Ultrasonic probe auxiliary control device, ultrasonic detection equipment and ultrasonic probe auxiliary control device control method

Abstract

The invention discloses an ultrasonic probe auxiliary control device, ultrasonic detection equipment and a control method of the ultrasonic probe auxiliary control device, the ultrasonic probe auxiliary control device is applied to an ultrasonic probe, the ultrasonic probe auxiliary control device comprises a rack used for installing all parts, a controller is installed on the rack, and the controller is installed on the rack. The driving mechanism is mounted on the rack and is in communication connection with the controller, a mechanical arm of the control mechanism comprises a fixed end and a movable end, the fixed end is connected to the driving mechanism, the mounting seat is connected to the movable end and is provided with a mounting clamping groove, the pressure sensor is connected to the groove bottom wall of the mounting clamping groove, and the ultrasonic probe is clamped in the mounting clamping groove and abuts against the pressure sensor. The auxiliary control device for the ultrasonic probe has a large detection range, and the safety of ultrasonic detection of the auxiliary control device is better.

Description

Technical Field

[0001] The present invention relates to the technical field, and in particular to an ultrasonic probe auxiliary control device, ultrasonic detection equipment and an ultrasonic probe auxiliary control device control method. Background Art

[0002] Type B ultrasound is the main method of ultrasonic examination. Ultrasound has developed by leaps and bounds. For example, endoscopic ultrasound, ultrasound angiography, three-dimensional imaging, elastic imaging, etc. are all developed on the basis of type B ultrasound. The scope of type B ultrasound examination is very wide, and the preparation before examination is also different for different examination parts.

[0003] At present, in ultrasound detection, medical staff need to hold an ultrasound probe. In the related technology, Chinese invention patent CN109464159A discloses a B-ultrasound probe fixing and operating device for clinical use in an ultrasound room. The device adjusts the movement of the B-ultrasound probe by setting a linear motor, a second electric telescopic rod and a third electric telescopic rod. The structure is relatively complex, and due to the superposition of simple linear motion and rotational motion, the B-ultrasound probe is prone to have a detection blind spot. At the same time, due to the lack of necessary safety detection in the solution, it also has certain safety hazards. Summary of the invention

[0004] The main purpose of the present invention is to provide an ultrasonic probe auxiliary control device, aiming to expand the detection range of the ultrasonic probe and improve the safety of ultrasonic detection.

[0005] To achieve the above-mentioned purpose, the ultrasonic probe auxiliary control device proposed in the present invention is applied to an ultrasonic probe, and the ultrasonic probe auxiliary control device comprises:

[0006] frame;

[0007] A controller, mounted on the rack;

[0008] A driving mechanism, mounted on the frame and communicatively connected to the controller; and

[0009] The control mechanism includes a mounting seat and a mechanical arm and a pressure sensor communicatively connected to the controller, the mechanical arm includes a fixed end and a movable end, the fixed end is connected to the driving mechanism, the mounting seat is connected to the movable end and is provided with a mounting slot, the pressure sensor is connected to the bottom wall of the mounting slot, the ultrasonic probe is clamped in the mounting slot and abuts against the pressure sensor, and the driving mechanism can drive the mechanical arm to move relative to the frame.

[0010] Optionally, the mounting seat includes a fixed seat body and a movable seat body, and the movable seat body is detachably connected to the fixed seat body and encloses to form the mounting slot.

[0011] Optionally, the mounting seat also includes a connecting screw, the fixed seat body is provided with a fixing threaded hole, the movable seat body is provided with a connecting hole passing through its two opposite surfaces, and the connecting screw is passed through the connecting hole and the fixing threaded hole to connect the movable seat body and the fixed seat body.

[0012] Optionally, the mounting seat further includes an elastic protective layer, the elastic protective layer is attached to the side wall of the mounting slot, and the ultrasonic probe can abut against the elastic protective layer.

[0013] Optionally, the driving mechanism includes a transverse linear module, the transverse linear module is mounted on the frame, and the robotic arm is transmission-connected to the transverse linear module.

[0014] Optionally, the driving mechanism further comprises a lifting linear module, the lifting linear module is fixedly connected to the frame, and the transverse linear module is drivingly connected to the lifting linear module.

[0015] Optionally, the frame includes a frame body and universal wheels, the controller and the driving mechanism are mounted on the frame body, and the universal wheels are arranged at intervals at the bottom of the frame body.

[0016] Optionally, the rack further includes a fixing clip, which is connected to the middle of the frame body and is used to clamp and fix the frame body.

