CN113925533A - Image acquisition and control device for ultrasonic intervention - Google Patents
Image acquisition and control device for ultrasonic intervention Download PDFInfo
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- CN113925533A CN113925533A CN202111353797.XA CN202111353797A CN113925533A CN 113925533 A CN113925533 A CN 113925533A CN 202111353797 A CN202111353797 A CN 202111353797A CN 113925533 A CN113925533 A CN 113925533A
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- A61B8/54—Control of the diagnostic device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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Abstract
The invention discloses an ultrasonic intervention image acquisition and control device, which is used for controlling images of ultrasonic equipment in a non-contact manner and comprises a shell, a somatosensory camera component, an audio acquisition component, a control module and a supporting component, wherein the somatosensory camera component is used for capturing a gesture instruction of a user, the audio acquisition component is used for receiving the audio instruction of the user, and the control module is prestored with a specific operation instruction which corresponds to the gesture instruction and the audio instruction and is used for controlling the images of the ultrasonic equipment; the operator can directly control the ultrasonic equipment in a contactless manner to perform image specific operation through gesture instructions or audio instructions. The operation time is greatly reduced, the operation efficiency is improved, the cost is reduced, the technical problems that an assistant is needed to assist the operation and the operation of an operator in person in the prior art are effectively solved, the practicability is high, and the device is worthy of wide popularization and application.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to image acquisition and control equipment for controlling ultrasonic equipment.
Background
The ultrasonic intervention is to perform various operations such as puncture biopsy, suction, intubation, drug injection treatment and the like through a puncture needle, an ablation needle, a drainage tube and the like under the monitoring or guidance of ultrasound during implementation.
The ultrasonic intervention operation has the advantages of no knife opening, no punching, safe and non-traumatic fine needle puncture, no pain, no relapse, no hospitalization and the like, can avoid certain surgical operations, and achieves the effect equivalent to the surgical operations. Thus, ultrasound interventions are gaining increasing attention and application.
However, in the ultrasound intervention, an operation panel of the ultrasound device is often required to be operated to adjust and set image parameters so as to obtain an ideal image; or freezing, replaying, collecting and storing the image or the video. During a particular procedure, the surgeon must wear sterile gloves which must not contact contaminated areas or instruments, items, etc. that are not sterile to the extent of surgery. Therefore, when the operation panel of the ultrasonic device needs to be operated, an assistant is needed to assist the operation, or an operator needs to remove gloves by himself, and the operation of anyone needs to replace new gloves, which wastes surgical consumables (gloves); meanwhile, when the assistant assists in operation, the dependence of the operator on the operator is increased, and the operation efficiency is reduced; when the operator operates the operation, the operation time is increased, and the operation efficiency is reduced.
Therefore, there is a need for an ultrasound interventional image acquisition and control device that can reduce the operation time, improve the operation efficiency and reduce the cost.
Disclosure of Invention
The invention aims to provide an ultrasonic interventional operation image acquisition and control device which is used for controlling images of ultrasonic equipment in a non-contact manner, so that the operation time is reduced, the operation efficiency is improved, and the cost is reduced by the equipment in the operation process.
In order to achieve the purpose, the invention provides an ultrasonic intervention image acquisition and control device, which is used for controlling images of ultrasonic equipment in a non-contact manner and comprises a shell, a somatosensory camera component, an audio acquisition component, a control module and a supporting component, wherein the somatosensory camera component is used for capturing a gesture instruction of a user, the somatosensory camera component is arranged in the shell, the somatosensory camera component is at least provided with a camera, and the camera protrudes out of the front surface of the shell; the audio acquisition assembly is used for receiving an audio instruction of a user, the audio acquisition assembly is arranged in the shell and is at least provided with a microphone, and an inlet of the microphone is arranged on the front surface and the side surface of the shell in a surrounding manner; the control module is arranged in the shell, and a specific operation instruction which corresponds to the gesture instruction and the audio instruction and is used for controlling the image of the ultrasonic equipment is prestored in the control module; the input end of the control module is respectively in communication connection with the somatosensory camera assembly and the audio acquisition assembly, and the output end of the control module is in communication connection with the ultrasonic equipment; the control module receives a gesture instruction captured by the motion sensing camera assembly, and then sends a specific operation instruction corresponding to the captured gesture instruction to the ultrasonic equipment, and the ultrasonic equipment correspondingly performs image operation after receiving the specific operation instruction; the control module receives an audio instruction received by the audio acquisition assembly, and then sends a specific operation instruction corresponding to the received audio instruction to the ultrasonic equipment, and the ultrasonic equipment correspondingly performs image operation after receiving the specific operation instruction; the shell is connected with the supporting component, and the shell is supported and fixed on an external carrier by the supporting component.
