should
Ultrasonic detection equipment interface and the first controller are electrically connected, and the ultrasonic detection equipment interface can be with ultrasonic detection equipment electricity
Property connection, to make to carry out data transmission between the trolley and ultrasonic detection equipment.It will be understood by those skilled in the art that existing
Some ultrasonic detection equipments can carry out long-range ultrasonic imaging by being connected to trolley provided by the present invention.For example, by ultrasonic
The probe of detection device respectively with the force sensing apparatus of the trolley tactile sensing module and the mechanical arm of mechanical arm module can
Mobile terminal is connected, and the operational module of ultrasonic detection equipment is connected with the ultrasonic detection equipment interface of the trolley, thus
So that the trolley is obtained ultrasound image data from ultrasonic detection equipment, ultrasound detection parameter command signal can also be sent extremely
The ultrasonic detection equipment.
Ultrasound control device 20 provided by third embodiment of the invention is described in detail below in conjunction with Fig. 4.
The second communication module 250 with other terminals such as supersonic detection device 10 for carrying out data transmission.In this hair
Provided by bright in ultrasonic system 1, which is suitable for receiving ultrasound image data from other terminals, power
Signal and the first video image data, and be suitable for issuing position command signal.The second communication module 250 can be used and is based on
The network communication technology of TCP/UDP agreement, can also be using wireless zone network technology (Wireless Fidelity, Wifi), indigo plant
Other communication technologys such as tooth technology (Bluetooth).
Second video module 240 includes display equipment, for showing the ultrasound image number from supersonic detection device 10
According to image corresponding to the first video image data.Second video module 240 can also include that picture pick-up device and voice are set
Standby (such as microphone, voice signal processing module, loudspeaker) is respectively used to generate the second video image and the second audio letter
Number, pass through the quilt of the operator of the first, second communication module and network implementations ultrasound control device 20 and supersonic detection device 10
Survey the real-time voice video interactive of object.
The touch feedback control module 220 is mainly used for output corresponding to the received power letter of 250 institute of second communication module
Number power (or tactile) generate corresponding position command letter and according to the movement and/or active force applied from operator
Number, so that the operator of the ultrasonic control device 20 positioned at distal end be allow to experience the ultrasonic probe of supersonic detection device 10
Contact force between 1102 and measurand observes ultrasound image shown by second video module 240 and the first video figure
Then picture controls mechanical arm 1320 and changes the position that ultrasonic probe 1102 acts on measurand.The touch feedback control module
220 tactile output module 2210, user interface 2230 and identification module 2250 can be integrated in a force feedback operator.
The tactile output module 2210 includes at least one actuator, in response to the force signal from supersonic detection device 10
Export haptic effect (e.g., electrostatic haptic effect, the haptic effect of vibrating tactile, deformation haptic effect etc. or several tactiles effect
The combination of fruit).The actuator includes but are not limited to electric motor, electromagnetic actuators, voice coil, marmem, electroactive
Polymer (" Ε Α Ρ ") actuator, solenoid, eccentric rotating mass motor (" ERM "), harmonic wave ERM motor (" HERM "), line
Property resonance actuator (" LRA), piezoelectric actuator, high bandwidth actuator, electrostatic friction display or ultrasonic vibration generator.?
In some embodiments, which may include actuator driving circuit.
The user interface 2230 includes the output unit for human-computer interaction, the touching which is exported
Feel that effect can be experienced at the output unit of the user interface 2230.The output unit can be key, analog or digital bar, drive
Driving wheel, trigger etc..
The user interface 2230 further includes the input unit for human-computer interaction.The input unit includes but are not limited to grasp
Vertical pole, handle, mouse, keyboard, trace ball, touch screen, wearable device etc..Optionally, which includes movement transmission
Mechanism, the motion transfer mechanism have multiple freedom degrees, which can be with the machinery of the supersonic detection device 10
Arm 1320 has the freedom degree quantity to match, it is possible to have less than the freedom degree of the freedom degree quantity of mechanical arm 1320.It should
The output unit and input unit of user interface 2230, which can be, to be independently arranged, and is also possible to be integrated in one.
