A coupling agent automatic replenishing device and method for an ultrasonic scanning robot

Abstract

The application discloses a coupling agent automatic supplementing device and method for an ultrasonic scanning robot, and technical scheme points are as follows: the device comprises a coupling agent supplementing module and a coupling agent supplementing control module based on a B-ultrasonic image; the control module comprises a first control module, a second control module and a third control module; the first control module is connected with an ultrasonic instrument, is used for receiving an ultrasonic scanning image, and generates a coupling agent supplementing signal according to the ultrasonic scanning image; the second control module is connected with the coupling agent supplementing module, is used for controlling the coupling agent supplementing module to carry out liquid discharge operation according to the coupling agent supplementing signal; and the third control module is connected with an ultrasonic robot, is used for controlling the ultrasonic robot to carry out a coupling agent supplementing operation according to the coupling agent supplementing signal; the device can realize automatic judgment of a coupling agent supplementing time and automatic execution of a coupling agent supplementing action in an ultrasonic examination scene.

Description

TECHNICAL FIELD

[0001] The present application relates to a coupling agent supplementing device, more particularly to a coupling agent automatic supplementing device and method for an ultrasonic scanning robot. BACKGROUND

[0002] Medical ultrasonography (ultrasound examination, ultrasonic diagnostics) is a medical imaging diagnostic technique based on ultrasound waves (ultrasound) that makes muscles and internal organs, including their size, structure and pathological lesions, visualized.

[0003] In the existing ultrasonic examination, the ultrasonic physician manually squeezes the coupling agent bottle to squeeze the coupling agent on the patient's body surface, and then uses the probe to apply it. When the ultrasonic image quality is poor due to insufficient coupling agent during the examination, the ultrasonic physician manually squeezes the coupling agent bottle to supplement the coupling agent on the patient's body surface. Among them, the extrusion, application of the coupling agent, and the timing judgment and action of the coupling agent supplement during the examination are all completed by artificial.

[0004] In the ultrasonic examination scene, the application of the coupling agent, the timing judgment and action of the coupling agent supplement during the examination all need to be automatically completed by the ultrasonic robot. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the present application is to provide a coupling agent automatic supplementing device and method for an ultrasonic scanning robot, which can automatically judge the timing of supplementing the coupling agent during the examination and automatically perform the action of supplementing the coupling agent during the examination in the ultrasonic examination scene.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a coupling agent automatic supplementing device for an ultrasonic scanning robot, comprising a coupling agent supplementing module and a coupling agent supplementing control module based on B-ultrasound images, the control module comprising a first control module, a second control module and a third control module;

[0007] The first control module is connected with the ultrasonic instrument, used for receiving the ultrasonic scanning image and generating a coupling agent supplementing signal according to the ultrasonic scanning image;

[0008] The second control module is connected with the coupling agent supplementing module, used for controlling the coupling agent supplementing module to perform liquid discharge operation according to the coupling agent supplementing signal, and providing a constant coupling agent liquid level;

[0009] The third control module is connected with the ultrasonic robot, used for controlling the ultrasonic robot to perform coupling agent supplementing operation according to the coupling agent supplementing signal.

[0010] A coupling agent supplementing method for an ultrasonic scanning robot, applied to a coupling agent automatic supplementing device, comprising the following steps: S1, before starting ultrasonic scanning, the sealing door of the coupling agent supplementing module is in a closed state;

[0011] S2, the ultrasonic robot obtains an instruction to start scanning, and the robot end is mounted with a corresponding ultrasonic probe;

[0012] S3, the sealing door is opened, the ultrasonic robot moves the ultrasonic probe above the feeding groove, and the probe head is immersed in the coupling agent in the feeding groove;

[0013] S4, the ultrasonic robot moves the ultrasonic probe to a scanning position to start scanning;

[0014] S5, when the control module judges that the obtained ultrasonic image is of substandard quality due to insufficient coupling agent, an instruction to supplement the coupling agent is issued, and after supplementing, the device automatically returns to the original scanning position to continue scanning;

[0015] S6, S3, S4 and S5 are repeated until the scanning is completed.