Compared with the prior art, the method has the advantages that in the operation process, an operator is a user, and when the operator needs to perform specific operation on the image displayed by the ultrasonic equipment (the specific operation includes image freezing, image acquisition, image gain increase, image gain reduction, color Doppler function starting/closing and the like); an operator only needs to make a gesture instruction corresponding to the specific operation instruction by hand, the gesture instruction is captured by a camera of the motion sensing camera assembly and is transmitted to the control module, the control module receives the gesture instruction and calls out the specific operation instruction corresponding to the gesture instruction and sends the specific operation instruction to the ultrasonic equipment, and the ultrasonic equipment receives the specific operation instruction and then carries out specific operation on a corresponding image, so that the aim of operating the ultrasonic equipment in a non-contact manner by the operator is fulfilled. When the operator is inconvenient to operate the gesture instruction by hand, the operator only needs to send out an audio instruction corresponding to the specific operation instruction through the mouth, the audio instruction is received by the microphone of the audio acquisition assembly and is transmitted to the control module, the control module receives the audio instruction and calls out the specific operation instruction corresponding to the audio instruction and sends the specific operation instruction to the ultrasonic equipment, and the ultrasonic equipment receives the specific operation instruction and then performs the specific operation of the corresponding image, so that the aim of operating the ultrasonic equipment in a non-contact manner by the operator is fulfilled. Therefore, the ultrasonic interventional operation image acquisition and control device can control the ultrasonic equipment to perform specific image operation in a non-contact manner through gesture instructions or audio instructions of an operator without performing contact operation on the ultrasonic equipment, performs image operation on the ultrasonic equipment through the ultrasonic interventional operation image acquisition and control device in the operation process, greatly reduces operation time, improves operation efficiency and reduces cost, effectively solves the technical problems that an assistant is required to assist operation and the operator operates in person in the prior art, has strong practicability, and is worthy of wide popularization and application.
Preferably, the somatosensory camera assembly of the ultrasound interventional image acquisition and control device comprises an infrared camera and a VGA camera, and the infrared camera and the VGA camera are centrally arranged on the front surface of the shell. According to the invention, the gesture command is captured through the infrared camera and the VGA camera, so that the recognition efficiency of the gesture command and the response speed to the control of the ultrasonic equipment are greatly improved, the operation time is further reduced, and the operation efficiency is improved.
Preferably, the audio acquisition assembly of the ultrasound interventional image acquisition and control device of the present invention includes three microphones, two side surfaces of the housing are respectively provided with one microphone, and the front surface of the housing is provided with one microphone. The invention can effectively receive the audio instruction through the three microphones arranged at different positions.
Preferably, the support assembly of the ultrasound interventional image acquisition and control device of the present invention includes a base and a support rod, wherein the upper end of the support rod is fixedly connected with the housing, and the lower end of the support rod is fixedly connected with the base. The invention is supported on the base by the supporting rod, and can be arranged on different external carriers according to the requirements of actual conditions by the base, so that an operator can directly operate in the operation process without influencing the operation.
Preferably, the base of the ultrasound interventional image acquisition and control device is of a cut spherical structure. The invention can be more stably and directly placed on an external carrier by the base with the spherical structure.
Preferably, the support assembly of the ultrasound interventional image acquisition and control device of the present invention comprises a support front foot, a support rear foot and a support rod, wherein the support front foot is of a bent structure, the support rear foot is elastically and rotatably connected with the support front foot, a clamping area for clamping an external carrier is formed between the support rear foot and the support front foot, and the elasticity has a tendency of enabling the support front foot and the support rear foot to approach each other. The invention can be clamped on an external carrier of a plate-shaped structure by matching the supporting front foot and the supporting rear foot, and particularly can be directly clamped on the display screen of the ultrasonic equipment, so that an operator can directly operate the ultrasonic equipment in a short distance without contact and can directly check the display screen of the ultrasonic equipment in a short distance.