[0017] The present invention further provides an ultrasonic testing device, comprising a testing bed, an ultrasonic probe auxiliary control device and an ultrasonic probe, wherein the ultrasonic probe auxiliary control device is the ultrasonic probe auxiliary control device as described above, comprising:

[0018] A frame, detachably connected to the testing bed;

[0019] A controller, mounted on the rack;

[0020] A driving mechanism, mounted on the frame and communicatively connected to the controller; and

[0021] The control mechanism includes a mounting seat and a mechanical arm and a pressure sensor communicatively connected to the controller, the mechanical arm includes a fixed end and a movable end, the fixed end is connected to the driving mechanism, the mounting seat is connected to the movable end and is provided with a mounting slot, the pressure sensor is connected to the bottom wall of the mounting slot, the ultrasonic probe is clamped in the mounting slot and abuts against the pressure sensor, and the driving mechanism can drive the mechanical arm to move relative to the frame.

[0022] The present invention also provides a control method for an ultrasonic probe auxiliary control device, comprising:

[0023] Obtain data information of the object to be tested and send it wirelessly;

[0024] receiving the data information, and controlling the mechanical arm to drive the ultrasonic probe to move, so that the ultrasonic probe performs ultrasonic detection on the object to be detected;

[0025] Obtaining the pressure value of the ultrasonic probe to determine whether it is within a preset threshold;

[0026] If yes, the robotic arm is controlled to drive the ultrasonic probe to perform ultrasonic detection on the object to be detected; if no, the robotic arm is controlled to stop working, or the robotic arm is controlled to return to the starting point along the original path.

[0027] The ultrasonic probe auxiliary control device of the technical solution of the present invention is applied to an ultrasonic probe, wherein the ultrasonic probe auxiliary control device includes a frame for installing various components, a controller is installed on the frame, a driving mechanism is installed on the frame and is communicatively connected to the controller, a mechanical arm of the control mechanism includes a fixed end and a movable end, the fixed end is connected to the driving mechanism, a mounting seat is connected to the movable end and is provided with a mounting slot, a pressure sensor is connected to the bottom wall of the mounting slot, the ultrasonic probe is clamped in the mounting slot and abuts against the pressure sensor.

[0028] In the present invention, the controller is communicatively connected to the driving mechanism and the robotic arm to control the operation of the driving mechanism and the robotic arm. In a specific application, the frame can be placed in an appropriate position, and the ultrasonic probe can be clamped in the mounting slot. When ultrasonic testing of the patient is required, the driving mechanism can drive the robotic arm to move relative to the frame and move to the corresponding position of the patient. The controller controls the operation of the robotic arm to make the ultrasonic probe fit the surface of the patient's skin to perform testing on the patient. In the present application, by adopting a driving mechanism and a robotic arm to control the movement of the ultrasonic probe, it is possible to achieve testing of various parts of the patient to a greater extent, and its testing range is wider. At the same time, by arranging a pressure sensor on the bottom wall of the mounting slot, when one end of the ultrasonic probe abuts against the surface of the patient's skin, the pressure sensor is affected by the force and feeds back the pressure value to the controller in real time. When the pressure value is within the preset range, the robotic arm normally drives the ultrasonic probe to detect the patient. When the pressure value exceeds the preset range, the controller controls the robotic arm to stop working, or executes the opposite procedure, so that the robotic arm drives the ultrasonic probe away from the patient along the original path. In this way, the robotic arm can avoid causing harm to the patient during the detection process, and the safety of the probe-assisted control device is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 It is a partial structural schematic diagram of an embodiment of an ultrasonic detection device of the present invention;

[0031] Figure 2 for Figure 1 A front view of the ultrasonic testing device shown;

[0032] Figure 3 for Figure 1 A schematic structural diagram of the ultrasonic testing device shown in another perspective;

[0033] Figure 4 for Figure 3 A magnified detail of the center A;

[0034] Figure 5 The present invention is a flowchart of the steps of the control method of the ultrasonic probe auxiliary control device.

[0035] Description of Figure Numbers:

[0036]

[0037] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0040] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] Reference Figures 1 to 4 , the present invention proposes an ultrasound probe auxiliary control device 100.

[0042] In an embodiment of the present invention, the ultrasonic probe auxiliary control device 100 is used to fix the ultrasonic probe 200. The ultrasonic probe auxiliary control device 100 includes: a frame 10, a controller is installed on the frame 10, a driving mechanism 20 is installed on the frame 10 and is communicatively connected to the controller; a control mechanism 30 includes a mounting seat 32 and a mechanical arm 31 and a pressure sensor 33 that are communicatively connected to the controller, the mechanical arm 31 includes a fixed end 311 and a movable end 312, the fixed end 311 is connected to the driving mechanism 20, the mounting seat 32 is connected to the movable end 312, and is provided with a mounting slot 32a, the pressure sensor 33 is connected to the bottom wall of the mounting slot 32a, the ultrasonic probe 200 is clamped in the mounting slot 32a, and abuts against the pressure sensor 33, and the driving mechanism 20 can drive the mechanical arm 31 to move relative to the frame 10.