[0016] In summary, the present application has the following beneficial effects: the first control module is designed to monitor the ultrasonic scanning image, the state of the coupling agent is monitored in reverse through the change of the image, whether the coupling agent needs to be supplemented can be known in the first time, the work progress is effectively ensured, the working state of the ultrasonic instrument can be effectively reflected, and the accuracy of judgment is improved.

[0017] And the ultrasonic robot and the coupling agent supplementing module are linked through the second control module and the third control module, so that the timing of automatically judging the coupling agent supplementing in the middle and automatically executing the coupling agent supplementing in the middle can be realized in the ultrasonic examination scene. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic supplementing device;

[0019] Figure 2 It is a schematic diagram of the block diagram of the automatic supplementing device;

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the coupling agent supplementing module in a closed state;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the coupling agent supplementing module in an open state.

[0022] The reference signs are as follows: 1, coupling agent supplementing module; 11, agent storage tank; 12, sealing door; 13, transmission part; 131, lifting motor; 132, opening and closing motor; 133, first transmission belt; 134, second transmission belt; 14, feeding groove; 15, ultraviolet LED lamp group; 16, heating belt; 2, first control module; 3, second control module; 4, third control module. DETAILED DESCRIPTION

[0023] The application will be further described in detail below in combination with the drawings and examples. Identical parts are denoted by identical reference signs. It should be noted that the words “front”, “back”, “left”, “right”, “upper” and “lower” used in the following description refer to the directions in the drawings, and the words “bottom surface” and “top surface”, “inner” and “outer” refer to the directions towards or away from the geometric center of a particular part.

[0024] REFERENCE Figures 1 to 4 To achieve the above object, the application provides the following technical scheme: a coupling agent automatic supplementing device for an ultrasonic scanning robot, comprising a coupling agent supplementing module 1, a coupling agent supplementing control module based on B-ultrasound images, the control module comprising a first control module 2, a second control module 3 and a third control module 4;

[0025] The first control module 2 is connected with an ultrasonic instrument, for receiving an ultrasonic scanning image, and generating a coupling agent supplementing signal according to the ultrasonic scanning image;

[0026] The second control module 3 is connected with the coupling agent supplementing module 1, for controlling the coupling agent supplementing module 1 to perform liquid discharge operation according to the coupling agent supplementing signal, to provide a constant coupling agent liquid level;

[0027] The third control module 4 is connected with an ultrasonic robot, for controlling the ultrasonic robot to perform coupling agent supplementing operation according to the coupling agent supplementing signal.

[0028] The design of the application can monitor the ultrasonic scanning image through the design of the first control module 2, monitor the state of the coupling agent through the change of the image, understand whether the coupling agent needs to be supplemented in the first time, effectively ensure the progress of the work, and effectively reflect the working state of the ultrasonic instrument, and improve the accuracy of judgment.

[0029] And the ultrasonic robot and the coupling agent supplementing module 1 are linked through the second control module 3 and the third control module 4, so that the timing of automatically judging the coupling agent supplementing in the middle and automatically executing the action of supplementing the coupling agent in the middle can be realized in the ultrasonic examination scene.

[0030] The coupling agent supplementing module 1 comprises a storage tank 11, a sealing door 12, a transmission component 13 and a feeding groove 14, the storage tank 11 and the sealing door 12 form a storage cavity, and the transmission component 13 is used for controlling the opening and closing of the sealing door 12 and the lifting of the feeding groove 14.

[0031] The transmission component 13 comprises a lifting mechanism and an opening and closing door mechanism.

[0032] The transmission component 13 comprises a lifting motor 131, one end of the lifting motor 131 is connected with the feeding groove 14 through a linear guide rail and a linear bearing.

[0033] The lifting motor 131 is a screw stepper motor, and the linear bearings are symmetrically fixed on the bottom of the storage tank 11. The linear guide rails are fixedly connected with the nut mounting plate at one end and fixedly connected with the bottom of the feeding groove 14 at the other end. The two linear guide rails are slidingly connected with the two linear bearings.

[0034] The transmission component 13 further comprises an opening and closing motor 132, a first transmission belt 133 and a second transmission belt 134, the first transmission belt 133 is movably connected with the opening and closing motor 132 through a driving wheel, the first transmission belt 133 is movably connected with the second transmission belt 134 through a driven wheel, and the second transmission belt 134 is used for driving the two sealing doors 12 to move back and forth to the two sides.