Preferably, the housing of the ultrasound interventional image acquisition and control device is of a metal structure. By means of the good heat dissipation of the shell of the metal structure, the normal work of all electronic devices in the shell is effectively ensured, and the normal work of the invention is further ensured.
Preferably, the housing of the ultrasound interventional image acquisition and control device of the invention is in a cylindrical structure. The shell adopting the cylindrical structure has enough effective utilization space and avoids the occurrence of scratching accidents of sharp corners to personnel.
Drawings
Fig. 1 is a structural view of a first embodiment of an ultrasound interventional image acquisition and control device of the invention.
Fig. 2 is a structural diagram of an image acquisition and control device for ultrasonic intervention operation according to a second embodiment of the invention.
Fig. 3 is a structural diagram of fig. 2 after a certain angle is adjusted according to requirements.
Detailed Description
Embodiments of the present invention will now be described with reference to the drawings, wherein like element numerals represent like elements.
As shown in fig. 1 to fig. 3, the ultrasound interventional image acquisition and control device 100 of the present invention is used for controlling an image of an ultrasound device in a contactless manner, the ultrasound device has a display screen 200 for presenting the image, the ultrasound interventional image acquisition and control device 100 of the present invention includes a housing 1, a motion sensing camera assembly, an audio acquisition assembly, a control module, and a support assembly, and the motion sensing camera assembly is used for capturing a gesture instruction of a user. In particular, it is common for the surgeon to be the user during the surgical procedure. The somatosensory camera assembly is arranged in the shell 1 and at least provided with one camera, and the camera protrudes out of the front surface of the shell 1; specifically, the somatosensory camera assembly comprises an infrared camera 21 and a VGA camera 22, wherein the infrared camera 21 and the VGA camera 22 are arranged on the front surface of the shell 1 in the middle; according to the invention, the gesture command is captured through the infrared camera 21 and the VGA camera 22, so that the recognition efficiency of the gesture command and the response speed to the control of the ultrasonic equipment are greatly improved, the operation time is further reduced, and the operation efficiency is improved. The audio acquisition assembly is used for receiving an audio instruction of a user, the audio acquisition assembly is arranged in the shell 1, the audio acquisition assembly is at least provided with a microphone 3, and an audio inlet of the microphone 3 is arranged on the front surface and the side surface of the shell 1 in a surrounding way; specifically, the audio acquisition assembly comprises three microphones 3, two side surfaces of the shell 1 are respectively provided with one microphone 3, and the front surface of the shell 1 is provided with one microphone 3. The control module is arranged in a shell 1, and a specific operation instruction which corresponds to the gesture instruction and the audio instruction and is used for controlling the image of the ultrasonic equipment is prestored in the control module; the input end of the control module is respectively in communication connection with the somatosensory camera assembly and the audio acquisition assembly, and the output end of the control module is in communication connection with the ultrasonic equipment; specifically, in order to ensure the instantaneity and the quick response speed of communication information, the communication connection of the invention adopts wired communication connection, wherein the output end of the control module is in communication connection with the ultrasonic equipment through a USB data line 101; the control module receives a gesture instruction captured by the motion sensing camera assembly, and then sends a specific operation instruction corresponding to the captured gesture instruction to the ultrasonic equipment, and the ultrasonic equipment correspondingly performs image operation after receiving the specific operation instruction; and the control module sends a specific operation instruction corresponding to the received audio instruction to the ultrasonic equipment after receiving the audio instruction received by the audio acquisition assembly, and the ultrasonic equipment correspondingly performs image operation after receiving the specific operation instruction. The shell 1 of the invention is connected with the supporting component, and the shell 1 is supported and fixed on an external carrier by the supporting component; specifically. In the operation process, the operator is a user, and when the operator needs to perform specific operation on the image displayed by the ultrasonic equipment (the specific operation includes image freezing, image acquisition, image gain increase, image gain reduction, color Doppler function starting/closing and the like); an operator only needs to make a gesture instruction corresponding to the specific operation instruction by hand, the gesture instruction is captured by a camera of the motion sensing camera assembly and is transmitted to the control module, the control module receives the gesture instruction and calls out the specific operation instruction corresponding to the gesture instruction and sends the specific operation instruction to the ultrasonic equipment, and the ultrasonic equipment receives the specific operation instruction and then carries out specific operation on a corresponding image, so that the aim of operating the ultrasonic equipment in a non-contact manner by the operator is fulfilled. When the operator is inconvenient to operate the gesture instruction by hand, the operator only needs to send out an audio instruction corresponding to the specific operation instruction through the mouth, the audio instruction is received by the microphone of the audio acquisition assembly and is transmitted to the control module, the control module receives the audio instruction and calls out the specific operation instruction corresponding to the audio instruction and sends the specific operation instruction to the ultrasonic equipment, and the ultrasonic equipment receives the specific operation instruction and then performs the specific operation of the corresponding image, so that the aim of operating the ultrasonic equipment in a non-contact manner by the operator is fulfilled. Therefore, the ultrasonic interventional operation image acquisition and control device can control the ultrasonic equipment to perform specific image operation in a non-contact manner through gesture instructions or audio instructions of an operator without performing contact operation on the ultrasonic equipment, performs image operation on the ultrasonic equipment through the ultrasonic interventional operation image acquisition and control device in the operation process, greatly reduces operation time, improves operation efficiency and reduces cost, effectively solves the technical problems that an assistant is required to assist operation and the operator operates in person in the prior art, has strong practicability, and is worthy of wide popularization and application.