[0043] Specifically, the frame 10 includes a frame 11, a universal wheel 12, and a fixing clamp 13, wherein the frame 11 is formed by welding a metal profile, and the frame 11 is in a gantry structure as a whole, and the universal wheels 12 are arranged at intervals at the bottom of the frame 11 to facilitate the user to move the frame 11 to a preset position. In this embodiment, the universal wheel 12 is preferably a universal wheel 12 with a brake to facilitate the user to fix the frame 11 after moving it. The fixing clamp 13 is fixed to the middle of the frame 11 by screws, and the fixing clamp 13 can be clamped on the edge of a table or a bed to further clamp and fix the frame 11 to ensure the stability of the ultrasound probe 200 during the detection process.

[0044] The controller (not shown) is installed on the frame 10, and is connected to the drive mechanism 20, the mechanical arm 31 and the pressure sensor 33 through terminal connection lines or wireless signal transceiver modules such as WIFI modules, Bluetooth, and 5G signal modules, and controls the drive mechanism 20 and the mechanical arm 31 to work through a preset built-in program. Furthermore, the controller can be connected to other wireless terminals, such as mobile phones and tablet computers, and by setting up wireless terminals, it is convenient for users to control the mechanical arm 31 and the drive mechanism.

[0045] In the present invention, the controller is communicatively connected to the driving mechanism 20 and the mechanical arm 31 to control the operation of the driving mechanism and the mechanical arm 31. In a specific application, the frame 10 can be placed in an appropriate position, and the ultrasonic probe 200 can be clamped in the mounting slot 32a. When ultrasonic testing of the patient is required, the driving mechanism 20 can drive the mechanical arm 31 to move relative to the frame 10 to the corresponding position of the patient. The controller controls the mechanical arm 31 to work so that the ultrasonic probe 200 is attached to the patient's skin surface to perform testing on the patient. In the present application, by using the driving mechanism 20 and the mechanical arm 31 to control the movement of the ultrasonic probe 200, it is possible to achieve testing of various parts of the patient to a greater extent, and its testing range is wider. At the same time, by arranging a pressure sensor 33 on the bottom wall of the mounting slot 32a, when one end of the ultrasonic probe 200 abuts against the surface of the patient's skin, the pressure sensor 33 is affected by its force and feeds back the pressure value to the controller in real time. When the pressure value is within the preset range, the robotic arm 31 normally drives the ultrasonic probe 200 to detect the patient. When the pressure value exceeds the preset range, the controller controls the robotic arm 31 to stop working, or executes the opposite procedure, so that the robotic arm 31 drives the ultrasonic probe 200 away from the patient along the original path. In this way, the robotic arm 31 can be prevented from causing harm to the patient during the detection process, and the safety of the probe auxiliary control device is better.

[0046] It is understandable that the ultrasound probe auxiliary control device 100 in the present application also includes an image collector, which can collect images of the patient in real time and transmit its image information to the controller side. Through the built-in program, the controller controls the mechanical arm 31 to work so that it can detect the body part that needs to be detected. Or, in some embodiments, the patient's image data can be pre-imported into the controller in advance. During the actual detection process, the user can click on the corresponding part, and then control the movement of the mechanical arm 31, move the ultrasound probe 200 to the part, and then perform ultrasound detection on the patient. The working principle of the mechanical arm 31 is a relatively mature technology and will not be described in detail here.

[0047] Please see again Figure 4In this embodiment, the mounting seat 32 includes a fixed seat body 321 and a movable seat body 322, wherein the movable seat body 322 is detachably connected to the fixed seat body 321 and encloses to form a mounting slot 32a. Specifically, the mounting seat 32 includes a connecting screw, the fixed seat body 321 is formed with a fixing threaded hole 321a, and the movable seat body 322 is provided with a connecting hole 322a that runs through two opposite surfaces thereof. The connecting screw is passed through the connecting hole 322a and the fixing threaded hole 321a to connect the movable seat body 322 and the fixed seat body 321. In this application, the mounting slot 32a is enclosed by the movable seat body 322 and the fixed seat body 321, and is connected and fixed by the connecting screw, so that the disassembly and assembly of the ultrasonic probe 200 is more convenient, and the clamping in the mounting slot 32a is more stable. Of course, the movable seat body 322 and the fixed seat body 321 can also be connected by a disassembly and assembly structure such as a buckle, a magnet, etc., which is not specifically limited here.

