CN110025383A - A kind of robot medicine mirror system with color Doppler ultrasound function - Google Patents
A kind of robot medicine mirror system with color Doppler ultrasound function Download PDFInfo
- Publication number
- CN110025383A CN110025383A CN201910125185.1A CN201910125185A CN110025383A CN 110025383 A CN110025383 A CN 110025383A CN 201910125185 A CN201910125185 A CN 201910125185A CN 110025383 A CN110025383 A CN 110025383A
- Authority
- CN
- China
- Prior art keywords
- doppler ultrasound
- camera
- color doppler
- robot
- robots arm
- 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
- 238000002604 ultrasonography Methods 0.000 title claims abstract description 40
- 239000003814 drug Substances 0.000 title claims abstract description 21
- 238000003384 imaging method Methods 0.000 claims abstract description 32
- 238000012545 processing Methods 0.000 claims abstract description 30
- 230000002792 vascular Effects 0.000 claims abstract description 6
- 238000012360 testing method Methods 0.000 claims abstract description 5
- 239000000523 sample Substances 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000003902 lesion Effects 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 9
- 238000001356 surgical procedure Methods 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 description 9
- 230000017531 blood circulation Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000003745 diagnosis Methods 0.000 description 6
- 210000003128 head Anatomy 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 210000004204 blood vessel Anatomy 0.000 description 5
- 239000011521 glass Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012634 optical imaging Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000002425 crystallisation Methods 0.000 description 1
- 230000008025 crystallization Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 230000009969 flowable effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000010827 pathological analysis Methods 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 238000010882 preoperative diagnosis Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000007920 subcutaneous administration Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0891—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/488—Diagnostic techniques involving Doppler signals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
Abstract
The robot medicine mirror system with color Doppler ultrasound function that the invention discloses a kind of, including robot carrier and imaging system；The imaging system includes ultrasonic Doppler transducer, display and data processing host；The ultrasonic Doppler transducer includes the receiver for emitting ultrasonic frequency of the ultrasonic frequency to the transmitter of test object, for receiving test object passback and the processing chip for carrying out difference calculating to ultrasonic frequency, the processing chip is electrically connected the data processing host, to obtain vascular flow dynamic image on the display.The invention enables doppler techniques to be flexibly applied on surgical procedure, entire surgical environments and procedure are grasped convenient for doctor, facilitate the property that doctor accurately judges lesion, and accurate treatment operation plan can be made in real time at the scene, to greatly improve procedure efficiency and operation accuracy.
Description
Technical field
The invention belongs to medical instruments fields, and in particular to a kind of robot medicine with color Doppler ultrasound function
Mirror system.
Background technique
Currently, in the operation of all kinds of open clinicals, the doctor generally by virtue of experience medical diagnosis side with various intrusive moods
Method diagnoses the illness of patient, during diagnosis usually to patient bring pain with it is uncomfortable, exist simultaneously detection accuracy it is lower,
The disadvantages of diagnosis efficiency is not high.
In recent years, Colored doppler ultrasound is more and more extensive in applying for medical domain, Color Doppler ultrasound
Technology is using doppler principle, and radiation source can cause radiation frequency to drift about because of movement, to detect the blood flow stream of blood vessel
Speed and calculating blood flow flow, Colored doppler ultrasound can not only see the subcutaneous organization ultrasonic image of human body, moreover it is possible to skin
Under endovascular blood flow carry out colored display, different colors show the friction speed for representing blood flow, at present detectable diameter
The low velocity flow of the endovascular blood flow information of 0.2mm and 0.2cm/s.
However, Colored doppler ultrasound is mostly the equipment being separately provided, and is placed in existing clinical medicine application
In the room different from operating room so that Colored doppler ultrasound can not synchronous applications in actual operative process
In.Moreover, clinically general make tentative diagnosis to patient by the way of preoperative diagnosis, it is colored more to determine modus operandi
The detection of general Le ultrasonic technique needs substep to carry out with operation, and when meeting emergency case or pathological change in the course of surgery not
Diagnostic device cannot adjust operation plan for operative doctor use in time.
