An electrocardiograph

Abstract

The present invention relates to an electrocardiograph, characterized in that it comprises a machine tool that can drive a tested person lying on it to move along the X-axis direction, the Y-axis direction and the Z-axis direction, and the machine tool is connected to a computer; a mechanical arm fixed top frame is provided above the machine tool; a main mechanical arm, a branch mechanical arm 1, a branch mechanical arm 2 and a branch mechanical arm 3 are provided on the mechanical arm fixed top frame. The present invention provides an electrocardiograph based on a mechanical arm, which reduces the operation time, frees the hands of medical staff, and reduces the entanglement of the operation process. Different patients only need to fine-tune the position on the mounting frame to complete the connection of each lead electrode of the electrocardiogram, thereby improving the accuracy of the collected electrocardiogram signal.

Description

Technical Field

[0001] The invention relates to an electrocardiograph. Background Art

[0002] An electrocardiograph is a medical electronic instrument that can automatically record the bioelectric signals (ECG signals) generated by myocardial excitation during cardiac activity. In order to collect ECG signals, electrodes need to be placed on the target parts of the subject, and the ECG signals are collected through the electrodes, including placing electrodes on the subject's chest and limbs. During the ECG signal collection process, in order to keep the position of the electrodes fixed, the electrodes on the subject's chest are fixed by suction balls, while the electrodes on the subject's limbs are fixed by electrode clips.

[0003] The above-mentioned fixing method has the following problems: for the electrode sheet fixed by the suction ball, when the suction ball needs to be fixed on the chest of a thin elderly person, multiple people are required to assist in pressing and fixing the suction ball to fix the suction ball in the target position. Sometimes, this operation process takes nearly ten minutes to complete, which makes the chest of the person being tested exposed for a long time, increasing the risk of illness of the person being tested. Whether it is the suction ball or the electrode clamp, its fixation requires manual operation by medical staff, which takes a long time. In scenarios such as large-scale physical examination activities, medical staff need to continue to face a large number of test subjects, which can easily cause fatigue of the medical staff, causing deviations in the fixed position, and ultimately causing the test results to be incomplete, the quality cannot be guaranteed, and even large errors may occur. At the same time, the manual operation of the suction ball and the fixation of the electrode clamp can easily cause the wires connecting the electrode sheets to become entangled, which prolongs the operation time. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the operation of the existing electrocardiograph is time-consuming and laborious.

[0005] In order to solve the above technical problems, the technical solution of the present invention is to provide an electrocardiograph, characterized in that it includes a machine tool that can drive a test subject lying on it to move along the X-axis direction, the Y-axis direction and the Z-axis direction, and the machine tool is connected to a computer;

[0006] A mechanical arm fixed top frame is arranged above the machine tool; a main mechanical arm, a branch mechanical arm 1, a branch mechanical arm 2 and a branch mechanical arm 3 are arranged on the mechanical arm fixed top frame; when a testee lying flat on the machine tool is moved by the machine tool to the bottom of the mechanical arm fixed top frame, the main mechanical arm is located above the testee's chest, the branch mechanical arm 1 and the branch mechanical arm 2 are located above the testee's left and right upper arms respectively, and the branch mechanical arm 3 is located above the testee's left lower limb; the main mechanical arm, the branch mechanical arm 1, the branch mechanical arm 2 and the branch mechanical arm 3 are connected to a computer;

[0007] A main mounting frame is provided at the end of the main mechanical arm, and six position-adjustable electrode sheet structures corresponding to the six chest lead positions are provided on the main mounting frame, and the electrode sheet structures are connected to a computer;

[0008] The end of branch robot arm one is provided with a two-claw robot one for grasping the left upper arm wrist of the test subject, the end of branch robot arm two is provided with a two-claw robot two for grasping the right upper arm wrist of the test subject, and the end of branch robot arm three is provided with a two-claw robot three for grasping the left lower limb ankle of the test subject; the parts of two-claw robot one, two-claw robot two and two-claw robot three that contact the human body are provided with branch electrode sheets, and the branch electrode sheets are connected to a computer.