[0048] Furthermore, the mounting seat 32 further includes an elastic protective layer 323, wherein the elastic protective layer 323 is made of a silicone rubber material, and the elastic protective layer 323 is adhered to the groove side wall of the mounting slot 32a by glue. When the ultrasonic probe 200 is clamped in the mounting slot 32a, the elastic protective layer 323 is elastically sleeved on the outer side of the ultrasonic probe 200 and can abut against the groove side wall of the mounting slot 32a. In this way, the installation of the ultrasonic probe 200 is not only more stable, but also the elastic protective layer 323 can play a certain protective role on the ultrasonic probe 200.

[0049] In one embodiment of the present invention, the driving mechanism 20 includes a transverse linear module 21 and a lifting linear module 22, wherein the lifting linear module 22 is fixedly connected to the frame 10, the transverse linear module 21 is transmission-connected to the lifting linear module 22, and the mechanical arm 31 is transmission-connected to the transverse linear module 21. The transverse linear module 21 and the lifting linear module 22 are communicatively connected to the controller, the lifting linear module 22 can drive the transverse linear module 21 to rise and fall relative to the frame 10, and the transverse linear module 21 can drive the mechanical arm 31 to reciprocate. In the present application, the structure of the driving mechanism 20 is relatively simple, and by moving the mechanical arm 31 in the vertical direction and the horizontal direction, the detection position of the ultrasound probe 200 can better meet the detection needs of different patients.

[0050] The present invention also proposes an ultrasonic detection device 1, which includes a detection bed, an ultrasonic probe auxiliary control device 100 and an ultrasonic probe 200. The specific structure of the ultrasonic detection device 1 refers to the above-mentioned embodiment. Since the ultrasonic detection device 1 adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one. Among them, the ultrasound probe auxiliary control device 100 includes: a frame 10, which is detachably connected to the detection bed through a fixing clip 13; a controller is installed on the frame 10; a driving mechanism 20, which is installed on the frame 10 and is communicatively connected to the controller; the control mechanism 30 includes a mounting seat 32 and a mechanical arm 31 and a pressure sensor 33 that are communicatively connected to the controller, the mechanical arm 31 includes a fixed end 311 and a movable end 312, the fixed end 311 is connected to the driving mechanism 20, the mounting seat 32 is connected to the movable end 312, and is provided with a mounting slot 32a, the pressure sensor 33 is connected to the bottom wall of the mounting slot 32a, the ultrasound probe 200 is clamped in the mounting slot 32a, and abuts against the pressure sensor 33, and the driving mechanism 20 can drive the mechanical arm 31 to move relative to the frame 10.

[0051] See also Figure 5 The present invention also proposes a control method for an ultrasonic probe auxiliary control device 100, the method steps of which include:

[0052] S10: Acquire data information of the object to be tested and send it wirelessly;

[0053] In this step, the data information of the object to be tested can be acquired by an image collector, for example, CT scanning imaging, which generates three-dimensional images of various parts of the human body, and sends the image information wirelessly through modules such as WIFI, Bluetooth, and 5G signals.

[0054] S20: receiving the data information, and controlling the mechanical arm 31 to drive the ultrasonic probe 200 to move, so that the ultrasonic probe 200 performs ultrasonic detection on the object to be detected;

[0055] In this step, the controller of the ultrasonic probe auxiliary control device 100 receives the data information of the object to be tested, controls the mechanical arm 31 to work, and makes the ultrasonic probe 200 move toward one side of the object to be tested. According to the selected area, the mechanical arm 31 can be controlled to work, so that the ultrasonic probe 200 performs ultrasonic detection on the object to be tested.

[0056] S30: Obtain the pressure value of the ultrasonic probe 200 to determine whether it is within a preset threshold; if so, control the robotic arm 31 to drive the ultrasonic probe 200 to perform ultrasonic detection on the object to be tested; if not, control the robotic arm 31 to stop working, or control the robotic arm 31 to return to the starting point along the original path.