Summary of the invention
To solve the above-mentioned problems, the present invention is intended to provide a kind of robot medicine with color Doppler ultrasound function
Mirror system, is flexibly applied to Colored doppler ultrasound on surgical procedure, to improve procedure efficiency and operation essence
Exactness.
To achieve the above object, the present invention is achieved by following technical scheme:
A kind of robot medicine mirror system with color Doppler ultrasound function, including robot carrier and imaging
System；The robot carrier includes robots arm and rack, and the robots arm is provided with fixing end and can be relatively described solid
The movable end of fixed end progress position adjusting；The imaging system includes ultrasonic Doppler transducer, display and data processing host；
The ultrasonic Doppler transducer and the display are mounted on the robots arm, and the data processing host is arranged in institute
It states in rack；The ultrasonic Doppler transducer include for emit ultrasonic frequency to the transmitter of test object, for receiving
Test object passback ultrasonic frequency receiver and for ultrasonic frequency carry out difference calculating processing chip, institute
It states processing chip and is electrically connected the data processing host, to obtain vascular flow dynamic image on the display.
Preferably, the rack includes cabinet, the bottom of the cabinet is provided with several universal wheels, the robots arm
Fixing end be arranged on the cabinet.
It is arranged on wall preferably, the fixing end of the robots arm corresponds to operating bed lifting.
Preferably, the machine frame inside is provided at least three layers movable laminate, the activity laminate is removably disposed
In the rack.
Preferably, the imaging system further includes high-definition camera or 3D camera；The quantity of the display is less than
Or the total quantity equal to the high-definition camera, 3D camera, ultrasonic Doppler transducer.
Preferably, the resolution of lens of the high-definition camera is at least 1280 × 720, and meet at least 10 times of light
Zoom is learned, at least 2,000,000 valid pixel.
Preferably, the imaging system is additionally provided with scene camera, the scene camera is complete for carrying out 360 °
Scape camera shooting, the scene camera include high definition CCD optical system, and the high definition CCD optical system includes several in array
The optical lens of setting.
Preferably, the robots arm has at least five freedom degrees, the control mode of the robots arm includes hand
Dynamic control, remote control or voice control.
Preferably, being provided with cross bar on the movable end of the robots arm, at least two are provided on the cross bar and is taken the photograph
As head placement rack.
Preferably, the ultrasonic Doppler transducer is Color Doppler ultrasound probe.
Compared with prior art, the beneficial effects of the present invention are:
1, in the present solution, being dexterously provided with robot carrier, and equipped with imaging system on robot carrier,
In, Color Doppler ultrasound probe, display and data processing host are provided in imaging system, so that doctor is performing the operation
During, the vascular flow dynamic image of look-out station can be obtained, easily in order to judge the property of lesion；It avoids
In the prior art, when occurring change of illness state in art or suspecting lesion, the inspection by other departments, diagnostic device is needed
It carries out pathological analysis and the problem of diagnosis cannot be made in time, greatly reduce the waiting time of diagnostic result, reduce patient
Pain and operation risk.
2, the robot carrier in this programme can be set as mobile by cabinet, in order to making for medical staff
With and it is mobile；It may be alternatively provided as tower crane formula, so that setting can be further applicable to various operating room environments, by robot
The oscillation adjustment of arm, can be convenient for the adjustment to field of view, and whole system design is reasonable and easy to operate.
3, a variety of visual area cameras can be also carried in this programme to carry out the use of collocation formula, in the assistance of robots arm
Under, tissue at operation is scanned to obtain vascular flow rate and data on flows by Color Doppler ultrasound probe, passes through height
Clear camera obtains relatively sharp, accurately visual area video, obtains the observation object specifically changed by 3D camera；So that
It can be shown over the display at a glance including information such as visual area, lesion, vascular flow dynamic and vital sign patients
Out, by analyzing and comparing the visual data at art, the property that doctor accurately judges lesion can be greatly contributed to, and can
To make accurate treatment operation plan in real time at the scene, procedure efficiency and operation accuracy are substantially increased.