[0009] Preferably, a camera for shooting vertically downward is also provided on the fixed top frame of the robotic arm, and the camera is connected to the computer.

[0010] Preferably, after the test subject lies flat on the machine tool, the computer obtains the image of the test subject through the camera: if the image of the test subject only shows part of the test subject's body contour, the computer controls the machine tool to drive the test subject to move, so that the computer can obtain the test subject's complete body contour through the camera.

[0011] Preferably, each of the electrode sheet structures is fixed to the main mounting frame via a cross-shaped displacement groove located on the main mounting frame, and the electrode sheet structure can move along the cross-shaped displacement groove.

[0012] Preferably, each of the electrode sheet structures comprises a connecting rod, the outer circumferential surface of the bottom end of the connecting rod is provided with a circle of slots, and the connecting rod is clamped on the corresponding cross-shaped displacement groove through the slots; a fixing frame is provided at the top end of the connecting rod, and the fixing frame is provided with an electrode structure connected to the computer.

[0013] Preferably, the electrode structure includes an electrode sheet, which is a convex structure with two step surfaces; the first step surface of the electrode sheet is a fixed surface, and a circle of fastening screws is provided along the fixed surface, and the fastening screws pass through the electrode sheet and the insulating gasket to fasten the electrode sheet to the fixing frame; the insulating gasket is located between the electrode sheet and the fixing frame; a thin film pressure sensor is fixed on the second step surface of the electrode sheet; the protruding surface in the middle of the electrode sheet is an ECG signal collection surface for contacting human skin; one end of the ECG signal collection data line and the pressure signal collection data line are respectively connected to the electrode sheet and the thin film pressure sensor, and the other end passes through the wiring hole on the fixing frame and is connected to the computer.

[0014] Preferably, the ECG signal collection surface is 0.5-1.5 mm higher than the top surface of the thin film pressure sensor.

[0015] Preferably, human body contour templates corresponding to different body types are preset in the computer, and a chest lead position is set for each human body contour template; after the computer obtains the complete human body contour of the current test subject through the camera, it matches it with each pre-stored human body contour template, and controls the main mechanical arm to move to the corresponding position and then press down according to the chest lead position corresponding to the matched human body contour template, until the pressure value collected by the film pressure sensor reaches a preset threshold, and then the electrocardiogram signal is collected through the electrode sheet structure; if the electrocardiogram signal collected by the electrode sheet structure does not meet the requirements, the main mechanical arm is lifted up, and the medical staff fine-tunes the position of the corresponding electrode sheet structure, and the main mechanical arm is pressed down again until the pressure value collected by the film pressure sensor reaches the preset threshold;

[0016] At the same time, after the computer obtains the complete body outline of the current test subject through the camera, it identifies the wrists of the left and right upper arms and the ankle of the left lower limb, and then controls branch robotic arm 1, branch robotic arm 2 and branch robotic arm 3 to move to the corresponding positions respectively. The two-claw robotic arms close to grab the wrists of the left and right upper arms and the left lower limb ankle of the test subject respectively, and use the branch electrode sheets to collect the corresponding electrocardiogram signals.

[0017] The present invention provides an electrocardiograph based on a mechanical arm, which reduces the operation time, frees the hands of medical staff, and reduces the entanglement in the operation process. Different patients only need to fine-tune the position on the mounting frame to complete the connection of each lead electrode of the electrocardiogram, thereby improving the accuracy of the collected electrocardiograph signal. Compared with the existing electrocardiograph, the present invention has the following advantages:

[0018] (1) The use of a robotic arm reduces the time and effort required during electrocardiogram operations, as well as the problem of loose suction of the ball, thereby improving diagnostic accuracy; (2) The robotic arm replaces some manual operations, which will not cause entanglement between the leads and avoids the extension of the operation time due to lead entanglement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the overall structure of an electrocardiograph provided by the present invention;

[0020] Figure 2 A schematic diagram of a top view of the main mounting frame;

[0021] Figure 3 A schematic diagram of fine-tuning the position of an electrode sheet structure;

[0022] Figure 4 It is a schematic diagram of the main viewing direction of the electrode sheet structure;

[0023] Figure 5 Schematic diagram of the electrode structure. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0025] like Figure 1 As shown, an electrocardiograph provided by the present invention includes a machine tool 1. The design of the machine tool 1 can refer to the machine tool used in CT or MRI. After the subject lies flat on the machine tool 1, the machine tool 1 can drive the subject to move along the X-axis direction, the Y-axis direction and the Z-axis direction.

