CN207202885U - A kind of ultrasonic testing system - Google Patents
A kind of ultrasonic testing system Download PDFInfo
- Publication number
- CN207202885U CN207202885U CN201720130894.5U CN201720130894U CN207202885U CN 207202885 U CN207202885 U CN 207202885U CN 201720130894 U CN201720130894 U CN 201720130894U CN 207202885 U CN207202885 U CN 207202885U
- Authority
- CN
- China
- Prior art keywords
- control module
- mechanical arm
- testing system
- capture device
- motion capture
- 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.)
- Active
Links
Landscapes
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The utility model discloses a kind of ultrasonic testing system, including：Motion capture device, control module, mechanical arm and ultrasonic probe；Wherein, the motion capture device link control module, the control module connect mechanical arm, and the ultrasonic probe is positioned over mechanical arm.The utility model simulates actual ultrasonic probe by providing a plan type motion capture device, ultrasonic probe is driven to realize locomotive function come control machinery arm by catching the action of user, the active force between probe and examined object is controlled using power perceptron, the user for getting used to manual mobile probe can be allowed to rapidly adapt to the detection mode of auxiliary, the fatigue of user is reduced, improves comfort level.
Description
Technical field
A kind of ultrasonic testing system is the utility model is related to, belongs to medical instruments field.
Background technology
Conventional ultrasound detection directly holds ultrasonic probe by doctor and patient is detected, and doctor can be by adjusting ultrasound
The posture and pressure of probe obtain clearly ultrasonic scanning picture, but the general ultrasound detection time is longer, diverse location
Detection needs the cooperation of doctor's difference position, and the muscle power of the experience and doctor to doctor has very high requirement.
The appearance of present assisting ultrasonic robot can solve problem above, more comfortable to sonographer offer one
Working environment, but robot auxiliary detection, to change some customs of doctor, the popularization of this use and product to doctor
Cause some obstacles.
Utility model content
In order to solve the above problems, the utility model is by providing a kind of ultrasonic testing system.
The technical solution adopted in the utility model is a kind of ultrasonic testing system, including：Motion capture device, control module,
Mechanical arm and ultrasonic probe；Wherein, the motion capture device link control module, the control module connects mechanical arm, described
Ultrasonic probe is positioned over mechanical arm.
Preferably, the motion capture device includes plan type shell, gesture recognition chip, some function buttons and data transfer
Interface.
Preferably, the control module includes display and mechanical arm control unit.
Preferably, the power that the mechanical arm includes being used to measure the active force between ultrasonic probe and target to be detected perceives
Unit.
Preferably, the system also includes remote control module, and the remote control module includes image unit, teledata
Coffret and mechanical arm control unit.
Preferably, the system also includes VR units, and the VR units are used for the data for receiving image unit.
The beneficial effects of the utility model are to simulate actual ultrasonic probe by providing a plan type motion capture device,
Drive ultrasonic probe to realize locomotive function come control machinery arm by catching the action of user, visited using power perceptron to control
Active force between head and examined object, the user for getting used to manual mobile probe can be allowed to rapidly adapt to the detection side of auxiliary
Formula, the fatigue of user is reduced, improve comfort level.
Brief description of the drawings
Fig. 1 show a kind of schematic diagram of ultrasonic testing system 1 based on the utility model embodiment；
Fig. 2 show a kind of schematic diagram of ultrasonic testing system 2 based on the utility model embodiment.
Embodiment
The utility model is illustrated with reference to embodiments.
Embodiment based on utility model, a kind of ultrasonic testing system 1 as shown in Figure 1, including：Motion capture device, control
Module, mechanical arm and ultrasonic probe；Wherein, the motion capture device link control module, the control module connect mechanical arm,
The ultrasonic probe is positioned over mechanical arm.
Handle in motion capture device, i.e. practical application, the shape by its shape fabricating into conventional practical ultrasonic probe
Shape, motion capture device link control module by way of wire/wireless, control module can obtain user from action catcher to be made
With attitude information when motion capture device, these attitude informations are changed into corresponding action command with operating robotic arm,
Mechanical arm can drive ultrasonic probe to carry out the same attitude motion.