4, it is additionally provided with the comprehensive video recording that scene camera carries out 360 ° to operative site in this programme, is taken the photograph by scene
As the collocation use of head and visual area camera, it is able to achieve the integration, displaying and centralized control of much information, this system is fitted
For various types of open operations, and it can satisfy the live streaming of surgical procedure, the preservation of surgical operation images backup, perform the operation and show
Religion etc. requires, further, it is also possible to connect network, to realize remote teaching or remote medical consultation with specialists, sufficiently present one it is epoch-making,
The crystallization of advanced science and technology all has subversiveness meaning on medical science and technology field or even whole mankind's history.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to needed in embodiment description
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the operation schematic diagram of Color Doppler ultrasound of the present invention probe；
Fig. 2 is the imaging schematic diagram of Color Doppler ultrasound of the present invention probe；
Fig. 3 is the structural schematic diagram of robot medicine mirror system in the embodiment of the present invention 1；
Fig. 4 is the side structure schematic view of robots arm of the present invention；
Fig. 5 is the overlooking structure diagram of robots arm of the present invention；
Fig. 6 is structural schematic diagram when robots arm of the present invention carries ultrasonic probe and high-definition camera；
Fig. 7 is structural schematic diagram when robots arm of the present invention carries ultrasonic probe and 3D camera；
Fig. 8 is the structural schematic diagram of robot medicine mirror system in the embodiment of the present invention 2；
Wherein:
1- rack, 11- first vector, the first robots arm of 111-, 12- Second support, the second robots arm of 121-, 13-
Fixed column, 14- activity laminate, 15- universal wheel；
2- robots arm, the first armed lever of 21-, the second armed lever of 22-, 23- third armed lever, 24- cross bar, 25- camera are placed
Seat, 26- handle；
31- Color Doppler ultrasound probe, 311- Color Doppler ultrasound transmitter, 312- Color Doppler ultrasound receive
Device, 313- handle chip, 314- ultrasonic frequency, 3151- blood vessel, 3152- blood flow, 32- high-definition camera, 33-3D camera；
The active glasses of 41-, 42- polariscope, 43- naked eye region, 5- scene camera, 6- display, 7- data
Handle host.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention will be described in detail.It should be noted that in the absence of conflict, presently filed embodiment and reality
The feature applied in mode can be combined with each other.Many details are explained in the following description in order to fully understand this hair
Bright, described embodiment is only some embodiments of the invention, rather than whole embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Mode shall fall within the protection scope of the present invention.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Embodiment 1
As shown in figs. 1-7, a kind of medicine mirror system, robot with color Doppler ultrasound function is provided in the present embodiment
System is mainly presented in the form of mobile robot, including movable machine people carrier and imaging system.
The robot carrier includes robots arm 2 and a setting is in the rack 1 of rectangle.
The pedestal of the rack 1 is provided with four universal wheels 15 with lock function；Specifically, the bottom of the rack 1
Mobile jib made of seat intersects for two in 90 °, two cross one another positions of mobile jib are located at the back segment of the mobile jib, the machine
The fixed column 13 of device robot arm 2 is vertically fixed in the crossover sites of two mobile jibs, the rear recess setting of the rack 1,
The fixed column 13 is embedded in the recess；In addition, wire casing is provided in the fixed column 13, described in the articulated connection of top
The fixing end of robots arm 2.
The imaging system includes Flow with Color Doppler Ultrasound System and high definition optical imaging system or 3D imaging system；Also wrap
Include scene camera 5, display 6 and data processing host 7.Wherein, the data processing host 7 can be according to the imaging
System carries out adaptability allotment, when setting is there are many imaging device in the imaging system, settable multiple data processings
Host 7 is corresponding to it.