[0026] A mechanical arm fixed top frame 2 is provided above the machine tool 1, and a main mechanical arm 22, a branch mechanical arm 1 23, a branch mechanical arm 24, and a branch mechanical arm 3 25 are provided on the mechanical arm fixed top frame 2. When the testee lying flat on the machine tool 1 is moved by the machine tool 1 to the bottom of the mechanical arm fixed top frame 2, the main mechanical arm 22 is located above the testee's chest, the branch mechanical arm 1 23 and the branch mechanical arm 2 24 are respectively located above the testee's left and right upper arms, and the branch mechanical arm 3 25 is located above the testee's left lower limb. A camera for shooting vertically downward is also provided on the mechanical arm fixed top frame 2. The machine tool 1, the main mechanical arm 22, the branch mechanical arm 1 23, the branch mechanical arm 2 24, the branch mechanical arm 3 25, and the camera are connected to the computer 3.

[0027] After the testee lies flat on the machine tool 1, the computer 3 obtains the image of the testee through the camera. If the image of the testee only shows part of the testee's body contour, the computer 3 controls the machine tool 1 to drive the testee to move, so that the computer 3 can obtain the complete body contour of the testee through the camera. At this time, as mentioned above, the branch robot arm 1 23 and the branch robot arm 2 24 are respectively located above the left and right upper arms of the testee, and the branch robot arm 3 25 is located above the left lower limb of the testee. Among them, the image recognition algorithm of the human body contour is a commonly used human body contour extraction algorithm, for example, it can be implemented based on OpenCV, and the extraction of the human body contour can also be realized by using a neural network, which will not be listed one by one here.

[0028] The main robot arm 22, the branch robot arm 1 23, the branch robot arm 24 and the branch robot arm 3 25 are all three-axis robot arms or six-axis robot arms known to those skilled in the art. A main mounting frame 26 is provided at the end of the main robot arm 22, and six position-adjustable electrode sheet structures 27 are provided on the main mounting frame 26. Figure 2 As shown, the positions of the six electrode sheet structures 27 on the main mounting frame 26 correspond to the positions of the six chest leads on the human chest. Figure 3As shown, each electrode sheet structure 27 is fixed to the main mounting frame 26 via a cross-shaped displacement groove 26 - 1 located on the main mounting frame 26 , so that the electrode sheet structure 27 can move along the cross-shaped displacement groove 26 - 1 to achieve the purpose of fine-tuning the position of the electrode sheet structure 27 .

[0029] like Figure 4 As shown, each electrode sheet structure 27 includes a connecting rod 27-1, and a circle of clamping grooves are provided on the outer circumference of the bottom end of the connecting rod 27-1, and the connecting rod 27-1 is clamped on the corresponding cross-shaped displacement groove 26-1 through the clamping groove. A fixing frame 27-2 is provided at the top of the connecting rod 27-1, and an electrode structure 27-3 is provided on the fixing frame 27-2.

[0030] like Figure 5 As shown, the electrode structure 27-3 includes an electrode sheet 27-3-1, and the electrode sheet 27-3-1 is a convex structure with two-step surfaces. The first-step surface of the electrode sheet 27-3-1 is a fixed surface, and a circle of fastening screws 27-3-2 is provided along the fixed surface. After the fastening screws 27-3-2 pass through the electrode sheet 27-3-1 and the insulating gasket 27-3-3, the electrode sheet 27-3-1 is fastened to the fixing frame 27-2. The insulating gasket 27-3-3 is located between the electrode sheet 27-3-1 and the fixing frame 27-2. The insulating gasket 27-3-3 can be a rubber gasket, a plastic gasket, etc. A thin film pressure sensor 27-3-4 is fixed on the second-step surface of the electrode sheet 27-3-1. The thin film pressure sensor 27-3-4 is a mature product that has been commercialized and can be purchased from outside. The protruding surface in the middle of the electrode sheet 27-3-1 is an ECG signal collection surface for contacting human skin. The ECG signal collection surface is about 1 mm higher than the top surface of the thin film pressure sensor 27-3-4.