The following description will be given by taking a specific operation instruction of freezing an image of an ultrasound device as an example; a gesture instruction 'the left forearm is horizontally placed in front of the chest' prestored in a control module of the ultrasonic equipment, and the gesture instruction is used for controlling an image of the ultrasonic equipment to carry out a specific operation instruction 'freeze the image'; the audio instruction 'freeze image' prestored in the control module is used for controlling the image of the ultrasonic equipment to carry out a specific operation instruction 'freeze image'. When the operator needs to freeze the image on the ultrasonic equipment, the method can be realized by the following two ways: an operator makes a gesture instruction of 'the left forearm is horizontally arranged in front of the chest' by hand, the gesture instruction of 'the left forearm is horizontally arranged in front of the chest' is captured by a camera of the motion sensing camera assembly and is transmitted to the control module, the control module receives the gesture instruction of 'the left forearm is horizontally arranged in front of the chest', calls out a specific operation instruction of 'frozen image' corresponding to the gesture instruction of 'the left forearm is horizontally arranged in front of the chest', sends the specific operation instruction of 'frozen image' to the ultrasonic equipment, and freezes the image after the ultrasonic equipment receives the specific operation instruction of 'frozen image', so that the aim of operating the ultrasonic equipment without contact by the operator is fulfilled. And (2) a second way: the operator says an audio instruction of 'frozen image', the audio instruction of 'frozen image' is received by a microphone of the audio acquisition assembly and is transmitted to the control module, the control module receives the audio instruction of 'frozen image' and calls out a specific operation instruction of 'frozen image' corresponding to the audio instruction of 'frozen image', the specific operation instruction of 'frozen image' is sent to the ultrasonic equipment, the ultrasonic equipment freezes the image after receiving the specific operation instruction of 'frozen image', and therefore the aim of operating the ultrasonic equipment in a contactless manner by the operator is achieved.
The control module of the invention is at least pre-stored with the following gesture instructions which respectively correspond to the following specific operation instructions of the ultrasonic equipment one by one, and the corresponding relation is as follows:
(1) the gesture instruction that the left forearm is horizontally placed in front of the chest corresponds to a specific operation instruction of the ultrasonic equipment that is freezing an image;
(2) the gesture instruction 'holding a fist after the palm of the left hand is flat' corresponds to a specific operation instruction 'collecting an image' of the ultrasonic equipment;
(3) the gesture instruction 'left palm swings left' corresponds to a specific operation instruction 'increase gain' of the ultrasonic equipment;
(4) the gesture instruction 'left palm swings right' corresponds to a specific operation instruction 'reduction gain' of the ultrasonic equipment;
(5) the gesture instruction 'five fingers of left hand do C-shaped gesture' corresponds to a specific operation instruction 'start/close color Doppler function' of the ultrasonic equipment;
(6) in the state of starting the color Doppler function, a gesture command 'left palm swinging' corresponds to a specific operation command 'increase color gain' of the ultrasonic equipment;
(7) and under the state of closing the color Doppler function, the gesture instruction 'left palm swings right' corresponds to a specific operation instruction 'reduce color gain' of the ultrasonic equipment.