The scene camera 5 includes high definition CCD optical system for carrying out 360 ° of panoramic shootings, the scene camera 5
System, the high definition CCD optical system include that several are in the optical lens of array setting.
As shown in Figure 1, the Flow with Color Doppler Ultrasound System includes Color Doppler ultrasound probe 31, how general the colour is
It strangles and is provided with Color Doppler ultrasound transmitter 311, Color Doppler ultrasound receiver 312 and processing core in ultrasonic probe 31
Piece 313.Arc-shaped shape is arranged in the transmitting terminal of Color Doppler ultrasound transmitter 311, launches outward ultrasonic frequency 314, frequency
Rate is more than or equal to 5.0MHz, and scanning angle is greater than 100 °, and 314 pairs of processing chip of Color Doppler ultrasound probe 31 emit and connect
The difference of the ultrasonic frequency 314 of receipts carries out calculation processing, is sent to corresponding data processing host 7 by data transmission link
Handled, 3152 flow velocity of blood in available 3151 blood flow of clearly blood vessel, 3152 dynamic image and blood vessel 3151 and
The data such as flow.To assist in the property that doctor accurately judges lesion, and accurate treatment hand can be made in real time at the scene
Art scheme.
The high definition optical imaging system includes high-definition camera 32, and the resolution of lens of the high-definition camera 32 is at least
It is 1280 × 720 or 1920 × 1080, at least 10 Zoom Lens, at least 2,000,000 valid pixels.
The 3D imaging system includes 3D camera 33, and the 3D camera 33 is by same video camera mutually independent two
A optical lens is constituted, as shown in figure 5, respectively corresponding the CCD imaging system of simulation people's images of left and right eyes, the binocular head of CCD is obtained
Two sets of images in same visual area are output to display 6 after corresponding 7 synthesis of data processing host processing.
Wherein, the output mode of the data processing host 7 of 3D camera 33 includes following manner:
First way is that display 6 cooperates active glasses 41, shows image with twice of common frequencies of speed.It is aobvious
While showing that device 6 shows image, active glasses 41 will cover left eye or right eye: active when display 6 shows left-eye image
Glasses 41 cover right eye, and vice versa；
The second way is that display 6 cooperates polariscope 42, and this display 6 is shown simultaneously with different polariscopes 42
The polarization of two images, eyeglass filter is different, left eye can be allowed to only see left-eye image, right eye only sees eye image；
The third mode is naked eye 3D technology, and not needing user's wearing spectacles can see in naked eye region 43
The 3-D image of display, be not required to configure exclusively with glasses.
By the clearly cell tissue 3D rendering shown in display 6, solid when surgical diagnosis can be provided to doctor
Impression, facilitates the lesion situation that doctor is clearly observed at art, and then accurately judge the property of lesion, and can be existing
Accurate treatment operation plan is made in real time in field.
As a preferred solution, the scene camera 5 is arranged in below the fixing end of the robots arm 2, and
Stretch out the top for being fixed at the fixed column 13；The entirety of the rack 1 is square structure, can be it is enclosed,
It can be open, the rack 1 design has cabinet door and at least three layers movable laminate 14, for placing the data processing
Host 7, the data processing host 7 are connected to the display 6 by data line.
As shown in figure 5, being provided with cross bar 24 on the movable end of the robots arm 2, it is provided at least on the cross bar 24
Two camera placement racks 25.The envisaged underneath of the cross bar 24 has handle 26 that can be high temperature-resistant disinfected, can be convenient for medical staff
Move the camera in the robots arm 2 and imaging system manually with carry out using.