The motion capture device includes plan type shell, gesture recognition chip, some function buttons and data transmission interface.
Plan type shell is the shape for imitating existing ultrasonic probe, and gesture recognition chip is the processing core based on motion sensor
Piece（Such as by controlling the movement for all around moving up and down the position for realizing control ultrasonic probe of catcher, if always
It is moved along, just realizes that ultrasonic probe is kept straight on, stops mobile just stopping ultrasonic probe）, some function buttons be used for pair
The function of ultrasonic probe should be performed or action can be controlled by button（It is not action recognition but leans on button
The movement of control machinery arm, controlled for example with increment type, click button, just mobile some distances）, data transmission interface bag
Include the transmitter of wireless data output and the custom interface for limited connection.
The control module includes display and mechanical arm control unit.
Display is used for the image for showing the scene of ultrasonic testing results and mechanical arm actual motion, mechanical arm control unit
For mechanical arm controller.
The power that the mechanical arm includes being used to measure the active force between ultrasonic probe and target to be detected perceives unit.
In order to prevent the reasons such as operational error, cause probe movement excessively to cause accident, a power perceptron is set, is used for
The active force that measuring probe contacts with target, by setting a threshold value, it can prevent similar accident from occurring.
Embodiment based on utility model, a kind of ultrasonic testing system 2 as shown in Figure 2, also include compared with system 1 long-range
Control module, the remote control module include image unit, remote data transmission interface and mechanical arm control unit.
For some special needs, it is possible that operation scene and the live distant situation of control, now, lead to
Cross and set a long-range control module, normal control module to be sent to remotely after the attitude information of motion capture device is handled
Control module, operation is carried out by remote control module operating robotic arm；In order to realize remote functionality, it is necessary to which image pick-up device will be at a distance
Mechanical arm feedback of the information, i.e. image unit, and remote data transmission interface then form transmission data based on UDP/TCP,
And local control module can be shown over the display after receiving ultrasound detection data and the data of image pick-up device.
The system also includes VR units, and the VR units are used for the data for receiving image unit.
In order to increase the validity of display, a VR unit is set, the video data of image unit is showed in real time, can be with
Improve the experience of user.
Embodiment based on utility model, motion capture device also include force feedback unit, based between power perception unit
Linkage, corresponding force value is fed back into motion capture device in the form of shaking etc., validity and Consumer's Experience can be improved.
Described above, simply preferred embodiment of the present utility model, the utility model is not limited to above-mentioned implementation
Mode, as long as it reaches technique effect of the present utility model with identical means, it should all belong to the scope of protection of the utility model.
Its technical scheme and/or embodiment can have a variety of modifications and variations in the scope of protection of the utility model.
Claims (6)
- A kind of 1. ultrasonic testing system, it is characterised in that including：Motion capture device, control module, mechanical arm and ultrasonic probe；Wherein,The motion capture device link control module, the control module connect mechanical arm, and the ultrasonic probe is positioned over machinery Arm.
- 2. a kind of ultrasonic testing system according to claim 1, it is characterised in that the motion capture device is included outside plan type Shell, gesture recognition chip, some function buttons and data transmission interface.
- A kind of 3. ultrasonic testing system according to claim 1, it is characterised in that the control module include display and Mechanical arm control unit.
- 4. a kind of ultrasonic testing system according to claim 1, it is characterised in that the mechanical arm includes super for measuring The power of active force between sonic probe and target to be detected perceives unit.
- 5. a kind of ultrasonic testing system according to claim 1, it is characterised in that the system also includes remote control mould Block, the remote control module include image unit, remote data transmission interface and mechanical arm control unit.