[0031] The electrode sheet 27-3-1 and the thin film pressure sensor 27-3-4 are connected to the computer 3. For this purpose, a wiring hole is provided on the fixing frame 27-2. One end of the ECG signal acquisition data line and the pressure signal acquisition data line are respectively connected to the electrode sheet 27-3-1 and the thin film pressure sensor 27-3-4, and the other end passes through the wiring hole on the fixing frame 27-2 and is connected to the computer 3. Among them, a threading hole is provided on the electrode sheet 27-3-1, and one end of the pressure signal acquisition data line is connected to the thin film pressure sensor 27-3-4 through the threading hole.

[0032] The ends of the branch manipulators 1 23, 24 and 3 25 are provided with two-claw manipulators, which grasp the wrists of the left and right upper arms of the testee respectively, and the two-claw manipulators of the branch manipulators 3 25 grasp the ankles of the left lower limbs of the testee. The two-claw manipulators are provided with branch electrode sheets at the parts in contact with the human body, and the branch electrode sheets are connected to the computer 3. The two-claw manipulator is a conventional structure well known to those skilled in the art. For example, the present invention can adopt a two-claw manipulator described in the Chinese invention patent application with publication number CN111673793A published on September 18, 2020, which will not be described in detail here.

[0033] In the present invention, human body contour templates corresponding to different body types can be preset in the computer 3, and the chest lead position can be set for each human body contour template. After the computer 3 obtains the complete human body contour of the current test subject through the camera, it matches it with the pre-stored human body contour templates, and controls the main mechanical arm 22 to move to the corresponding position and then press down according to the chest lead position corresponding to the matched human body contour template, until the pressure value collected by the film pressure sensor 27-3-4 reaches the preset threshold, and then the electrocardiogram signal is collected through the electrode sheet structure 27. If the electrocardiogram signal collected by the electrode sheet structure 27 does not meet the requirements, the main mechanical arm 22 is lifted up, and the medical staff fine-tunes the position of the corresponding electrode sheet structure 27, and the main mechanical arm 22 is pressed down again until the pressure value collected by the film pressure sensor 27-3-4 reaches the preset threshold.

[0034] At the same time, after obtaining the complete body contour of the current test subject through the camera, the computer 3 identifies the wrists of the left and right upper arms and the ankle of the left lower limb, and then controls the branch robot arm 1 23, the branch robot arm 24 and the branch robot arm 3 25 to move to the corresponding positions respectively. After the two-claw robot arms close to grasp the wrists of the left and right upper arms and the ankle of the left lower limb of the test subject respectively, the corresponding electrocardiogram signals are collected using the branch electrode sheets.

[0035] In addition to the above method, the main robotic arm 22, the branch robotic arm 1 23, the branch robotic arm 2 24 and the branch robotic arm 3 25 can also be moved to corresponding positions under the guidance of medical staff.