First input signal of input unit of the identification module 2250 for identification from user interface 2230, and be based on
First input signal determines command signal.The identification module 2250 includes one or more sensors, is included but are not limited to
Pressure sensor, motion sensor and position sensor.The sensor can be used for sensing, such as, but not limited to, sound, shifting
Dynamic, acceleration, power/stress/pressure/bending, linear position, orientation/inclination, rotation position, rotation speed, handover operation etc..
Sensor physical quantity detected is converted to electric signal by the identification module 2250, and the identification module 2250 is based on the electricity after conversion
Signal determines the command signal for remotely controlling mechanical arm.The command signal may include position command signal, ultrasound inspection
It surveys device 10 and is based on the received position command signal controlling machine tool arm 1320 of institute along at least one direction and at least one angle fortune
It is dynamic, so that ultrasonic probe 1102 is moved to a corresponding position.The command signal also may include power command signal, ultrasound detection dress
Set 10 based on received power command signal control mechanical arm 1320 to adjust the work that ultrasonic probe 1102 is applied to measurand
Firmly.
It is understood that the ultrasound control device 20 further includes memory, processor etc. directly or indirectly with second
Controller 260 is electrically connected to transmit and exchange data or signal.
The ultrasound control device 20 can also include ultrasound control module 210, and the ultrasound control module 210 is for remotely setting
Set and control the ultrasonic imaging detection that the supersonic detection device 10 executes a certain mode.It is understood that being located at the behaviour of distal end
Author can preset multiple ultrasound detection parameters by the ultrasound control module 210 is operated before ultrasound detection, can also be super
Change one or more ultrasound detection parameters during sound detection, so as to improve ultrasonic imaging effect.The ultrasound detection ginseng
Several imaging patterns (such as B-mode, Doppler, M-mode or three-dimensional imaging mode) for including but are not limited to supersonic detection device 10,
The size and/or angle of ultrasonic imaging range, for the fundamental frequency of ultrasonic imaging or frequency, the system gain (system of harmonic wave
Gain), time gain (time gain), focal zone etc..The ultrasound control module 210 includes for receiving the second input
Ultrasound control input unit (such as button or touch screen type input panel) of signal.The ultrasound control module 210 will be from operation
The operation of person is converted into the second input signal, and further generates detection parameters command signal.The detection parameters command signal quilt
Second communication module 250 is sent to the first communication module 150 of supersonic detection device 10, the first control of supersonic detection device 10
Device 160 is based on the received detection parameters command signal of institute and is configured to ultrasound detection parameter.By by the ultrasound control module
210 are set to the ultrasonic control device 20 positioned at distal end, and second video module can be observed in real time in the operator positioned at distal end
The ultrasound image data from supersonic detection device 10 that 240 display equipment is presented, and it is remote by ultrasound control module 210
Process control supersonic detection device 10 changes ultrasound detection parameter.This setting convenient for operator be based on its experience abundant in real time,
The directly process that remotely control ultrasonic imaging detects, it is no longer necessary to which it is located at ultrasound by remote speech and/or video guidance
The staff at 10 end of detection device assists to change ultrasound detection parameter, saves the human cost of ultrasonic imaging detection.In addition,
In view of a ultrasonic control device 20 can match one or more supersonic detection device 10, this design reduces ultrasonic inspection
The cost of device 10 and the complexity of operation are surveyed, the application of ultrasonic system provided by the present invention is conducive to.
