Transesophageal echocardiography procedure and control system

Abstract

The application relates to the field of medical devices, in particular to a transesophageal heart ultrasonic image examination operation and control system, which comprises a remote control console and a transesophageal ultrasonic operation device; the transesophageal ultrasonic operation device comprises a driving mechanism and a positioning control mechanism, the positioning control mechanism is connected with a probe handheld operation handle; the remote control console is in signal connection with the driving mechanism and the positioning control mechanism, and is used for remotely controlling the driving mechanism to drive the linear movement of a probe pipe body, and is also used for remotely controlling the positioning control mechanism to drive the rotation of the probe pipe body; the remote control console is also in signal connection with an ultrasonic main machine and is used for displaying ultrasonic images and remotely adjusting the ultrasonic images. By remotely operating the operator, the possibility that the operator is radiated due to long-time stay in an operating room is reduced, the operator is not easy to be tired, and the operation process can be greatly simplified.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more specifically, to a transesophageal echocardiography imaging examination operation and control system. Background Technology

[0002] Transesophageal ultrasound (TEU) involves inserting a specialized transesophageal probe through the mouth into the patient's esophagus to scan from the back of the heart forward, providing close-up examination of the heart's structures. TEU displays clear images, facilitating monitoring and evaluation during cardiac interventional procedures and greatly aiding the surgical process.

[0003] In traditional transesophageal ultrasound examinations, after the end of the transesophageal probe is placed inside the patient's body, the operator typically moves the probe by manually moving the hand handle. For example, the operator moves the transesophageal probe by manually moving the hand handle; or, for instance, the operator moves the tip of the hand handle manually to feed and pull the transesophageal probe.

[0004] Because the existing transesophageal probe handheld handle and probe tube require manual operation for every degree of freedom, each operation demands a high level of skill from the operator, increasing the difficulty of operation. After prolonged work, operators are prone to fatigue. Furthermore, while manually operating the transesophageal probe handheld handle, operators are exposed to significant X-ray radiation in the operating room, which is detrimental to human health. Moreover, currently, remote ultrasound doctors can only view ultrasound images and cannot remotely operate the transesophageal probe handheld handle and probe tube to acquire the desired images. Summary of the Invention

[0005] To address the aforementioned technical issues, this application provides a transesophageal echocardiography imaging operation and control system. This system eliminates the need for operators to operate the handheld handle of the transesophageal probe for extended periods, reducing the likelihood of operator fatigue and preventing prolonged exposure to X-ray radiation in the operating room. Furthermore, the automated operation and control system enables remote ultrasound consultations.

[0006] The embodiments of this application are implemented as follows:

[0007] In a first aspect, this application provides a transesophageal echocardiography imaging operation and control system. The transesophageal ultrasound body includes a probe handheld handle and a probe tube. One end of the probe tube is connected to the probe handheld handle, and the other end is connected to a crystal transducer for insertion into the human esophagus. The transesophageal ultrasound body's main interface is connected to an ultrasound host, which receives ultrasound images transmitted by the crystal transducer. The system includes a remote control console and a transesophageal ultrasound operating device; the device includes:

[0008] A drive mechanism for driving the probe tube to move linearly along its axial direction and fixing the probe tube; the position of the drive mechanism is 0-40 cm away from the lips of the subject being examined.

[0009] A positioning control mechanism for driving the probe tube to rotate and fixing the probe tube, the positioning control mechanism being connected to the probe hand-held operating handle;

[0010] The remote control console is connected to the drive mechanism and the positioning control mechanism via wired or wireless signal, and is used to remotely control the drive mechanism to drive the probe tube to move linearly, and is also used to remotely control the positioning control mechanism to drive the probe tube to rotate.

[0011] The remote control console is also connected to the ultrasound host via wired or wireless means and is used to display the ultrasound images and remotely control the display of the ultrasound images.

[0012] In one possible implementation, the positioning control mechanism includes:

[0013] A connecting component is rotatably connected to the drive mechanism, and the connecting component is relatively fixed to the ground;

[0014] A rotating assembly is connected to the probe tube body and is used to drive the drive mechanism to rotate the probe tube body.

[0015] The drive mechanism includes:

[0016] The fixed component is rotatably connected to the connecting component;

[0017] A first driving assembly connected to the fixed assembly includes a first driving member, a driving wheel, and a driven wheel. The central axes of the driving wheel and the driven wheel are parallel, and both the driving wheel and the driven wheel are rotatably connected to the fixed assembly. The probe tube is located between the driving wheel and the driven wheel, and the driven wheel and the driving wheel press against the outer wall of the probe tube. The fixed end of the first driving member is connected to the fixed assembly, and the driving end is fixedly connected to the driving wheel.

[0018] The first control terminal in the remote control console is connected to the first drive unit via a signal, and the first control terminal is used to control the first drive unit.

[0019] In one possible implementation, the rotating assembly includes a second drive assembly and a mounting base, the mounting base being used to fix the probe hand-held operating handle, and the second drive assembly being used to drive the mounting base to rotate the drive mechanism;

[0020] The connecting assembly includes a protective plate, a sliding member, and a connecting plate. The protective plate is fixedly connected to the fixing assembly. The connecting plate is connected to the end of the protective plate away from the fixing assembly and is fixed relative to the ground. The sliding member is located between the protective plate and the connecting plate and is slidably connected to the connecting plate.

[0021] The probe tube passes sequentially through the protective plate and the connecting plate;

[0022] The fourth control terminal in the remote control console is connected to the second drive component via a signal, and the fourth control terminal is used to control the second drive component.

[0023] In one possible implementation, a support assembly is provided between the rotating component and the connecting component, the support assembly comprising:

[0024] Mounting bracket assembly;

[0025] The first connecting frame includes a first arm, a connecting column, and a second arm. The first arm is rotatably connected to the mounting base assembly, and the rotation axis of the first arm is parallel to the rotation axis of the drive wheel. One end of the connecting column is rotatably connected to the first arm, and the rotation axis of the connecting column is parallel to the rotation axis of the first arm. The other end of the connecting column is hinged to the second arm, and the hinge axis of the second arm is perpendicular to the rotation axis of the first arm. The other end of the second arm is rotatably connected to the mounting base, and the rotation axis of the mounting base is parallel to the rotation axis of the second arm.

[0026] The second connecting frame includes a first support rod and a second support rod. One end of the first support rod is ball-jointed to the mounting base assembly, and the other end is rotatably connected to the second support rod. The rotation axis of the second support rod is parallel to the hinge axis of the second support arm, and the other end of the second support rod is connected to the connecting assembly.

[0027] In one possible implementation, the fixing component includes a first housing and a second housing;

[0028] The first box has a first cavity, and the second box has a second cavity. The opening end of the first box is hinged to the opening end of the second box. After the first box and the second box are closed, the opening ends of the first box and the second box are sealed.