[0035] As shown in Figure 3 the first transmission belt 133 is connected with the opening and closing motor 132 through the driving wheel, the first transmission belt 133 and the second transmission belt 134 are connected through the driven wheel, one sealing door 12 is connected above the second transmission belt, and the other sealing door 12 is connected below the second transmission belt, so that when the second transmission belt moves, the two sealing doors 12 can be simultaneously driven to move in two directions.

[0036] The storage tank 11 is further provided with an ultraviolet LED lamp group 15 and / or a heating belt 16.

[0037] The ultraviolet LED lamp group 15 is made of a plurality of high-power LED lamp beads, and the ultraviolet LED lamp group 15 is turned on after the sealing door 12 is closed, so that disinfection and sterilization can be completed in the coupling agent supplementing device within two minutes.

[0038] The heating belt 16 is used for heating the coupling agent in the storage tank 11, so that the coupling agent can be kept in a suitable constant temperature state, and discomfort can be avoided when the coupling agent is applied to the patient.

[0039] The initial position of the feeding groove 14 is at the bottom of the storage tank 11, when the sealing door 12 is opened, the lifting motor 131 drives the lifting of the feeding groove 14 to reach the target position, at this time, the feeding groove 14 is full of coupling agent. It is not necessary to additionally add a material level detection to the feeding groove 14, and the feeding position of the feeding groove 14 is fixed each time, which is convenient for the probe to dip.

[0040] The first control module 2 comprises a data transmission module, a judgment module and a calculation module;

[0041] The judgment module is connected with the data transmission module and the calculation module respectively;

[0042] The data transmission module is used for receiving an ultrasonic scanning image, and sending a coupling agent supplement signal to the second control module 3 and the third control module 4;

[0043] The judgment module is used for receiving an ultrasonic scanning image, and judging a black area and a detection area;

[0044] The calculation module is used for calculating a black area and a detection area ratio, and the ratio is:

[0045]

[0046] Wherein A is the area of the black area, and B is the area of the detection area.

[0047] When the mechanical arm enters the force control state and contacts the body through the force sensor and / or the visual sensor:

[0048] Embodiment one: the calculation steps of the calculation module for the convex array probe include:

[0049] For the convex array probe, the scanning object is mostly the abdomen, and the ultrasonic scanning image displayed on the ultrasonic instrument is a "fan-shaped" area. When the scanning probe (in the shape of an arc) does not fully contact the skin, or the coupling agent is not evenly applied / there is not enough coupling agent on the probe, "black areas" will appear on both sides of the "fan-shaped" area, and the scanning image quality will decrease.

[0050] In order to automatically complete the judgment of the scanning residual amount on the probe, we judge the residual amount of the coupling agent according to the image characteristics, especially the area of the scanning "black area".

[0051] The detection area is set as a fan shape, and the angle is fixed as α t , the angle of the clear image area obtained by scanning is α i , and the angle of the black area is:

[0052] α b = α t - α i

[0053] The proportion of the black area is:

[0054]

[0055] Embodiment two: the calculation steps of the calculation module for the linear array probe include:

[0056] For linear array probe, the scan object is mostly neck, and the ultrasound scan image displayed on the ultrasound instrument is a "rectangular" area. When the scan probe (in the shape of a straight line) is not in full contact with the skin, there are only "three horizontal bars" displayed on the top of the image. When it is in contact with the skin, the ultrasound feedback of the skin will cover the "horizontal bar". When the coupling agent is not evenly applied / the amount of coupling agent on the probe is insufficient, "black areas" will appear on both sides of the "rectangular" area, and the scan image quality will decrease.

[0057] In order to automatically complete the judgment of the scan amount on the probe, we judge the amount of coupling agent according to the image characteristics, especially the area of the scan "black area".

[0058] The detection area is set as a rectangle, and the length of the area side is fixed as L t , the length of the area side occupied by the clear image obtained by scanning is L i , and the length of the area side occupied by the black area is:

[0059] L b = L t -L i

[0060] The proportion of the black area is:

[0061]

[0062] The control module is used for the transmission and reception of signals between the ultrasonic robot and the coupling agent supplement module 1, and controls the coordinated operation of each module.