Further, ultrasonic system 1 provided by the present invention further includes synchronization control module 300, for multi-signal
Or/and data synchronize processing.Preferably, which is arranged at ultrasonic control device 20, couples respectively
In touch feedback control module 220, the second video module 240 and second controller 260, for from supersonic detection device 10
Ultrasound image data, force signal and the first video image data carry out time synchronizing.By in ultrasound image data, power
The mode of the first, second, and third timestamp is separately added into signal and the first video image data, the synchronization control module 300
The timestamp of three is subjected to alignment to ultrasound image data and the first video figure shown by the second video module 240 of control
The synchronous of haptic effect exported as data and the tactile output module 2210 is presented.Those skilled in the art can manage
Solution, based on the ultrasonic system 1 in the time response of signal and data transmission procedure, which may include pair
The pretreatment unit of ultrasound image data, force signal and each timestamp of the first video image data, thus to wherein certain group signal/
Data carry out in advance or delay broadcasting, are presented with realizing that above-mentioned vision is synchronous with haptic effect.It is understood that for tool
There are the first video module 140 and the second video module 240 of speech ciphering equipment, it can also be acquired in the first video module 140
Timestamp is added in first voice signal, by the synchronization control module 300 according to the second view of the timestamp of voice signal control
The voice content that frequency module 240 is played is synchronous with the first video image data that it shows to be presented.Similarly, the synchronously control
Module 300 can also be arranged at supersonic detection device 10, be coupled respectively to mechanical arm module 130,140 and of the first video module
First controller 160, for the position command signal (and/or power command signal) from ultrasonic control device 20, the second view
Frequency image and the second audio signal carry out time synchronizing, no longer superfluous herein to chat.
Corresponding to above-mentioned ultrasonic system, invention further discloses a kind of ultrasonic imaging methods, comprising the following steps:
Step S110 obtains the ultrasound image data of one detection zone of measurand by ultrasonic probe.
Step S120 obtains the force signal between the ultrasonic probe and the measurand.
Step S130 obtains the detection zone and the first video image data of the ultrasonic probe.
Step S160 shows that the ultrasound image and display based on the ultrasound image data are based on first video image data
Video image.
Step S170 exports haptic effect based on the force signal.
Step S180 receives the first input signal, and determines command signal based on first input signal.
Step S190 controls the ultrasonic probe based on the command signal.
Wherein, step S110, S120 and S130 can be executed by supersonic detection device 10 disclosed above.Step
S160, S170 and S180 can be executed by ultrasonic control device 20 disclosed above.Wherein, the command signal can be position
Command signal is set, for making the ultrasonic probe be moved to corresponding position；The command signal is also possible to power command signal, is used for
Change the power that the ultrasonic probe is applied to the measurand.
It further, further include step S140 between step S130 and S160, by the ultrasound image data, the force signal
And first video image data is transmitted to a terminal, ultrasonic control device 20 as hereinbefore described.The transmission can be
Wire transmission is also possible to be wirelessly transferred.
Further, between step S130 and S160 can also include step S150, based on the ultrasound image data,
Time frame included in the force signal and first video image data, to display ultrasound image, display the first video image,
Output haptic effect is aligned.
Further, further include step S185 between step S180 and S190, which is sent to ultrasonic inspection
End is surveyed, such as supersonic detection device 10.
Optionally, can also include step S182 after step S170, receive the second input signal, and based on this
Two input signals determine detection parameters command signal；The detection parameters command signal is sent to ultrasound detection end by step S187；
Ultrasound detection parameter is arranged based on the detection parameters command signal in step S192.
The specific embodiment of the ultrasonic imaging method can be no longer superfluous herein to chat referring to corresponding contents above.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, embodiment of above are only for interpreting the claims.Anyone skilled in the art is in the present invention
In the technical scope of disclosure, the variation or replacement that can be readily occurred in are included within the scope of the present invention.
Claims (10)
1. a kind of supersonic detection device characterized by comprising
Ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；
Force sensing apparatus, for sensing the power between the ultrasonic probe and the measurand；
Mechanical arm, the mechanical arm include movable terminal and fixing end, and the movable terminal is connected with the force sensing apparatus；
Picture pick-up device, for obtaining the video image data of the tested region and the ultrasonic probe；
Communication module, for carrying out data interaction with a terminal；
Controller, respectively with the ultrasonic probe, the force sensing apparatus, the mechanical arm, the picture pick-up device and described logical
Believe that module is electrically connected.