[0029] The driving wheel is located in the first cavity, and the driven wheel is located in the second cavity;

[0030] The driving end of the first driving component passes through the first housing and is fixedly connected to the driving wheel;

[0031] The probe tube passes through the connection between the first box and the second box and is located between the driven wheel and the driving wheel.

[0032] In one possible implementation, the first driving component is fitted with a driving housing, and a locking component is provided between the driving housing and the fixing component. There are two locking components, which are respectively connected to the first housing and the second housing.

[0033] The locking component includes a male buckle and an elastic element. One end of the male buckle passes through the first housing or the second housing, and the other end is bent in a direction away from each other. The elastic element is located between the male buckle and the driving wheel or the driven wheel, and one end of the elastic element is connected to the male buckle, and the other end is connected to the driving wheel or the driven wheel.

[0034] The top wall of the drive housing has a communicating groove that communicates with its inner cavity. The bent end of the male buckle moves into the communicating groove and engages with the drive housing.

[0035] In one possible implementation, a snap-fit ​​assembly is provided between the first box and the second box. The snap-fit ​​assembly includes a fixing block, a connecting ring, and a female snap-fit. The fixing block is fixedly connected to the first box, and the female snap-fit ​​is fixedly connected to the second box. One side of the connecting ring passes through the fixing block, and the other end is snapped into the female snap-fit.

[0036] In one possible implementation, a guide cover is provided between the protective plate and the connecting plate. The guide cover includes a first cover plate and a second cover plate. The second cover plate is sleeved on the outside of the first cover plate and a gap is left between them. The probe tube passes through the first cover plate, and the sliding member is located in the gap.

[0037] The second cover plate is connected to a guide post, and the protective plate has a guide groove. The guide post is located in the guide groove and slides along the guide groove.

[0038] In one possible implementation, the drive housing is provided with a rotation locking assembly, which includes a second drive member and a friction member. The fixed end of the second drive member is located in the drive housing, and the drive end of the second drive member is fixedly connected to the friction member. The second drive member is used to drive the friction member to pass through the drive housing and the protective plate in sequence and then abut against the first cover plate.

[0039] In one possible implementation, the sliding element is a roller, which is embedded in the protective plate and rotatably connected to the protective plate, and the peripheral wall of the roller is in contact with and rotatably connected to the connecting plate.

[0040] In one possible implementation, the probe hand-held operating handle is provided with a third driving element, which includes a forward driving element and a reverse driving element;

[0041] The forward drive component includes a first gear, a first gripper, a first timing belt, and a first rotating component. The fixed end of the first rotating component is fixedly connected to the mounting base. The first timing belt is sleeved on the driving end of the first gripper and the first rotating component. The first gear meshes with the first gripper. The first gear is rotatably connected to the probe hand handle.

[0042] The reverse drive component includes a second gear, a second gripper, a second synchronous belt, and a second rotating component. The fixed end of the second rotating component is fixedly connected to the mounting base. The second synchronous belt is sleeved on the driving end of the second gripper and the second rotating component. The second gear meshes with the second gripper. The second gear is rotatably connected to the probe hand handle.

[0043] The third control terminal in the remote control console is signal-connected to both the first rotating component and the second rotating component, and the third control terminal is used to control the first rotating component and the second rotating component.

[0044] In one possible implementation, a fixed base is detachably connected to the lower part of the mounting base, the fixed base is rotatably connected to the second support arm, and the central axis of the rotation axis of the fixed base is parallel to the central axis of the hinge axis of the second support arm.

[0045] The top wall of the fixing base is provided with a snap-fit ​​groove, and the bottom wall of the mounting base is connected with a snap-fit ​​block. The snap-fit ​​block is located in the snap-fit ​​groove. The side wall of the fixing base is provided with a rotating rod for fixing the snap-fit ​​block. One end of the rotating rod passes through the fixing base and is threadedly connected to the snap-fit ​​block.

[0046] In one possible implementation, the mounting base assembly is provided with a mounting base locking assembly, which includes a knob rod, a top plate, a top plate mounting box, and a slanted push plate;

[0047] The bottom wall of the top plate is an inclined surface, the top plate mounting box is fixedly connected to the mounting base assembly, and the inclined push plate is located in the top plate mounting box and is horizontally slidably connected to the top plate mounting box;

[0048] The top wall of the inclined push plate is an inclined surface, and the inclination direction of the inclined surface of the inclined push plate is opposite to the inclination direction of the inclined surface of the top plate. The inclined surface of the inclined push plate is in contact with the inclined surface of the top plate.

[0049] One end of the knob rod is rotatably connected to the mounting base assembly, and after passing through the mounting base assembly, it is threadedly connected to the inclined push plate. The knob rod is used to drive the inclined push plate to push the top plate to move towards or away from the top plate mounting box.

[0050] The technical solution provided in this application can achieve at least the following beneficial effects: By setting up a remote control console and a transesophageal ultrasound operating device, wherein the transesophageal ultrasound operating device includes a drive mechanism and a positioning control mechanism, the remote control console is connected to the drive mechanism and the positioning control mechanism via wired or wireless signal connection. The remote control console is used to remotely control the drive mechanism to drive the probe tube to move linearly, and is also used to remotely control the positioning control mechanism to drive the probe tube to rotate. The remote control console is connected to the ultrasound host via wired or wireless signal connection and is used to display the ultrasound image and remotely control the ultrasound image display. In use, the operator can observe the ultrasound image in real time on the remote control console and perform corresponding operations on the remote control console according to the ultrasound image, so as to realize the control of the drive mechanism, the positioning control mechanism and the ultrasound host through the remote control console, thereby conveniently realizing the purpose of remotely adjusting and fixing the position of the transesophageal probe handheld operating handle.

[0051] Remote automation control via a remote console improves the ease of operation and flexibility of the entire ultrasound procedure, and also enhances the stability of the transesophageal probe handheld handle. Furthermore, the operator no longer needs to remain in the operating room for extended periods while operating the transesophageal probe handheld handle, reducing the likelihood of radiation exposure and freeing up the operator's hands, thus minimizing fatigue. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram illustrating an application scenario of a transesophageal ultrasound system according to an exemplary embodiment of this application;

[0054] Figure 2A This is a schematic diagram illustrating a possible arrangement of a transesophageal ultrasound system according to an exemplary embodiment of this application;

[0055] Figure 2B This is a schematic diagram illustrating another possible arrangement of the transesophageal ultrasound system in an exemplary embodiment of this application;

[0056] Figure 2C This is a schematic diagram illustrating another possible arrangement of the transesophageal ultrasound system in an exemplary embodiment of this application;

[0057] Figure 3 This is a schematic diagram of the structure of a desk shown in an exemplary embodiment of this application;

[0058] Figure 4A This is a schematic diagram illustrating the structure of a remote control console in a transesophageal ultrasound system, as shown in an exemplary embodiment of this application.