[0057] In this step, the ultrasonic probe 200 is placed in the installation slot 32a and abuts against the pressure sensor in the installation slot 32a. As the mechanical arm 31 drives the ultrasonic probe 200 to move on the surface of the object to be tested, the pressure sensor 33 senses the pressure value of the ultrasonic probe 200 in real time and sends it wirelessly to the controller. The controller receives the pressure value and compares it with the preset threshold. If the actual pressure value is within the preset threshold, or is less than the preset threshold, it can be determined that the pressure value of the object to be tested is within the tolerable range, and the mechanical arm 31 is controlled to continue the detection; if the actual pressure value exceeds the preset threshold, it can be determined that the pressure value of the object to be tested exceeds the tolerable range, and the mechanical arm 31 is controlled to stop working, or return to the initial position along the original path. In this way, the control method of the ultrasonic probe auxiliary control device 100 of the present invention can avoid the situation where the mechanical arm 31 causes harm to the patient during the detection process, and its safety performance is more reliable.

[0058] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An ultrasonic probe auxiliary control device, applied to an ultrasonic probe, characterized in that: The ultrasonic probe auxiliary control device comprises: frame; A controller, mounted on the rack; A driving mechanism, mounted on the frame and communicatively connected to the controller; and The control mechanism includes a mounting seat and a mechanical arm and a pressure sensor communicatively connected to the controller, the mechanical arm includes a fixed end and a movable end, the fixed end is connected to the driving mechanism, the mounting seat is connected to the movable end and is provided with a mounting slot, the pressure sensor is connected to the bottom wall of the mounting slot, the ultrasonic probe is clamped in the mounting slot and abuts against the pressure sensor, and the driving mechanism can drive the mechanical arm to move relative to the frame.

2. The ultrasonic probe-assisted manipulation device according to claim 1, characterized in that: The mounting seat comprises a fixed seat body and a movable seat body, wherein the movable seat body is detachably connected to the fixed seat body and encloses the mounting slot.

3. The ultrasonic probe-assisted manipulation device according to claim 2, characterized in that: The mounting seat also includes a connecting screw. The fixed seat body is provided with a fixing threaded hole. The movable seat body is provided with a connecting hole that passes through two opposite surfaces thereof. The connecting screw is passed through the connecting hole and the fixing threaded hole to connect the movable seat body and the fixed seat body.

4. The ultrasonic probe-assisted manipulation device according to claim 2, characterized in that: The mounting seat further comprises an elastic protective layer, the elastic protective layer is attached to the slot side wall of the mounting slot, and the ultrasonic probe can abut against the elastic protective layer.

5. The ultrasonic probe-assisted manipulation device according to any one of claims 1 to 4, characterized in that: The driving mechanism comprises a transverse linear module, the transverse linear module is mounted on the frame, and the mechanical arm is transmission-connected to the transverse linear module.

6. The ultrasonic probe-assisted manipulation device according to claim 5, characterized in that: The driving mechanism further comprises a lifting linear module, the lifting linear module is fixedly connected to the frame, and the transverse linear module is drivingly connected to the lifting linear module.

7. The ultrasonic probe-assisted manipulation device according to claims 1 to 4, characterized in that: The frame comprises a frame body and universal wheels, the controller and the driving mechanism are installed on the frame body, and the universal wheels are arranged at intervals at the bottom of the frame body.

8. The ultrasonic probe-assisted manipulation device according to claim 7, characterized in that: The frame also includes a fixing clip, which is connected to the middle part of the frame body and is used to clamp and fix the frame body.

9. An ultrasonic testing device, characterized in that: The invention comprises a testing bed, an ultrasonic probe auxiliary control device and an ultrasonic probe, wherein the ultrasonic probe auxiliary control device is the ultrasonic probe auxiliary control device according to any one of claims 1 to 8, comprising: A frame, detachably connected to the testing bed; A controller, mounted on the rack; A driving mechanism, mounted on the frame and communicatively connected to the controller; and The control mechanism includes a mounting seat and a mechanical arm and a pressure sensor communicatively connected to the controller, the mechanical arm includes a fixed end and a movable end, the fixed end is connected to the driving mechanism, the mounting seat is connected to the movable end and is provided with a mounting slot, the pressure sensor is connected to the bottom wall of the mounting slot, the ultrasonic probe is clamped in the mounting slot and abuts against the pressure sensor, and the driving mechanism can drive the mechanical arm to move relative to the frame.

10. A control method for an ultrasonic probe auxiliary control device, characterized in that: include: Obtain data information of the object to be tested and send it wirelessly; receiving the data information, and controlling the mechanical arm to drive the ultrasonic probe to move, so that the ultrasonic probe performs ultrasonic detection on the object to be detected; Obtaining the pressure value of the ultrasonic probe to determine whether it is within a preset threshold; If yes, the robotic arm is controlled to drive the ultrasonic probe to perform ultrasonic detection on the object to be detected; if no, the robotic arm is controlled to stop working, or the robotic arm is controlled to return to the starting point along the original path.

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