Specifically, the robots arm 2 further includes the first armed lever 21, the second armed lever 22 and third armed lever 23, and described first
The hinged fixed column 13 of armed lever 21, to realize pendulum motion in the horizontal plane；Second armed lever 22 hinged described first
Armed lever 21, to realize pendulum motion in the horizontal plane；Hinged second armed lever 22 of the third armed lever 23, to realize perpendicular
The pendulum motion faced directly.So that the robots arm 2 has at least five freedom degrees, the first armed lever of the robots arm 2
21 and second the rotation angle in the horizontal direction of armed lever 22 be greater than 320 °, the arm length degree of the robots arm 2 is less than
1800mm, the third armed lever 23 of the robots arm 2 swings up and down height, using the level ground of operating room as the plane of reference, pendulum
Dynamic amplitude is between 850-2400mm.
Camera, scene camera 5 in the imaging system are connected to respective data processing master by communication cable
Machine 7, communication cable are placed in the wire casing of robots arm 2 or fixed column 13, and the image that various cameras scan is by corresponding to
Data processing host 7 handled after, be transferred to display 6 by connection.The data processing host 7 further include with
Its operation panel connected, operation keyboard or hand-held equipment, the operation panel operate in keyboard or hand-held equipment
Equipped with control button, including the switch button, mode selecting button with general display mode and night vision display pattern, infrared strong
Spend fine adjustment function button and display menu button.
The control mode of the robots arm 2 can be manually control, remote control or voice control；Such as by robots arm
2 control mode is designed as mechanical or electrodynamic type；Mechanical control mode refers to that robots arm 2 is mechanically or hydraulically to tie
Structure design, by the movement for robot arm 2 of manually operating machine, drives the camera of the imaging system to be moved；It is electronic
The control mode of formula refers to be moved by minitype motor driving robots arm 2, realizes the movement of the camera of imaging system.
In addition, the quantity of camera corresponds in the quantity of the display 6 and the imaging system, the display
6 quantity may be set to be the quantity less than camera in the imaging system, depending on operation when it is specific needed for depending on；It is described
Display 6 has the function of more pictures, more monitored parameters Display on the same screen.
Embodiment 2
As shown in figure 8, not repeating with the something in common in embodiment 1, the one kind provided in the present embodiment has colour
The robot medicine mirror system of doppler ultrasound function is presented in the form of visor outside tower type robot by hanging, including fixed setting
First vector 11 and Second support 12, the first robots arm 111 and the second robots arm 121 on the ceiling.
The first vector 11 is for carrying the imaging system, scene camera 5 and display 6, the Second support
12 for carrying the rack construction of storage data processing host 7, and the first vector 11 is hung respectively with the Second support 12
It is fixed on the ceiling of operating room.Further, display 6 is respectively corresponded in the first vector 11 and imaging camera head is set
It is equipped with two first robots arms 111；Second robots arm 121 being arranged equally has the function of that rotation is adjusted,
The rack construction is lifted on the movable end of second robots arm 121.
The step of outer mirror system of tower type robot is hung in the present embodiment during operation is as described below:
Operation consent is carried out, first adjustable operation bed is adjusted to suitable position, then the handle 26 of handheld machine robot arm 2 and is swung
Robots arm 2, make the camera in imaging system to positive operating bed, open corresponding imaging camera head and scene camera 5, and
Suitable state is transferred in the visual field of camera；
Then, patient is transferred on operating bed, alignment operative site carries out the fine tuning of imaging camera head, opens visual area
It is wealthy, clear；
Finally, it includes visual area, lesion, cell three-dimensional image, blood vessel blood that doctors can be obtained by observation display 6 on one side
The information such as various images and vital sign patient including flowable state, by the intercombination of various cameras, doctor can be with
Quickly and accurately judge the property of lesion, and the operation plan accurately treated can be made at the scene.