[0059] Figure 5 This is a schematic diagram of the transesophageal ultrasound manipulation device shown in an exemplary embodiment of this application;

[0060] Figure 4A This is an exemplary embodiment of the present application illustrating a remote control console in a transesophageal ultrasound system that controls the handheld operating handle of the probe to swing in opposite directions;

[0061] Figure 4B This is an exemplary embodiment of the present application illustrating a remote control console in a transesophageal ultrasound system that controls the rotation of the probe handheld handle along its axis.

[0062] Figure 4C This is a schematic diagram illustrating an exemplary embodiment of the present application showing the direction of rotation of the probe hand handle in a vertical plane controlled by a remote console in a transesophageal ultrasound system;

[0063] Figure 4D This is a schematic diagram illustrating an exemplary embodiment of the present application showing the direction of movement of the probe tube in the horizontal plane controlled by a remote control console in a transesophageal ultrasound system;

[0064] Figure 4E This is a schematic diagram of the structure of the stent assembly highlighted in the transesophageal echocardiography imaging operation and control system, as illustrated in an exemplary embodiment of this application.

[0065] Figure 6 This is a partial cross-sectional schematic diagram of the transesophageal echocardiography imaging operation and control system, highlighting the mounting seat locking assembly, as shown in an exemplary embodiment of this application.

[0066] Figure 7 This is a schematic diagram of the structure of the transesophageal echocardiography imaging operation and control system, highlighting the fixation component, as shown in an exemplary embodiment of this application.

[0067] Figure 8 This is a partial cross-sectional schematic diagram highlighting the first drive component in a transesophageal echocardiography imaging operation and control system, as illustrated in an exemplary embodiment of this application.

[0068] Figure 9 This is a schematic diagram of the structure of the buckle assembly highlighted in the transesophageal echocardiography imaging operation and control system, as shown in an exemplary embodiment of this application.

[0069] Figure 10 This is an exploded view highlighting the connecting components in a transesophageal echocardiography imaging operation and control system, as illustrated in an exemplary embodiment of this application.

[0070] Figure 11 This is a schematic diagram of the structure of the drive box in the transesophageal echocardiography imaging operation and control system, which is highlighted in an exemplary embodiment of this application.

[0071] Figure 12 This is a schematic diagram illustrating the state of the first and second housings after they are opened in the transesophageal echocardiography imaging examination operation and control system, as shown in an exemplary embodiment of this application.

[0072] Figure 13 This is a schematic diagram of the structure of the transesophageal echocardiography imaging operation and control system, highlighting the mounting base, as shown in an exemplary embodiment of this application.

[0073] Figure 14 This is a partial exploded view of a transesophageal echocardiography imaging operation and control system, highlighting a third drive component, as illustrated in an exemplary embodiment of this application.

[0074] Figure label:

[0075] 1. Device; 2. Remote control console; 3. Drive mechanism; 31. Fixing assembly; 311. First housing; 3111. First cavity; 312. Second housing; 3121. Second cavity; 32. First drive assembly; 321. First drive component; 322. Drive wheel; 323. Driven wheel; 324. Reducer; 33. Drive housing; 34. Locking component; 341. Male buckle; 342. Elastic component; 343. Connecting groove; 35. Buckle assembly; 351. Fixing block; 352. Connecting ring; 35 3. Female buckle; 4. Positioning control mechanism; 41. Connecting assembly; 411. Protective plate; 4111. Guide groove; 412. Sliding member; 413. Connecting plate; 42. Rotating assembly; 421. Second drive assembly; 422. Mounting base; 423. Probe button trigger; 43. Bracket assembly; 431. Mounting base assembly; 4311. First plate; 4312. Second plate; 432. First connecting frame; 4321. First support arm; 4322. Connecting column; 4323. Second support arm; 433. Two connecting frames; 4331, first support rod; 4332, second support rod; 44, rotary locking assembly; 441, second driving component; 442, friction component; 45, guide cover component; 451, first cover plate; 452, second cover plate; 46, third driving component; 461, forward driving component; 4611, first gear; 4612, first gripper; 4613, first synchronous belt; 4614, first rotating component; 462, reverse driving component; 4621, second gear; 4622, second gripper; 4623 1. Second synchronous belt; 4624. Second rotating component; 5. Transesophageal ultrasound body; 51. Probe handheld operating handle; 52. Probe tube body; 6. Display screen; 7. Shielding glass; 8. Mounting seat locking assembly; 81. Knob rod; 82. Top plate; 83. Top plate mounting box; 84. Inclined push plate; 85. Reinforcing plate; 86. Sliding column; 9. Fixed seat; 91. Snap-fit ​​groove; 10. Snap-fit ​​block; 101. Rotary rod; 102. First connector; 103. Second connector; 104. Sterile bag; 105. Control line connector. Detailed Implementation

[0076] To make the objectives, implementation methods and advantages of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the exemplary embodiments described are only some embodiments of this application, and not all embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0077] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0078] The terms "first," "second," "third," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar or related objects or entities, and do not necessarily imply a specific order or sequence, unless otherwise specified. It should be understood that such terms are interchangeable where appropriate.

[0079] The terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device that includes a range of components is not necessarily limited to all of the components that are clearly listed, but may include other components that are not clearly listed or that are inherent to such product or device.

[0080] Transesophageal ultrasound (TEU) involves inserting a specialized transesophageal probe into the patient's esophagus through the mouth. It scans from the back of the heart to the front, allowing for close examination of the heart's structures. In traditional TEU, the probe tip is placed inside the patient's body. The operator manually controls the bending of the probe's handle (two degrees of freedom) by rotating a knob on the handle, thus driving the probe to swing horizontally. The operator also manually rotates the handle's handheld end to rotate it around its own axis, which in turn drives the probe itself to rotate around its axis. Finally, the operator manually moves the tip of the handle to feed and pull the probe. In summary, the end of the esophageal probe's handheld operating handle has four degrees of freedom: bending in four directions (two degrees of freedom), rotation around its own axis (one degree of freedom), and feeding or pulling back (one degree of freedom).

[0081] Current transesophageal probe handheld operating handles require manual operation in every degree of freedom, demanding a high level of skill from the operator and increasing the operational difficulty. Prolonged operation can lead to operator fatigue. Furthermore, operators exposed to X-ray radiation in the operating room for extended periods are susceptible to health risks. Moreover, existing auxiliary devices for transesophageal probe handheld operating handles lack operator protection, flexibility in remote control, and portability. For example, common remote consultations can only view ultrasound images, not remotely operate the entire probe to acquire the desired images.

