Portable teleoperation handheld device for remote ultrasonic examination

Abstract

The invention discloses a portable teleoperation handheld device for remote ultrasonic examination. A speed acquisition module acquires speed information of the handheld device moving on a working surface; an angular velocity acquisition module acquires angular velocity information of rotation of the handheld device in the space; and a force acquisition module is connected with a pressing module and is used for acquiring the pressing force of the handheld device. The portable teleoperation handheld device adopts an integrated design, is simple in structure and convenient to carry, can be connected with a computer, and is convenient for ultrasonic scanning of a patient in a home environment; force sense feedback is formed by using a display screen and a vibration module; operation can be carried out on any working face such as a desktop, a human body skin model surface or a human body surface, other auxiliary equipment such as a touch table is not needed, and more visual force feedback can be provided when the device works on the human body skin model surface; and by means of speed mapping and force mapping, continuity of the whole movement process of the slave end scanning robot is ensured, and continuity of contact force between an ultrasonic probe and a human body is ensured.

Description

technical field [0001] The invention relates to the field of remote ultrasonic technology, in particular to a portable remote operation hand-held device for remote ultrasonic inspection. Background technique [0002] With the development of medical technology, ultrasonic detection technology is more and more widely used in hospitals because of its simplicity, portability, low cost and no side effects. However, due to economic development and uneven distribution of high-quality medical resources, people in many areas are still unable to perform high-quality ultrasound examinations. Through the remote ultrasonic examination system, the examination robot is configured on the patient side, and the doctor remotely controls the examination robot to perform ultrasonic diagnosis to realize resource sharing, which can solve the shortage of resources in remote and grassroots areas. [0003] After retrieval, the Chinese Patent Publication No. is CN108065959A remote ultrasonic diagnosi...

AI Technical Summary

Problems solved by technology

The controller of this patent, that is, the remote operation device, has a complex and cumbersome structure, requires a lot of auxiliary equipment for operation, and is inconvenient to carry and install

[0004] After retrieval, the Chinese patent authorization number is CN108994861B remote ultrasonic manipulator device and remote ultrasonic detection system, wherein, the operator's bottom by touching the position sensor below to obtain the spatial position information of the manipulator, that is, the manipulator must be equipped with a position sensor Move on the touch screen to obtain the spatial position information of the operator. It is not an integrated structure, which is inconvenient to carry and install.

[0005] After searching, the Chinese Patent Publication No. is CN110993087A, a remote ultrasonic scanning operation device and method, wherein the analog ultrasonic probe, that is, the remote operation device, needs to be operated on the simulated skin platform to obtain the two-dimensional coordinates of the simulated ultrasonic probe on the surface of the simulated skin platform , and based on the two-dimensional coordinates to remotely control the movement of the ultrasound probe on the skin, it is not an integrated structure, which is inconvenient to carry and install

[0006] In addition, the existing teleoperation device and slave-end remote scanning robot technology mostly use position mapping and multi-stage force control mapping methods. continuity

Images