Virtual probe for remote cardiac ultrasound and diagnosis and treatment system

Abstract

The invention provides a virtual probe for remote cardiac ultrasound and a diagnosis and treatment system. The virtual probe comprises a shell, a pose detection element and a force detection element; the pose detection element is fixed in the shell, and the force detection element is fixed on a detection surface, used for being in contact with the bionic model, of the shell. The pose detection element and the force detection element are both in communication connection with the first control terminal, the first control terminal is in communication connection with the second control terminal, and the audio and video acquisition module and the robot control terminal are both in communication connection with the second control terminal; the first control terminal generates a robot mechanical arm control instruction according to the received virtual probe pose and force applied to the bionic model and sends the robot mechanical arm control instruction to the second control terminal; the second control terminal controls a mechanical arm of the robot according to the received control instruction so as to control the action of a real probe, and transmits on-site audio and video data and ultrasonic images to the first control terminal in real time. According to the disclosure, the accuracy and timeliness of remote diagnosis and treatment are greatly improved.

Description

technical field [0001] The present disclosure relates to the technical field of remote medical equipment, in particular to a virtual probe and diagnosis and treatment system for remote cardiac ultrasound. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] Ultrasound imaging has great advantages over other medical imaging methods due to its non-invasive, instant diagnosis, real-time, and cost-effective advantages. [0004] In the process of ultrasound acquisition, too small pressure will damage the good acoustic coupling and thus affect the quality of ultrasound imaging, while too high pressure will harm the patient and even deform the observed organs. Feedback is used to adjust the probe pose and the contact force between the probe and the patient. The quality of ultrasound images depends on intrinsic factors such as hardware design and di...

AI Technical Summary

Problems solved by technology

However, there are problems with the virtual probe and the remote ultrasonic inspection method proposed in the current remote ultrasound patent: (1) There is no force feedback device, so experts cannot remotely control the force exerted by the robotic arm, which may easily cause excessive force to accidentally injure the patient or The ultrasonic image is blurred due to too small force; (2) The virtual probe is not small enough to be integrated, and cannot map all the operation actions of the expert, and additional sensors or keyboard and mouse are needed to control some degrees of freedom; (3) Ultrasound scanning for The parts are fixed and simple parts such as the liver and lungs, and there is no remote ultrasonic scanning device for complicated organs such as the heart; (4) There is a delay in data transmission, and real-time reproduction cannot be achieved

[0006] After retrieval, the Chinese invention patent with the publication number CN110993087A uses a gyroscope to collect attitude information, but needs to place an additional infrared sensor outside the probe to collect position information, so it is not integrated enough, and an additional sensor is used; at the same time, the data uses the TCP / IP protocol Transmission and data exchange are not real-time enough; the third problem is that the product puts the probe on a plane, which is close to the operation habits of experts for abdominal ultrasound exploration, but it is not suitable for cardiac ultrasound exploration

During echocardiography, because there are many bony structures in the chest wall, the contour of the chest wall is more undulating. At the same time, the patient is placed in a lateral position during the ultrasound examination. Therefore, the Chinese patent invention with the publication number CN110993087A is only applicable to the detection of flat and Fixed and simple ultrasonic exploration, not suitable for complex ultrasonic exploration such as the heart

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