[0082] Therefore, this invention provides a transesophageal echocardiography (TEE) imaging operation and control system. It includes a remote control console and a TEE operating device, the TEE operating device comprising a drive mechanism and a positioning control mechanism. The drive mechanism drives the probe tube to move linearly along its axial direction and fixes the probe tube after movement. The positioning control mechanism drives the drive mechanism to rotate the probe tube around its axial direction and also fixes the drive mechanism. The remote control console is signal-connected to the drive mechanism and the positioning control mechanism, and is used to remotely control the drive mechanism to drive the probe tube to move linearly and to remotely control the positioning control mechanism to drive the probe tube to rotate. Furthermore, the remote control console is signal-connected to the ultrasound host via wired or wireless means and is used to display and control the ultrasound image display.

[0083] During use, operators can observe ultrasound images in real time on a remote control console and perform corresponding operations based on the ultrasound images. This allows for control of the drive mechanism, positioning control mechanism, and ultrasound host via the remote control console, facilitating convenient remote adjustment and fixation of the transesophageal probe handheld handle. Remote operation improves the ease of operation and flexibility of the entire ultrasound process and helps enhance the stability of the transesophageal probe handheld handle. Furthermore, the operator no longer needs to be near the ultrasound equipment for extended periods or remain in the operating room, reducing the possibility of radiation exposure and freeing up the operator's hands, thus reducing fatigue. The integrated connection of the drive mechanism, positioning control mechanism, and ultrasound host improves the integration of the transesophageal cardiac ultrasound imaging examination operation and control system.

[0084] Next, the applicable scenarios for the transesophageal ultrasound system in this application will be described: such as Figure 15 As shown, the transesophageal ultrasound system in this application includes a transesophageal ultrasound operating device 1 and a remote control console 2, which are connected to the transesophageal ultrasound operating device 1 via a signal connection.

[0085] Among them, such as Figure 1 As shown, the transesophageal ultrasound operating device 1 can be used in the same room as the remote control console 2, or as... Figure 2A As shown, in the same location, the transesophageal ultrasound manipulation device 1 is used in one room, and the remote control console 2 is used in another room. Regardless of whether the transesophageal ultrasound manipulation device 1 and the remote control console 2 are used in the same room, the operator can operate the remote control console 2 via a wired or wireless connection, thereby controlling the transesophageal ultrasound manipulation device 1 through the operation of the remote control console 2. Moreover, in some possible implementations, such as... Figure 2BAs shown, the entire transesophageal ultrasound system can also support remote operation of device 1 via a 5G network in different locations.

[0086] It is understandable that, such as Figure 2C As shown, the remote control console 2 can be placed on an office desk. The upper surface of the office desk can be vertically surrounded by shielding glass 7. The remote control console 2 is located within the area enclosed by the shielding glass 7. A large-size display screen 6 can also be installed between the shielding glass 7 and the remote control console 2. After establishing a connection with the remote control console 2, the remote control console 2 can synchronously transmit the displayed image to the large-size display screen 6, so that the operator can observe the ultrasound image through the large-size display screen 6.

[0087] During transesophageal ultrasound examination, after establishing a wired or wireless connection between the transesophageal ultrasound operating device 1 and the remote control console 2, the fixing part of the transesophageal ultrasound operating device 1 is fixed in a suitable position on the medical bed. Then, the person to be examined sits or lies on the medical bed, and the detection end of the transesophageal ultrasound operating device 1 is placed in the person's esophagus. The operator at the desk operates the remote control console 2 to start the transesophageal ultrasound operating device 1 for examination and can view the test results in real time through the remote control console 2.

[0088] It should be noted that the posture of the person being tested on the medical bed should be based on the convenience of the test, and can be lying on their side or supine. This application does not impose specific restrictions on the posture of the person being tested on the medical bed.

[0089] In some possible implementations, such as Figure 3 As shown, the front panel of the remote control console 2 includes a display screen, an emergency stop button, a power button, and multiple control terminals for remotely controlling the transesophageal ultrasound manipulation device 1. These control terminals are mounted on a raised panel on the front of the remote control console 2, and the panel is printed with directional arrows and text. As an example, the control terminals of the remote control console 2 may include a first control terminal, a second control terminal, a third control terminal, and a fourth control terminal. The first control terminal is a roller embedded in the panel of the remote control console 2 and rotatably connected to the panel via a pivot. The second control terminal is an adjustment button that is vertically slidably connected to the panel of the remote control console 2. The third control terminal is an operating lever connected to the panel of the remote control console 2 via a ball joint. The fourth control terminal is a knob rotatably connected to the end of the operating lever away from the panel of the remote control console 2. The rear panel of the console includes a data interface, a network cable interface, and a power interface.

[0090] like Figure 4AAs shown, in some possible implementations, the transesophageal ultrasound body 5 includes a probe handheld handle 51 and a probe tube 52. One end of the probe tube 52 is connected to the probe handheld handle 51, and the other end is connected to a crystal transducer for insertion into the human esophagus. The transesophageal ultrasound body 5 has an ultrasound host connected to its main interface. The ultrasound host receives ultrasound images transmitted by the crystal transducer. The transesophageal ultrasound operating device 1 includes a drive mechanism 3 for driving the probe tube 52 to move linearly along its axial direction and fixing the probe tube, and a positioning control mechanism 4 for driving the probe tube 52 to rotate and fixing the probe tube. The remote control console 2 is connected to the ultrasound host via wired or wireless means and is used to display and control the ultrasound images. The remote control console 2 is connected to the drive mechanism 3 and the positioning control mechanism 4, and is used to remotely control the drive mechanism 3 to drive the probe tube 52 to move linearly, and also to remotely control the positioning control mechanism 4 to drive the probe tube 52 to rotate.

[0091] Combined Figure 5 As shown, when the operating lever, knob, roller, and adjustment button are connected to the drive mechanism 3 and the positioning control mechanism 4, the operator can remotely control the probe hand-held operating handle 51 to swing back and forth in opposite directions by moving the operating lever up, down, left, and right, such as bending to the left and right, or bending forward and backward. A schematic diagram of the swing direction of the probe hand-held operating handle 51 is shown below. Figure 4A As shown, in this embodiment, the probe handheld operating handle 51 can be bent to the left and right on the horizontal plane; the probe handheld operating handle 51 can also be indirectly controlled to rotate around its axis by turning the knob. A schematic diagram of the rotation direction of the probe handheld operating handle 51 on the horizontal plane is shown below. Figure 4B As shown; the probe handheld operating handle 51 can also be remotely controlled to rotate forward or backward in the vertical direction by toggling the adjustment button. A schematic diagram of the rotation direction of the probe handheld operating handle 51 in the vertical plane is shown below. Figure 4C As shown; additionally, the probe tube 52 can be remotely controlled to move forward or backward in the horizontal direction by rotating the rollers. A schematic diagram of the movement direction of the probe tube 52 is shown below. Figure 4D As shown. Thus, remote control of the probe handheld operating handle 51 and probe tube 52 is realized on the remote control console 2, which effectively ensures the integrity of the esophageal ultrasound operation, gives the whole system remote guidance capabilities, makes the operator less susceptible to radiation, and makes the whole operation convenient and easy to use. Compared with the traditional manual adjustment method, it frees up the operator's hands and reduces the workload of the operator.