Further, it is also possible to carry out the live streaming of surgical procedure, academic exchange, clinic, educational surgery demonstration etc., can also connect
Network implementations remote teaching and remote medical consultation with specialists.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, therefore
Without departing from the technical solutions of the present invention, according to the technical essence of the invention it is to the above embodiments it is any modification,
Equivalent variations and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of robot medicine mirror system with color Doppler ultrasound function, which is characterized in that including robot carrier,
And imaging system；The robot carrier includes robots arm and rack, and the robots arm is provided with fixing end, Ji Kexiang
The movable end of position adjusting is carried out to the fixing end；The imaging system includes ultrasonic Doppler transducer, display and data
Handle host；The ultrasonic Doppler transducer and the display are mounted on the robots arm, the data processing master
Machine is arranged in the rack；
The ultrasonic Doppler transducer include for emit ultrasonic frequency to test object transmitter, for receive detection pair
Processing chip as the receiver of the ultrasonic frequency of passback and for carrying out difference calculating to ultrasonic frequency, the processing
Chip is electrically connected the data processing host, to obtain vascular flow dynamic image on the display.
2. a kind of robot medicine mirror system with color Doppler ultrasound function according to claim 1, feature
It is, the rack includes cabinet, and the bottom of the cabinet is provided with several universal wheels, the fixing end setting of the robots arm
On the cabinet.
3. a kind of robot medicine mirror system with color Doppler ultrasound function according to claim 1, feature
It is, the fixing end of the robots arm corresponds to operating bed lifting and is arranged on wall.
4. a kind of robot medicine mirror system with color Doppler ultrasound function according to claim 2 or 3, special
Sign is that the machine frame inside is provided at least three layers movable laminate, and the activity laminate is removably disposed in the rack
It is interior.
5. a kind of robot medicine mirror system with color Doppler ultrasound function according to claim 1, feature
It is, the imaging system further includes high-definition camera or 3D camera；The quantity of the display is less than or equal to the height
The total quantity of clear camera, 3D camera, ultrasonic Doppler transducer.
6. a kind of robot medicine mirror system with color Doppler ultrasound function according to claim 5, feature
It is, the resolution of lens of the high-definition camera is at least 1280 × 720, and meets at least 10 times of optical zoom, has
At least 2,000,000 valid pixel.
7. a kind of robot medicine mirror system with color Doppler ultrasound function according to claim 1, feature
It is, the imaging system is additionally provided with scene camera, and the scene camera is for carrying out 360 ° of panoramic shootings, the field
Scape camera includes high definition CCD optical system, and the high definition CCD optical system includes that several are in the optical frames of array setting
Head.
8. a kind of robot medicine mirror system with color Doppler ultrasound function according to claim 1 or 5, special
Sign is that the robots arm has at least five freedom degrees, and the control mode of the robots arm includes manually controlling, being remotely controlled
Control or voice control.
9. a kind of robot medicine mirror system with color Doppler ultrasound function according to claim 8, feature
It is, cross bar is provided on the movable end of the robots arm, at least two camera placement racks is provided on the cross bar.