[0063] In addition, by the way of the mechanical arm with the probe dipping the coupling agent, the step of applying the coupling agent on the patient's body surface is saved.

[0064] A coupling agent supplement method for an ultrasonic scan robot, applied to a coupling agent automatic supplement device, comprising the following steps: S1, before starting the ultrasonic scan, the sealing door 12 of the coupling agent supplement device is in a closed state, and the heating belt 16 continuously works to ensure that the coupling agent in the storage tank 11 is in a suitable constant temperature state, and the ultraviolet LED lamp group 15 is turned on for two minutes and then stopped;

[0065] S2, the ultrasonic robot receives the instruction to start scanning, and the robot end mounts a corresponding ultrasonic probe;

[0066] S3, the sealing door 12 is opened, and the ultrasonic robot moves the ultrasonic probe above the feeding groove 14, so that the probe head is immersed in the coupling agent in the feeding groove 14;

[0067] S4, the ultrasonic robot moves the ultrasonic probe to the scan position to start scanning;

[0068] S5, when the control module judges that the obtained ultrasonic image is not up to standard due to insufficient coupling agent, issuing an instruction to supplement coupling agent, and automatically returning to the original scanning position to continue scanning after supplementing;

[0069] S6, repeating S3, S4, S5 until the scanning is completed.

[0070] The method for judging the time to supplement coupling agent in the middle is divided into a method for judging the time to supplement coupling agent in the middle for a convex array probe and a method for judging the time to supplement coupling agent in the middle for a linear array probe according to different probes.

[0071] Step S5 includes the method for judging the time to supplement coupling agent in the middle for a convex array probe:

[0072] Step A1, obtaining an ultrasonic scanning image on an ultrasonic instrument;

[0073] Step A2, judging that the detection area is set as a fan shape and the angle is fixed as α t , the angle of the area occupied by the clear image obtained by scanning is α i , and the angle of the area occupied by the black area is:

[0074] α b = α t - α i

[0075] The proportion of the black area is:

[0076]

[0077] Step A3, when Z exceeds the set threshold, judging that the obtained ultrasonic image is not up to standard, and performing a coupling agent supplementing operation;

[0078] Step A4, when Z is lower than the set threshold, continuing to scan.

[0079] Step S5 includes the method for judging the time to supplement coupling agent in the middle for a linear array probe:

[0080] Step B1, obtaining an ultrasonic scanning image on an ultrasonic instrument;

[0081] Step B2, judging that the detection area is set as a rectangle and the length of the side of the area is fixed as L t , the length of the side of the area occupied by the clear image obtained by scanning is L i , and the length of the side of the area occupied by the black area is:

[0082] L b = L t - L i

[0083] The proportion of the black area is:

[0084]

[0085] Step B3, when Z exceeds a set threshold, it is determined that the obtained ultrasound image is not up to standard, and a supplementary coupling agent operation is performed;

[0086] Step B4, when Z is lower than the set threshold, the scanning is continued.

[0087] The above is only the preferred embodiment of the present application, the protection scope of the present application is not limited to the above-mentioned examples, all technical solutions belonging to the idea of the present application are within the protection scope of the present application. It should be pointed out that, for ordinary skilled in the art, some improvements and decorations without departing from the principles of the present application, these improvements and decorations should also be considered as the protection scope of the present application.