[0092] Device 1 is controlled and monitored by remote control console 2. Remote control console 2 is small in size, has a simple and intuitive operation panel, and retains the original manual operation habits, which helps to reduce the workload of operators.

[0093] like Figure 4E As shown, to provide a sterile environment, a sterile bag 104 can be fitted onto the outer wall of the drive mechanism 3 and the positioning control mechanism 4. The sterile bag 104 can reduce the possibility of foreign matter adhering to the outer wall of the drive mechanism 3 and the positioning control mechanism 4.

[0094] Specifically, such as Figure 5 As shown, the positioning control mechanism 4 includes a connecting component 41 and a rotating component 42. The connecting component 41 is rotatably connected to the drive mechanism 3 and is relatively fixed to the ground. The rotating component 42 is connected to the probe handheld operating handle 51 and is used to drive the drive mechanism 3 to rotate the probe tube 52. By integrating the drive mechanism 3 and the positioning control mechanism 4 through the connecting component 41 and the rotating component 42, the integration of the transesophageal echocardiography imaging examination operation and control system is improved.

[0095] In some possible implementations, in order to further adjust the position of the probe hand handle 51 or the probe tube 52 by moving the connecting component 41 or rotating the component 42, combined with Figure 5 As shown, a bracket assembly 43 is provided between the rotating assembly 42 and the connecting assembly 41. The bracket assembly 43 includes a mounting base assembly 431, a first connecting frame 432 and a second connecting frame 433. The mounting base assembly 431 is detachably connected to the medical bed, auxiliary table and other fixed objects through the mounting base locking assembly 8. The first connecting frame 432 includes a first arm 4321, a connecting column 4322, and a second arm 4323. The first arm 4321 is rotatably connected to the mounting base assembly 431 via a rotating shaft, and the rotation axis of the first arm 4321 is perpendicular to the plane of the mounting base assembly 431. One end of the connecting column 4322 is rotatably connected to the first arm 4321 via a rotating shaft, and the rotation axis of the connecting column 4322 is parallel to the rotation axis of the first arm 4321. The other end of the connecting column 4322 is hinged to the second arm 4323, and the hinge axis of the second arm 4323 is parallel to the plane of the mounting base assembly 431, that is, the hinge axis of the second arm 4323 is parallel to the rotation axis of the first arm 4321. The other end of the second arm 4323 is rotatably connected to the rotating assembly 42, and the direction of the central axis of the rotation axis of the rotating assembly 42 is parallel to the direction of the central axis of the rotation axis of the second arm 4323. In some implementations, the second arm 4323 may be a parallelogram structure.

[0096] By rotating the first arm 4321 and the connecting column 4322, the position of the rotating component 42 in the horizontal direction can be adjusted, thereby adjusting the position of the probe hand-held operating handle 51 in the horizontal direction. By rotating the second arm 4323 and the rotating component 42, the angle of the rotating component 42 in the vertical direction can be adjusted, thereby adjusting the position of the probe hand-held operating handle 51 in the vertical direction (i.e., the height direction). After adjustment, the probe hand-held operating handle 51 can be firmly fixed and is not easy to shake.

[0097] like Figures 5-7 As shown, the second connecting frame 433 includes a first support rod 4331 and a second support rod 4332. One end of the first support rod 4331 is ball-jointed to the mounting base assembly 431, and the other end is rotatably connected to the second support rod 4332 via a rotating shaft. The rotation axis of the second support rod 4332 is parallel to the hinge axis of the second support arm 4323. The other end of the second support rod 4332 is connected to the connecting assembly 41. By rotating the first support rod 4331, the position of the connecting assembly 41 can be changed at any angle, thereby changing the position of the probe tube 52. By rotating the second support rod 4332, the position of the connecting assembly 41 in the height direction can be changed, thereby changing the position of the probe tube 52. After adjustment, the probe tube 52 can be firmly fixed and is not easily shaken.

[0098] In some possible implementations, such as Figure 6 As shown, the mounting bracket assembly 431 includes a first plate 4311 and a second plate 4312. The first plate 4311 and the second plate 4312 are integrally connected and at a certain angle to each other. As an example, the angle between the first plate 4311 and the second plate 4312 is 90 degrees. Furthermore... Figure 6 As shown, the mounting base locking assembly 8 includes a knob rod 81, a top plate 82, a top plate mounting box 83, and an inclined push plate 84. The bottom wall of the first plate 4311 is attached to the top wall of the medical bed, and the bottom wall of the second plate 4312 is attached to the side wall of the medical bed. The top plate 82 is located below the medical bed and can be attached to the bottom wall of the medical bed. The bottom wall of the top plate 82 is an inclined surface. The top plate mounting box 83 can be bolted to the second plate 4312. The inclined push plate 84 is located in the top plate mounting box 83 and is horizontally slidably connected to the top plate mounting box 83. The top wall of the inclined push plate 84 is an inclined surface, and the inclination direction of the inclined surface of the inclined push plate 84 is opposite to the inclination direction of the inclined surface of the top plate 82. The inclined surface of the inclined push plate 84 is attached to the inclined surface of the top plate 82. One end of the knob rod 81 passes through the second plate 4312 and the top plate mounting box 83 in sequence and is threadedly connected to the inclined push plate 84. The knob rod 81 and the second plate 4312 are rotatably connected by a bearing. The rotation of the knob rod 81 can drive the inclined push plate 84 to push the top plate 82 to move vertically.

[0099] As an example, such as Figure 7As shown, the inclined surface of the inclined push plate 84 is inclined from the direction close to the second plate 4312 to the direction away from the second plate 4312, and the side away from the second plate 4312 is a higher elevation. When the knob rod 81 is rotated clockwise, the inclined push plate 84 moves towards the second plate 4312, thereby pushing the top plate 82 towards the bottom wall of the medical bed. The gap between the top plate 82 and the first plate 4311 becomes smaller, thereby pressing the medical bed until the top wall of the top plate 82 abuts against the bottom wall of the medical bed, thus fixing the support assembly 43. When the knob rod 81 is rotated counterclockwise, the inclined push plate 84 moves away from the second plate 4312, thereby causing the top plate 82 to move away from the medical bed by gravity. Understandably, all rotating shafts in the bracket assembly 43 can be threaded with knobs, and when the knobs are tightened, the rotating shafts connected to the knobs are fixed.