- 6. a kind of ultrasonic testing system according to claim 5, it is characterised in that the system also includes VR units, institute State the data that VR units are used to receive image unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720130894.5U CN207202885U (en) | 2017-02-10 | 2017-02-10 | A kind of ultrasonic testing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720130894.5U CN207202885U (en) | 2017-02-10 | 2017-02-10 | A kind of ultrasonic testing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207202885U true CN207202885U (en) | 2018-04-10 |
Family
ID=61809228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720130894.5U Active CN207202885U (en) | 2017-02-10 | 2017-02-10 | A kind of ultrasonic testing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207202885U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109288541A (en) * | 2018-11-15 | 2019-02-01 | 深圳市比邻星精密技术有限公司 | Robot system and its checking method based on ultrasonic scan |
| CN113907788A (en) * | 2021-10-14 | 2022-01-11 | 合肥合滨智能机器人有限公司 | Portable teleoperation handheld device for remote ultrasonic examination |
-
2017
- 2017-02-10 CN CN201720130894.5U patent/CN207202885U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109288541A (en) * | 2018-11-15 | 2019-02-01 | 深圳市比邻星精密技术有限公司 | Robot system and its checking method based on ultrasonic scan |
| CN109288541B (en) * | 2018-11-15 | 2021-08-06 | 深圳市比邻星精密技术有限公司 | Robot system based on ultrasonic scanning and scanning method thereof |
| CN113907788A (en) * | 2021-10-14 | 2022-01-11 | 合肥合滨智能机器人有限公司 | Portable teleoperation handheld device for remote ultrasonic examination |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11409357B2 (en) | Natural human-computer interaction system based on multi-sensing data fusion | |
| WO2020221311A1 (en) | Wearable device-based mobile robot control system and control method | |
| US9079313B2 (en) | Natural human to robot remote control | |
| US20240164759A1 (en) | Portable remote ultrasound scanning systems and compliance control methods for safe ultrasound scanning | |
| CN104503450B (en) | Realize the service robot of intelligent obstacle detouring | |
| CN106113067B (en) | A kind of Dual-Arm Mobile Robot system based on binocular vision | |
| WO2015180497A1 (en) | Motion collection and feedback method and system based on stereoscopic vision | |
| JPWO2018097223A1 (en) | Robot control system, machine control system, robot control method, machine control method, and recording medium | |
| US20110118877A1 (en) | Robot system and method and computer-readable medium controlling the same | |
| CN104589306A (en) | robot, robot system, and robot control apparatus | |
| US20230042756A1 (en) | Autonomous mobile grabbing method for mechanical arm based on visual-haptic fusion under complex illumination condition | |
| CN113499094B (en) | Heart color Doppler ultrasound examination device and method guided by vision and force feedback | |
| CN111459277B (en) | Mechanical arm teleoperation system based on mixed reality and interactive interface construction method | |
| CN207202885U (en) | A kind of ultrasonic testing system | |
| CN101887264B (en) | Method for controlling force telepresence of teleoperation robot based on tactile sensor | |
| US20210200311A1 (en) | Proxy controller suit with optional dual range kinematics | |
| CN112891137A (en) | Upper limb rehabilitation robot system, robot control method and device | |
| CN113876556A (en) | Three-dimensional laser scanning massage robot system | |
| JP2007130691A (en) | Communication robot | |
| CN108062102A (en) | A kind of gesture control has the function of the Mobile Robot Teleoperation System Based of obstacle avoidance aiding | |
| CN112650120A (en) | Robot remote control system, method and storage medium | |
| CN105751225A (en) | Intelligent safety protection and explosive handling robot on basis of internet of things | |
| CA3226429A1 (en) | System and apparatus for remote interaction with an object | |
| CN207689911U (en) | Robot | |
| CN115741732B (en) | Interactive path planning and motion control method for massage robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191231 Address after: 215311 south side of the second floor of room 3, No. 2001, Yingbin West Road, Bacheng Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Kunshan huadazhi Yunying Medical Technology Co., Ltd Address before: 518083, 1006 building, Beishan Industrial Zone, 146 North Mountain Road, Yantian District, Guangdong, Shenzhen Patentee before: Shenzhen Hua made Dazhi Technology Co. Ltd. |
|
| TR01 | Transfer of patent right |