Claims

1. A coupling agent automatic replenishing device for an ultrasonic scanning robot, characterized by: The application relates to a coupling agent supplementing module (1) and a coupling agent supplementing control module based on B-ultrasound images. The first control module (2) is connected with an ultrasonic instrument, is used for receiving an ultrasonic scanning image, and generates a coupling agent supplementing signal according to the ultrasonic scanning image; The second control module (3) is connected with the coupling agent supplementing module (1), is used for controlling the coupling agent supplementing module (1) to carry out liquid outlet operation according to the coupling agent supplementing signal, and provides a constant coupling agent liquid surface; The third control module (4) is connected with an ultrasonic robot, is used for controlling the ultrasonic robot to carry out coupling agent supplementing operation according to the coupling agent supplementing signal; The coupling agent supplementing module (1) comprises a storage tank (11), a sealing door (12), a transmission component (13) and a feeding groove (14), the storage tank (11) and the sealing door (12) jointly form a storage cavity, and the transmission component (13) is used for controlling the sealing door (12) to open and close and the feeding groove (14) to lift and lower; The transmission component (13) comprises a jacking mechanism and an opening and closing door mechanism; The jacking mechanism comprises a lifting motor (131), one end of the lifting motor (131) is connected with the feeding groove (14) through a linear guide rail and a linear bearing; The opening and closing door mechanism comprises an opening and closing motor (132), a first transmission belt (133) and a second transmission belt (134), the first transmission belt (133) is connected with the opening and closing motor (132) through a driving wheel, the first transmission belt (133) is connected with the second transmission belt (134) through a driven wheel, and the second transmission belt (134) is used for driving the two sealing doors (12) to move back and forth to the two sides; The first control module (2) comprises a data transmission module, a judging module and a calculation module; The judging module is connected with the data transmission module and the calculation module; The data transmission module is used for receiving the ultrasonic scanning image and sending the coupling agent supplementing signal to the second control module (3) and the third control module (4); The judging module is used for receiving the ultrasonic scanning image and judging a black area and a detection area; The calculation module is used for calculating a black area and a detection area ratio, and the ratio is: ， Wherein A is the black area, and B is the detection area; When the force sensor and / or the visual sensor judge that the mechanical arm enters the force control state and contacts the body, the first control module (2) starts to collect the ultrasonic scanning image; The calculation steps of the calculation module for the convex array probe comprise: The detection area is in the shape of a sector, and the angle is fixed at The clear image obtained by scanning occupies an area angle of The area angle occupied by the black area is The black area ratio is: The calculation steps of the calculation module for the linear array probe comprise: The detection area is rectangularly arranged, and the length of the area side is fixed as The length of the area side occupied by the clear image obtained by scanning is The length of the area side occupied by the black area is The black area ratio is: 。 2. The automatic coupling agent replenishing device for an ultrasonic scanning robot according to claim 1, characterized by: The storage tank (11) is further provided with an ultraviolet LED lamp group (15) and / or a heating belt (16); The ultraviolet LED lamp group (15) is used for disinfecting and sterilizing the inside of the coupling agent smearing device; The heating belt (16) is used for constant temperature heating of the inside of the coupling agent supplementing module (1).

3. A coupling agent replenishing method for an ultrasonic scanning robot, applied to the coupling agent automatic replenishing device according to claim 1, characterized in that, The application further relates to a coupling agent supplementing method, and the method comprises the following steps: S2, the ultrasonic robot gets the instruction of starting scanning, and the robot end is mounted with a corresponding ultrasonic probe; S3, the sealing door (12) is opened, the ultrasonic robot moves the ultrasonic probe above the feeding groove (14), and the probe head is immersed in the coupling agent in the feeding groove (14); S4, the ultrasonic robot moves the ultrasonic probe to the scanning position to start scanning; S5, when the obtained ultrasonic image is judged to be of poor quality due to insufficient coupling agent, the instruction of supplementing coupling agent is issued, and after supplementing, it automatically returns to the original scanning position to continue scanning; S6, repeat S3, S4, S5 until the scanning is completed.

4. A coupling agent replenishment method for an ultrasonic scanning robot according to claim 3, characterized in that The step S5 includes a method for judging the time of supplementing coupling agent in the middle of the convex array probe: Step A1, obtain the ultrasonic scanning image on the ultrasonic instrument; Step A2, judging that the detection area is set as a fan shape and the angle is fixed as , the angle of the area occupied by the clear image obtained by scanning is , then the angle of the area occupied by the black area is: The proportion of black area is: Step A3, when When the set threshold is exceeded, it is determined that the ultrasound image obtained is not up to standard, and a supplementary coupling agent operation is performed. Step A4, when below a set threshold, continue scanning; The step S5 also includes a method for judging the time of supplementing coupling agent in the middle of the linear array probe: Step B1, obtain the ultrasonic scanning image on the ultrasonic instrument; Step B2, judging the detection area as a rectangle, the length of the area side is fixed as , the length of the area side of the clear image obtained by scanning is , then the length of the area side occupied by the black area is The proportion of black area is: Step B3, when When the set threshold is exceeded, it is determined that the obtained ultrasound image is not up to standard, and a supplementary coupling agent operation is performed. Step B4, when Continue scanning if below set threshold.

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