[0100] In some possible implementations, such as Figure 6 As shown, a reinforcing plate 85 is welded to the bottom of the top plate mounting box 83. The side wall of the reinforcing plate 85 is welded to the second plate 4312. The reinforcing plate 85 serves to reinforce the top plate mounting box 83, making it durable. To ensure the smooth movement of the inclined push plate 84, in some possible implementations, a sliding column 86 is integrally connected to the bottom wall of the inclined push plate 84. Both the top plate mounting box 83 and the reinforcing plate 85 have sliding grooves. The end of the sliding column 86 away from the inclined push plate 84 is located in the sliding groove and slides along the sliding groove, guiding the movement of the inclined push plate 84 and enabling it to push the top plate 82 more smoothly. It is understood that multiple sliding columns 86 can be provided, and multiple sliding grooves can also be provided accordingly. As an example, two sliding columns 86 are provided.

[0101] In use, the person to be tested can first lie on their side or supine on the medical bed. Then, the support assembly 43 is fixed to the side of the person's head on the medical bed by clamping the medical bed board with the top plate 82 and the first plate 4311. After that, the probe hand handle 51, the probe tube 52, the drive mechanism 3 and the positioning control mechanism 4 are fixed on the support assembly 43. The support assembly 43 is adjusted so that the drive mechanism 3 and the positioning control mechanism 4 are in the appropriate position. Then, the locking knob is used to lock them for subsequent operations.

[0102] In some possible implementations, combining Figure 7 and Figure 8As shown, the position of the drive mechanism 3 is 0-40 cm away from the subject's lips. For example, the position of the drive mechanism 3 is 0 cm, 10 cm, 15 cm, 25 cm, 34 cm, or 40 cm away from the subject's lips. In this case, compared with the method of directly adjusting the entire probe tube 52 by holding the probe handle 51, adjusting different positions of the probe tube 52 by the drive mechanism 3 and the positioning control mechanism 4, and adjusting the part of the probe tube 52 near the subject's lips by the drive mechanism 3 alone, makes the part of the probe tube 52 near the subject's lips less likely to bend due to force, which helps the normal use of the probe tube 52. The drive mechanism 3 includes a fixing component 31 and a first drive component 32 connected to the fixing component 31. The fixing component 31 is rotatably connected to the connecting component 41. The fixing component 31 includes a first housing 311 and a second housing 312. The first housing 311 has a first cavity 3111, and the second housing 312 has a second cavity 3121. One side of the open end of the first housing 311 is hinged to one side of the open end of the second housing 312. (Further details omitted) Figure 9 As shown, after the first box 311 and the second box 312 are closed, the open ends of the first box 311 and the open ends of the second box 312 are sealed.

[0103] Combination Figure 10 and Figure 9 It is understood that the first driving assembly 32 includes a first driving member 321, a driving wheel 322, and a driven wheel 323. The driving wheel 322 is located in the first cavity 3111, and the driven wheel 323 is located in the second cavity 3121. The central axes of the driving wheel 322 and the driven wheel 323 are parallel, and the driving wheel 322 is rotatably connected to the first housing 311 via a rotating shaft. The driven wheel 323 is rotatably connected to the second housing 312, and the rotation axis of the driving wheel 322 is parallel to the first support arm 4321. The driving end of the first driving member 321 passes through the first housing 311 and is fixedly connected to the driving wheel 322. The probe tube 52 passes through the connection between the first housing 311 and the second housing 312 and is located between the driven wheel 323 and the driving wheel 322, and the driven wheel 323 and the driving wheel 322 press against the outer wall of the probe tube 52. The roller on the remote control console 2 is connected to the first drive unit 321 by signal. The operator drives the first drive unit 321 to move the probe tube 52 in a straight line in the horizontal direction by rotating the roller.

[0104] Combination Figure 11 and Figure 11As shown, a drive housing 33 is fitted around the first drive member 321. The fixed end of the first drive member 321 is bolted to the inner wall of the drive housing 33. A locking member 34 is provided between the drive housing 33 and the fixed assembly 31. There are two locking members 34, which are respectively connected to the first housing 311 and the second housing 312. In some possible implementations, the locking member 34 includes a male buckle 341 and an elastic member 342. One end of the male buckle 341 passes through the first housing 311 or the second housing 312 and then bends, with the bent part protruding from the side wall of the first housing 311 or the second housing 312. The other end of the male buckle 341 bends in a direction away from each other. The elastic member 342 is located between the male buckle 341 and the driving wheel 322 or the driven wheel 323. One end of the elastic member 342 is engaged with the male buckle 341, and the other end is bonded to the driving wheel 322 or the driven wheel 323. The top wall of the drive housing 33 is provided with a connecting groove 343 that communicates with its inner cavity. After the bent end of the male buckle 341 moves into the connecting groove 343, it engages with the drive housing 33. At this time, the bent part of the male buckle 341 is located in the inner cavity of the drive housing 33.

[0105] When the fixing component 31 needs to be installed on the drive housing 33, press the male buckle 341 to compress the elastic element 342, allowing the bent part of the male buckle 341 to insert into the connecting groove 343. Then release the male buckle 341, which is locked in the connecting groove 343 under the elastic force of the elastic element 342. When the fixing component 31 needs to be removed, press the male buckle 341 to compress the elastic element 342 and move the fixing component 31 away from the drive housing 33, allowing the bent part of the male buckle 341 to move out of the connecting groove 343. The fixing and releasing of the fixing component 31 and the drive housing 33 are achieved by pressing the male buckle 341. The whole process is simple and convenient, which is conducive to the cleaning and disinfection of various components.

[0106] In some possible implementations, such as Figure 12 As shown, a latching assembly 35 is provided between the first box 311 and the second box 312. The latching assembly 35 includes a fixing block 351, a connecting ring 352 and a female latch 353. The fixing block 351 is integrally connected to the top wall of the first box 311, and the female latch 353 is integrally connected to the top wall of the second box 312. One side of the connecting ring 352 passes through the fixing block 351, and the other end is latched with the female latch 353. Figure 10 With the fixed assembly 31 in the open state, after the first box 311 and the second box 312 are sterilized, the probe tube 52 is placed between the driving wheel 322 and the driven wheel 323, then the first box 311 and the second box 312 are fastened together, and then fixed by the snap fastener assembly 35 to complete the fixation of the probe tube 52.

[0107] It should be noted that the first driving component 321 can be a first motor, the housing of the first motor is bolted to the inner wall of the drive housing 33, and the drive shaft of the first motor extends out. Figure 13 The drive wheel 322 is connected to the drive wheel 322 via a key after the power interface shown. Additionally, to ensure smooth rotation of the drive wheel 322, in some embodiments, the drive shaft of the first motor can be connected to the input shaft of the reducer 324 via a coupling, and the output shaft of the reducer 324 can be connected via... Figure 12 The drive wheel 322 is connected to the drive wheel 322 via a key, and the reducer 324 is fixed inside the drive housing 33 by screws. When the drive shaft of the first motor rotates, it drives the drive wheel 322 to rotate. The drive wheel 322 and the driven wheel 323 drive the probe tube 52 forward or backward, realizing the rapid and convenient movement of the probe tube 52.