Claims

1. An electrocardiograph, characterized in that: The machine tool comprises a machine tool capable of driving a test subject lying on the machine tool to move along the X-axis direction, the Y-axis direction and the Z-axis direction, and the machine tool is connected to a computer; A mechanical arm fixed top frame is arranged above the machine tool; a main mechanical arm, a branch mechanical arm 1, a branch mechanical arm 2 and a branch mechanical arm 3 are arranged on the mechanical arm fixed top frame; when a testee lying flat on the machine tool is moved by the machine tool to the bottom of the mechanical arm fixed top frame, the main mechanical arm is located above the testee's chest, the branch mechanical arm 1 and the branch mechanical arm 2 are located above the testee's left and right upper arms respectively, and the branch mechanical arm 3 is located above the testee's left lower limb; the main mechanical arm, the branch mechanical arm 1, the branch mechanical arm 2 and the branch mechanical arm 3 are connected to a computer; A main mounting frame is provided at the end of the main mechanical arm, and six position-adjustable electrode sheet structures corresponding to the six chest lead positions are provided on the main mounting frame, and the electrode sheet structures are connected to a computer; The end of the branch robot arm 1 is provided with a two-claw robot hand 1 for grasping the left upper arm wrist of the testee, the end of the branch robot arm 2 is provided with a two-claw robot hand 2 for grasping the right upper arm wrist of the testee, and the end of the branch robot arm 3 is provided with a two-claw robot hand 3 for grasping the left lower limb ankle of the testee; the two-claw robot hand 1, the two-claw robot hand 2 and the two-claw robot hand 3 are provided with branch electrode sheets at the parts in contact with the human body, and the branch electrode sheets are connected to a computer; The fixed top frame of the mechanical arm is also provided with a camera for shooting vertically downwards, and the camera is connected to the computer; Each of the electrode sheet structures is fixed to the main mounting frame via a cross-shaped displacement groove located on the main mounting frame, and the electrode sheet structure can move along the cross-shaped displacement groove; Each of the electrode sheet structures comprises a connecting rod, the outer circumferential surface of the bottom end of the connecting rod is provided with a circle of clamping grooves, and the connecting rod is clamped on the corresponding cross-shaped displacement groove through the clamping groove; the top end of the connecting rod is provided with a fixing frame, and the fixing frame is provided with an electrode structure connected to the computer; The electrode structure includes an electrode sheet, which is a convex structure with two-step surfaces; the first-step surface of the electrode sheet is a fixed surface, and a circle of fastening screws is arranged along the fixed surface. After the fastening screws pass through the electrode sheet and the insulating gasket, the electrode sheet is fastened to the fixing frame; the insulating gasket is located between the electrode sheet and the fixing frame; a thin film pressure sensor is fixed on the second-step surface of the electrode sheet; the protruding surface in the middle of the electrode sheet is an electrocardiogram signal collection surface for contacting human skin; one end of the electrocardiogram signal collection data line and the pressure signal collection data line are respectively connected to the electrode sheet and the thin film pressure sensor, and the other end passes through the wiring hole on the fixing frame and is connected to the computer.

2. An electrocardiograph as claimed in claim 1, characterized in that: After the subject lies flat on the machine tool, the computer obtains the subject's image through the camera: if the subject's image only shows part of the subject's body outline, the computer controls the machine tool to drive the subject to move, so that the computer can obtain the subject's complete body outline through the camera.

3. An electrocardiograph as claimed in claim 1, characterized in that: The electrocardiogram signal collection surface is 0.5-1.5 mm higher than the top surface of the thin film pressure sensor.

4. An electrocardiograph as claimed in claim 1, characterized in that: Human body contour templates corresponding to different body types are preset in the computer, and a chest lead position is set for each human body contour template; after the computer obtains the complete human body contour of the current test subject through the camera, it matches it with the pre-stored human body contour templates, and controls the main mechanical arm to move to the corresponding position and then press down according to the chest lead position corresponding to the matched human body contour template, until the pressure value collected by the film pressure sensor reaches the preset threshold value, and then the electrocardiogram signal is collected through the electrode sheet structure; if the electrocardiogram signal collected by the electrode sheet structure does not meet the requirements, the main mechanical arm is lifted up, and the medical staff fine-tunes the position of the corresponding electrode sheet structure, and the main mechanical arm is pressed down again until the pressure value collected by the film pressure sensor reaches the preset threshold value; At the same time, after the computer obtains the complete body outline of the current test subject through the camera, it identifies the wrists of the left and right upper arms and the ankle of the left lower limb, and then controls branch robotic arm 1, branch robotic arm 2 and branch robotic arm 3 to move to the corresponding positions respectively. The two-claw robotic arms close to grab the wrists of the left and right upper arms and the left lower limb ankle of the test subject respectively, and use the branch electrode sheets to collect the corresponding electrocardiogram signals.

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