10. a kind of robot medicine mirror system with color Doppler ultrasound function according to claim 1, feature
It is, the ultrasonic Doppler transducer is Color Doppler ultrasound probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910125185.1A CN110025383A (en) | 2019-02-20 | 2019-02-20 | A kind of robot medicine mirror system with color Doppler ultrasound function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910125185.1A CN110025383A (en) | 2019-02-20 | 2019-02-20 | A kind of robot medicine mirror system with color Doppler ultrasound function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110025383A true CN110025383A (en) | 2019-07-19 |
Family
ID=67235661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910125185.1A Pending CN110025383A (en) | 2019-02-20 | 2019-02-20 | A kind of robot medicine mirror system with color Doppler ultrasound function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110025383A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112336469A (en) * | 2019-08-07 | 2021-02-09 | 江苏一影医疗设备有限公司 | Operating room imaging device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101896123A (en) * | 2007-12-13 | 2010-11-24 | 皇家飞利浦电子股份有限公司 | Robotic ultrasound system with microadjustment and positioning control using feedback responsive to acquired image data |
| CN102028502A (en) * | 2010-12-30 | 2011-04-27 | 广州宝胆医疗器械科技有限公司 | Electronic laryngoscope system with color Doppler ultrasound scanning function |
| WO2012088981A1 (en) * | 2010-12-30 | 2012-07-05 | 广州宝胆医疗器械科技有限公司 | Integrated color doppler ultrasonic cholecystoscope system |
| CN108992086A (en) * | 2017-10-20 | 2018-12-14 | 深圳华大智造科技有限公司 | Supersonic detection device, trolley and ultrasonic system |
| CN210631311U (en) * | 2019-02-20 | 2020-05-29 | 广州乔铁医疗科技有限公司 | Robot medical mirror system with color Doppler ultrasonic function |
-
2019
- 2019-02-20 CN CN201910125185.1A patent/CN110025383A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101896123A (en) * | 2007-12-13 | 2010-11-24 | 皇家飞利浦电子股份有限公司 | Robotic ultrasound system with microadjustment and positioning control using feedback responsive to acquired image data |
| CN102028502A (en) * | 2010-12-30 | 2011-04-27 | 广州宝胆医疗器械科技有限公司 | Electronic laryngoscope system with color Doppler ultrasound scanning function |
| WO2012088981A1 (en) * | 2010-12-30 | 2012-07-05 | 广州宝胆医疗器械科技有限公司 | Integrated color doppler ultrasonic cholecystoscope system |
| CN108992086A (en) * | 2017-10-20 | 2018-12-14 | 深圳华大智造科技有限公司 | Supersonic detection device, trolley and ultrasonic system |
| CN210631311U (en) * | 2019-02-20 | 2020-05-29 | 广州乔铁医疗科技有限公司 | Robot medical mirror system with color Doppler ultrasonic function |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112336469A (en) * | 2019-08-07 | 2021-02-09 | 江苏一影医疗设备有限公司 | Operating room imaging device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2740259C2 (en) | Ultrasonic imaging sensor positioning | |
| US9498298B2 (en) | Ring form surgical effector | |
| WO2020147691A1 (en) | Imaging system for surgical robot, and surgical robot | |
| EP2903551B1 (en) | Digital system for surgical video capturing and display | |
| EP2620099B1 (en) | Digital slit lamp microscope system | |
| JP3707830B2 (en) | Image display device for surgical support | |
| CN106456148A (en) | Medical devices, systems, and methods using eye gaze tracking | |
| US20210335483A1 (en) | Surgery visualization theatre | |
| CN105342561B (en) | The wearable molecular image navigation system of Wireless sound control | |
| CN109893258B (en) | Integrated external-view mirror laparoscope system | |
| KR101580559B1 (en) | Medical image and information real time interaction transfer and remote assist system | |
| CN107049210B (en) | A kind of hysteroscope display control program based on augmented reality | |
| CN108992086A (en) | Supersonic detection device, trolley and ultrasonic system | |
| WO2010123578A1 (en) | Ring form surgical effector | |
| WO2021226134A1 (en) | Surgery visualization theatre | |
| CN109907834B (en) | Robot external vision mirror with 3D function | |
| CN110013319A (en) | Mirror system outside a kind of novel robot | |
| CN110025383A (en) | A kind of robot medicine mirror system with color Doppler ultrasound function | |
| CN210631311U (en) | Robot medical mirror system with color Doppler ultrasonic function | |
| CN210727882U (en) | Laparoscope external view mirror device applying optical coherence tomography technology | |
| CN210843480U9 (en) | Robot external vision mirror with 3D function | |
| CN109893092B (en) | Laparoscope external vision mirror device capable of scanning abdominal cavity | |
| CN210330552U (en) | Robot type infrared thermal scanning medical mirror system | |
| CN210631312U (en) | Novel robot outside mirror system | |
| JP7141223B2 (en) | slit lamp microscope and ophthalmic 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 |