[0108] In some possible implementations, such as Figure 12 As shown, the rotating assembly 42 includes a second drive assembly 421 and a mounting base 422. The mounting base 422 is hinged to the second support arm 4323 and is used to fix the probe handheld operating handle 51. The second drive assembly 421 is used to drive the mounting base 422 to rotate the drive mechanism 3. The second drive assembly 421 can be a rotary motor or a second electric motor. When the second drive assembly 421 is a second electric motor, the housing of the second electric motor is fixed relative to the support assembly 43, and the drive shaft of the second electric motor is fixedly connected to the mounting base 422 and can drive the mounting base 422 to rotate. The knob on the remote control console 2 is signal-connected to the second drive assembly 421. The operator drives the second drive assembly 421 to rotate the probe handheld operating handle 51 along its length axis by turning the knob.

[0109] In some possible implementations, the top wall of the mounting base 422 is provided with a fixing groove for accommodating the probe hand-held operating handle 51. The side wall of the mounting base 422 is hinged with a pressure cap. The probe hand-held operating handle 51 is placed into the fixing groove, the pressure cap is rotated, and the bolt is screwed through the pressure cap into the mounting base 422 to fix the probe hand-held operating handle 51. The fixing method between the probe hand-held operating handle 51 and the mounting base 422 is simple and convenient.

[0110] Combination Figure 5 and Figure 6As shown, the connecting assembly 41 includes a protective plate 411, a sliding member 412, and a connecting plate 413. The protective plate 411 is bolted to the drive housing 33. The connecting plate 413 is connected to the end of the protective plate 411 away from the drive housing 33. The connecting plate 413 is connected to the second support rod 4332 via a quick-connect male and female connector. The other end of the quick-connect female connector is ball-jointed to the second support rod 4332 via a ball joint. The sliding member 412 is located between the protective plate 411 and the connecting plate 413 and is slidably connected to the connecting plate 413. The probe tube 52 passes through the protective plate 411 and the connecting plate 413 in sequence.

[0111] The sliding element 412 can be a ball bearing or a roller. As an example, the sliding element 412 is a roller, which is embedded in the protective plate 411 and rotatably connected to the protective plate 411. The peripheral wall of the roller is in contact with and rotatably connected to the side wall of the connecting plate 413. The number of rollers can be set according to the actual situation. For example, when 6 rollers are set, the 6 rollers are evenly embedded in the protective plate 411.

[0112] In some possible implementations, such as Figure 11 As shown, a guide cover 45 is provided between the protective plate 411 and the connecting plate 413. The guide cover 45 includes a first cover plate 451 and a second cover plate 452. The first cover plate 451 and the second cover plate 452 are both connected to the connecting plate 413 by bolts. The connecting plate 413 has a receiving groove for accommodating the first cover plate 451 and a receiving groove for accommodating the second cover plate 452 on the side near the protective plate 411. The second cover plate 452 is sleeved on the outside of the first cover plate 451 and a gap is left between the second cover plate 451 and the first cover plate 451. The roller is located in the gap, and the probe tube 52 passes through the first cover plate 451.

[0113] In some possible implementations, such as Figure 11 As shown, the second cover plate 452 is integrally connected with a guide post, and the protective plate 411 has a guide groove 4111. The length of the guide groove 4111 can be set according to actual application requirements. As an example, the guide groove 4111 is a semi-circular guide groove 4111. The guide post is located in the guide groove 4111 and slides along the guide groove 4111. When the fixing component 31 rotates axially with the mounting base 422, the guide post rotates in the guide groove 4111, effectively limiting the rotation range of the fixing component 31.

[0114] In some possible implementations, such as Figure 11As shown, a rotary locking assembly 44 is provided in the drive housing 33. The rotary locking assembly 44 includes a second driving member 441 and a friction member 442. The fixed end of the second driving member 441 is connected in the drive housing 33, and the driving end of the second driving member 441 is fixedly connected to the friction member 442. The second driving member 441 is used to drive the friction member 442 to pass through the drive housing 33 and the protective plate 411 in sequence and then abut against the side wall of the first cover plate 451. As an example, the second driving member 441 is a small push-pull electromagnet, and the friction member 442 is a brake rubber pad. The brake rubber pad is adhered to the movable end of the small push-pull electromagnet. The energization and de-energization of the small push-pull electromagnet realizes the movement of the brake rubber pad along the moving direction of the movable end of the small push-pull electromagnet. Specifically, when the small push-pull electromagnet is energized, the brake rubber pad passes through the drive housing 33 and the protective plate 411 and abuts against the first cover plate 451. The friction between the brake rubber pad and the first cover plate 451 realizes the stationary state of the fixing assembly 31. Figure 11 The control line connector 105 shown is used to provide power and signals for driving the first drive unit 321 and the second drive unit 441.

[0115] It is understood that the control terminal of the remote control console 2 may also include a fifth control terminal, which may be a push rod. The push rod is horizontally slidably connected to the panel of the remote control console 2, and the push rod is signal-connected to the second drive unit 441. By pushing the push rod, the operation of the second drive unit 441 can be controlled.

[0116] The first driving component 32 can drive the probe tube 52 to move linearly, and the second driving component 421 can drive the fixing component 31 to rotate the probe tube 52, thereby adjusting the position of the probe tube 52. The whole process is simple and convenient, and the probe hand handle 51 and the probe tube 52 can be firmly fixed after movement, which helps to make the ultrasound detection image more stable, thus helping to ensure the accuracy of the ultrasound detection results.

[0117] In some possible implementations, combining Figure 12 and Figure 6As shown, a fixed base 9 is detachably connected to the lower part of the mounting base 422, with a gap between the mounting base 422 and the fixed base 9. The fixed end of the second drive assembly 421 is fixed to the fixed base 9 with screws. When the second drive assembly 421 drives the mounting base 422 to rotate, the mounting base 422 drives the probe tube 52 to rotate. The fixed base 9 and the second support arm 4323 are rotatably connected via a pitch damping shaft. The central axis of the rotation shaft of the fixed base 9 is parallel to the central axis of the hinge shaft of the second support arm 4323. A snap-fit ​​groove 91 is provided on the top wall of the fixed base 9. A snap-fit ​​block 10 is integrally connected to the bottom wall of the mounting base 422. The snap-fit ​​block 10 is located in the snap-fit ​​groove 91. A rotating rod 101 for fixing the snap-fit ​​block 10 is provided on the side wall of the fixed base 9. One end of the rotating rod 101 passes through the fixed base 9 and is threadedly connected to the snap-fit ​​block 10. As an example, the snap-fit ​​groove 91 is a dovetail groove with an opening at the flared end. The snap-fit ​​block 10 is a dovetail block. When the snap-fit ​​block 10 is placed in the snap-fit ​​groove 91, the snap-fit ​​block 10 can be quickly fixed in the snap-fit ​​groove 91 by rotating the screw rod 101 90 degrees, thus completing the fixation between the fixing seat 9 and the mounting seat 422.