The control module of the invention is at least prestored with the following audio instructions which respectively correspond to the following specific operation instructions of the ultrasonic equipment one by one, and the corresponding relationship is as follows:
(1) the audio instruction 'freeze image' corresponds to a specific operation instruction 'freeze image' of the ultrasonic equipment;
(2) the audio instruction set image corresponds to a specific operation instruction acquisition image of the ultrasonic equipment;
(3) the audio instruction "gain increase" corresponds to a specific operation instruction "gain increase" of the ultrasonic equipment;
(4) the audio instruction 'gain reduction' corresponds to a specific operation instruction 'gain reduction' of the ultrasonic equipment;
(5) the audio instruction 'start color Doppler function' corresponds to a specific operation instruction 'start color Doppler function' of the ultrasonic equipment;
(6) the audio instruction 'close color Doppler function' corresponds to a specific operation instruction 'close color Doppler function' of the ultrasonic equipment;
(7) under the state of starting the color Doppler function, the audio instruction 'increase color gain' corresponds to a specific operation instruction 'increase color gain' of the ultrasonic equipment;
(8) in the state of turning off the color Doppler function, the audio instruction "reduce the color gain" corresponds to the specific operation instruction "reduce the color gain" of the ultrasonic equipment.
It should be noted that the gesture command and the audio command pre-stored in the control module are additionally added by those skilled in the art without any creative work according to the needs of actual situations, and are not described herein. Meanwhile, for the operation of the specific operation instruction "freeze image", the above-mentioned description of the operation of other specific operation instructions can be performed by those skilled in the art without any creative labor, and is not described herein again. In addition, the audio command of the invention usually adopts mandarin audio, and of course, audio commands of languages such as cantonese, english, japanese, german and the like can be set according to requirements.
As shown in fig. 1, the support assembly of the ultrasound interventional image acquisition and control device 100 of the present invention includes a base 41 and a support rod 42, wherein the upper end of the support rod 42 is fixedly connected to the housing 1, and the lower end of the support rod 42 is fixedly connected to the base 41. The present invention is supported on the base 41 by the supporting rod 42, and can be set on different external carriers according to the requirements of actual conditions by the base 41, so that the operator can directly operate the operation without affecting the operation. Specifically, the base 41 of the ultrasound interventional image acquisition and control device of the present invention has a cut spherical structure. The invention can be more stably and directly placed on an external carrier by the base with the spherical structure. In the embodiment shown in fig. 1, the base 42 can be placed on a platform such as a workbench in an operating room for direct use, or can be fixed on a wall of the operating room for use.
As shown in fig. 2 and fig. 3, the support assembly of the ultrasound interventional image acquisition and control device 100 of the present invention includes a support front foot 51, a support rear foot 52 and a support rod 53, the support front foot 51 is of a bent structure, the support rear foot 52 is elastically and rotatably connected with the support front foot 51, a clamping area 5 for clamping an external carrier is formed between the support rear foot 52 and the support front foot 51, and the elasticity always has a tendency of making the support front foot 51 and the support rear foot 52 approach each other; specifically, a spring which is always in a stretching state is arranged between the supporting front foot 51 and the supporting rear foot 52, and the supporting front foot 51 and the supporting rear foot 52 are always in a trend of closing each other by virtue of the stretching of the spring; the supporting front leg 51 and the supporting rear leg 52 are connected in a rotatable manner by means of a rotation axis 54. The invention can be clamped on an external carrier of a plate-shaped structure by matching the supporting front foot 51 and the supporting rear foot 52, particularly can be directly clamped on the display screen 200 of the ultrasonic equipment, so that an operator can directly operate the ultrasonic equipment in a short distance without contact and can check the display screen of the ultrasonic equipment in a short distance. More specifically, as shown in fig. 2, when it is desired to mount the present invention on the display screen 200 of an ultrasound device, the supporting rear leg 52 is rotated away from the supporting front leg 51, so that the supporting rear leg 52 reaches the position shown by the dotted line in fig. 2, which enlarges the clamping area 5, and the clamping area can be directly placed at the proper edge of the display screen 200, and the supporting rear leg 52 can be released to clamp the present invention on the display screen 200. As shown in FIG. 3, after the present invention is clamped and fixed on the display screen 200, the angle adjustment of the present invention can be realized by adjusting the angle of the supporting front leg 51 and the supporting rear leg 52 clamping the display screen 200.