2. supersonic detection device as described in claim 1, which is characterized in that it further include clamping device, the clamping device packet
Clamping part and interconnecting piece are included, the clamping part is connected to described for removably holding the ultrasonic probe, the interconnecting piece
Force sensing apparatus, the interconnecting piece are used to for the power between the ultrasonic probe and the measurand to be transferred to the power and sense
Equipment.
3. supersonic detection device as claimed in claim 2, which is characterized in that the interconnecting piece includes an at least connecting rod, institute
State the axial direction that connecting rod is parallel to the ultrasonic probe.
4. supersonic detection device as described in claim 1, which is characterized in that the mechanical arm is sixdegree-of-freedom simulation.
5. supersonic detection device as described in claim 1, which is characterized in that further include display equipment and speech ciphering equipment.
6. a kind of trolley characterized by comprising
Cabinet, the cabinet include top plate portion and the pedestal for being provided with castor；
The top plate portion is provided with the carrying platform for placing ultrasonic detection equipment；
Ultrasonic detection equipment interface is set to the cabinet, for being electrically connected with a ultrasonic detection equipment；
Mechanical arm, the mechanical arm include movable terminal and fixing end, and the fixing end is set to the top surface of the top plate portion；
Force sensing apparatus is connected to the movable terminal of the mechanical arm；
Clamping device, the clamping device include interconnecting piece and clamping part, and the interconnecting piece of the clamping device is connected to the power
Sensing equipment, the clamping part is for removably holding a ultrasonic probe；
Communication module, for carrying out data interaction with a terminal；And
Controller, respectively with the ultrasonic detection equipment interface, the mechanical arm, the force sensing apparatus and the communication module
It is electrically connected.
7. trolley as claimed in claim 6, which is characterized in that clump weight is provided in the cabinet, for balancing described
The center of gravity of vehicle.
8. a kind of ultrasonic system, which is characterized in that including first terminal and second terminal；
The first terminal includes:
Ultrasonic probe, for obtaining the ultrasound image data of one tested region of measurand；
Force sensing apparatus, for sensing the force signal between the ultrasonic probe and the measurand；
Mechanical arm, the mechanical arm include movable terminal and fixing end, and the movable terminal is connected with the force sensing apparatus；
Picture pick-up device, for obtaining the video image data of the tested region and the ultrasonic probe；
First communication module, for sending the ultrasound image data, the force signal and the video to the second terminal
Image data, and for receiving the command signal from the second terminal；
The second terminal includes:
Second communication module, for receiving the ultrasound image data from the first terminal, the force signal and described
Video image data, and for issuing the command signal to the first terminal；
Equipment is shown, for showing the ultrasound image based on the ultrasound image data and the view based on the video image data
Frequency image；And
Force feedback operator, the force feedback operator are based on the force signal and export haptic effect, the force feedback operator
It is arranged to receive the first input signal and the life for controlling the mechanical arm is determined based on first input signal
Enable signal.
9. ultrasonic system as claimed in claim 8, which is characterized in that the first terminal further comprises clamping device, institute
Stating clamping device includes clamping part and interconnecting piece, and the clamping part is for removably holding the ultrasonic probe, the connection
Portion is connected to the force sensing apparatus, and the interconnecting piece is used to transmit the power between the ultrasonic probe and the measurand
To the force sensing apparatus.
10. ultrasonic system as claimed in claim 8, which is characterized in that the second terminal further comprises that ultrasound control is set
Standby, the super sound control apparatus is for receiving the second input signal and obtaining detection parameters order based on second input signal
Signal；The detection parameters command signal is sent to the first terminal by the second communication module；The first terminal base
In the detection parameters command signal, the detection parameters of the ultrasonic probe are set.
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| CN201710983124.XA CN108992086A (en) | 2017-10-20 | 2017-10-20 | Supersonic detection device, trolley and ultrasonic system |
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| CN201710983124.XA CN108992086A (en) | 2017-10-20 | 2017-10-20 | Supersonic detection device, trolley and ultrasonic system |
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