As shown in fig. 1 to 3, the housing of the image acquisition and control device for ultrasonic intervention of the invention is of a metal structure. By means of the good heat dissipation of the shell of the metal structure, the normal work of all electronic devices in the shell is effectively ensured, and the normal work of the invention is further ensured. Specifically, the shell of the ultrasonic interventional image acquisition and control device is of a cylindrical structure. The shell adopting the cylindrical structure has enough effective utilization space and avoids the occurrence of scratching accidents of sharp corners to personnel.
In addition, the motion sensing camera assembly for capturing the gesture command of the user, the audio acquisition assembly for receiving the audio command of the user and the ultrasonic equipment are all in the prior art, and the working principle and the structure of the motion sensing camera assembly are well known by persons skilled in the art and are not described in detail herein.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, therefore, the present invention is not limited by the appended claims.
Claims (8)
1. An ultrasound interventional image acquisition and control device for contactless control of images of an ultrasound apparatus, comprising:
a housing;
the motion sensing camera assembly is arranged in the shell and at least provided with one camera, and the camera protrudes out of the front side of the shell;
the audio acquisition assembly is arranged in the shell and at least provided with a microphone, and an inlet of the microphone is arranged on the front surface and the side surface of the shell in a surrounding manner;
the control module is arranged in the shell and is prestored with a specific operation instruction which corresponds to the gesture instruction and the audio instruction and is used for controlling the image of the ultrasonic equipment; the input end of the control module is respectively in communication connection with the somatosensory camera assembly and the audio acquisition assembly, and the output end of the control module is in communication connection with the ultrasonic equipment; the control module receives a gesture instruction captured by the motion sensing camera assembly, and then sends a specific operation instruction corresponding to the captured gesture instruction to the ultrasonic equipment, and the ultrasonic equipment correspondingly performs image operation after receiving the specific operation instruction; the control module receives an audio instruction received by the audio acquisition assembly, and then sends a specific operation instruction corresponding to the received audio instruction to the ultrasonic equipment, and the ultrasonic equipment correspondingly performs image operation after receiving the specific operation instruction;
the shell is connected with the supporting component, and the shell is supported and fixed on an external carrier by the supporting component.
2. The ultrasound interventional procedure image acquisition and control device of claim 1, wherein the motion sensing camera assembly comprises an infrared camera and a VGA camera, the infrared camera and the VGA camera being centrally disposed on the front side of the housing.
3. The ultrasound interventional image acquisition and control device of claim 1, wherein the audio acquisition assembly comprises three microphones, one microphone is disposed on each of two sides of the housing, and one microphone is disposed on the front of the housing.
4. The ultrasound interventional procedure image acquisition and control device of claim 1, wherein the support assembly comprises a base and a support rod, an upper end of the support rod is fixedly connected with the housing, and a lower end of the support rod is fixedly connected with the base.
5. The device of claim 4, wherein the base is in the form of a cut sphere.
6. The device as claimed in claim 4, wherein the supporting assembly comprises a supporting front foot, a supporting rear foot and a supporting rod, the supporting front foot is of a bent structure, the supporting rear foot is elastically and rotatably connected with the supporting front foot, a clamping area for clamping an external carrier is formed between the supporting rear foot and the supporting front foot, and the elasticity has a tendency of enabling the supporting front foot and the supporting rear foot to approach each other.
7. The ultrasound interventional image acquisition and control device of claim 1, wherein the housing is of a metal construction.
8. The ultrasound interventional image acquisition and control device of claim 1, wherein the housing is of a cylindrical configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111353797.XA CN113925533A (en) | 2021-11-16 | 2021-11-16 | Image acquisition and control device for ultrasonic intervention |
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| CN202111353797.XA CN113925533A (en) | 2021-11-16 | 2021-11-16 | Image acquisition and control device for ultrasonic intervention |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114569250A (en) * | 2022-02-21 | 2022-06-03 | 北京唯迈医疗设备有限公司 | Intervention robot main end control system adopting gesture operation |
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2021
- 2021-11-16 CN CN202111353797.XA patent/CN113925533A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114569250A (en) * | 2022-02-21 | 2022-06-03 | 北京唯迈医疗设备有限公司 | Intervention robot main end control system adopting gesture operation |
| CN114569250B (en) * | 2022-02-21 | 2023-11-17 | 北京唯迈医疗设备有限公司 | Main end control system of interventional robot operated by gestures |
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