[0118] In some possible implementations, combining Figure 14 and Figure 14 As shown, the probe handheld operating handle 51 is equipped with a third driving component 46, which is located in the mounting base 422. The third driving component 46 includes a forward driving component 461 and a reverse driving component 462. The forward driving component 461 includes a first gear 4611, a first gripper 4612, a first timing belt 4613, and a first rotating component 4614. The fixed end of the first rotating component 4614 is fixedly connected to the inner wall of the mounting base 422 by bolts. The first timing belt 4613 is sleeved on the outside of the first gripper 4612 and the outside of the driving end of the first rotating component 4614. The first gear 4611 meshes with the first gripper 4612 and is rotatably connected to the probe handheld operating handle 51 via a rotating shaft. The reverse drive component 462 includes a second gear 4621, a second gripper 4622, a second synchronous belt 4623, and a second rotating component 4624. The fixed end of the second rotating component 4624 is fixedly connected to the inner wall of the mounting base 422. The second synchronous belt 4623 is sleeved on the outer wall of the second gripper 4622 and the outer wall of the drive end of the second rotating component 4624. The second gear 4621 meshes with the second gripper 4622 and is rotatably connected to the probe handheld operating handle 51 via a rotating shaft. The operating lever on the remote control console 2 is signal-connected to both the first rotating component 4614 and the second rotating component 4624. The operator drives the first rotating component 4614 or the second rotating component 4624 to rotate the probe handheld operating handle 51 horizontally by shaking the operating lever.

[0119] In some possible implementations, a removable lithium battery is mounted on the side wall of the mounting base 9. The lithium battery provides power to the third drive component 46, which facilitates the use and operation of the entire device 1. Both the first rotating component 4614 and the second rotating component 4624 can be motors. When the drive shaft of the first rotating component 4614 drives the first synchronous belt 4613 to rotate, it drives the first gripper 4612 and the first gear 4611 to rotate, driving the probe hand-held operating handle 51 to rotate. The rotation direction of the probe hand-held operating handle 51 is the same as the rotation direction of the first gear 4611. When the drive shaft of the second rotating component 4624 drives the second synchronous belt 4623 to rotate, it drives the second gripper 4622 and the second gear 4621 to rotate, driving the probe hand-held operating handle 51 to rotate. The rotation direction of the probe hand-held operating handle 51 is the same as the rotation direction of the second gear 4621. The third driving component 46 enables automated control of the first gear 4611 and the second gear 4621 in the probe hand-held operating handle 51, thereby enabling the probe hand-held operating handle 51 to drive the probe tube 52 to swing left and right in the horizontal direction.

[0120] It is understood that the first driving component 321, the second driving assembly 421, the first rotating component 4614, and the second rotating component 4624 can all be connected to encoders. When the first driving component 321, the second driving assembly 421, the first rotating component 4614, or the second rotating component 4624 is in operation, the encoder can detect the speed, direction, and angle information of the first driving component 321, the second driving assembly 421, the first rotating component 4614, or the second rotating component 4624. Specifically, when the second drive assembly 421 drives the probe hand-held operating handle 51 to rotate, the remote control of the first gear 4611 and the second gear 4621 to rotate can obtain the rotation direction and rotation angle of the first rotating component 4614 and the second rotating component 4624. At this time, the remote control platform 2 can process and calculate based on the rotation direction and angle information of the first rotating component 4614 and the second rotating component 4624 to obtain the position information of the probe hand-held operating handle 51. When the first drive assembly 321 controls the probe tube 52 to feed, the remote control platform 2 can obtain the depth information of the probe tube 52 in real time.

[0121] It should be noted that when the probe tube 52 rotates due to external force after entering the human body, the encoder connected to the second drive component 421 can detect the current position of the second drive component 421, thereby obtaining the rotation direction and angle change of the probe tube 52. Similarly, when the probe hand handle 51 swings horizontally due to external force, the position and orientation information of the probe hand handle 51 can be obtained through the encoder information connected to the first rotating component 4614 or the second rotating component 4624. This facilitates subsequent precise and convenient adjustment of the position of the probe hand handle 51 or the probe tube 52.

[0122] In some possible implementations, a probe button trigger 423 is provided on one side of the mounting base 422. This probe button trigger 423 can automatically control the probe buttons by controlling the two probe buttons on the probe handheld operating handle 51 that are used to control the ultrasound image angle. The probe button trigger 423 controls the probe buttons through a small push-pull electromagnet structure. In this case, the working principle of the probe button trigger 423 is similar to that of the second driving element 441 when the second driving element 441 is a small push-pull electromagnet, and will not be described in detail here. The adjustment button on the remote control console 2 is connected to the probe button trigger 423. By rotating the adjustment button, the operator drives the probe button trigger 423 to rotate one end of the probe handheld operating handle 51 in the vertical direction.

[0123] It is understandable that, such as Figure 15 Figure 14 As shown, the bottom of the mounting base 422 is provided with a first connector 102 and a second connector 103. The first connector 102 and the second connector 103 are used to connect to the remote control console 2 to realize the transmission of signals and external power.

[0124] The following describes the complete usage process of the transesophageal echocardiography imaging examination operation and control system provided in this application: The person to be examined first lies on their side or supine on the medical bed. The stent assembly 43 is fixed to the side of the person's head on the medical bed by the mounting seat locking assembly 8. The drive mechanism 3 and the positioning control mechanism 4 are fixed on the stent assembly 43. The initial position of the drive mechanism 3 is adjusted by adjusting the first connecting frame 432. The initial position of the positioning control mechanism 4 is adjusted by adjusting the second connecting frame 433. When the first connecting frame 432 and the second connecting frame 433 are moved to the appropriate position, they can be fixed by tightening the knob on the stent assembly 43. Next, fix the probe hand-held operating handle 51 onto the mounting base 422, and fix the mounting base 422 onto the fixing base 9. Install the probe tube 52 between the first housing 311 and the second housing 312 in the fixing assembly 31, and secure the first housing 311 and the second housing 312 with the snap-fit ​​assembly 35. Then, cover the outer walls of the first connecting frame 432, the second connecting frame 433, the drive mechanism 3, and the positioning control mechanism 4 with sterile bags 104, and then operate according to the ultrasound procedure. At this time, the remote control console 2 can be located in the same room as the support assembly 43, or in a different room from the support assembly 43.

[0125] Specifically, the operator stands or sits near the remote control console 2 and, based on the ultrasound images displayed on the screen 6, remotely controls the positioning control mechanism 4 and drive mechanism 3 by operating the rollers, adjustment buttons, levers, push rods, and knobs on the remote control console 2. This allows for precise adjustment of the position of the probe handheld operating handle 51 and the probe tube 52. The entire automated control process is highly flexible and easy to operate, helping to reduce the operator's workload and the possibility of radiation exposure.

[0126] It should also be noted that when the transesophageal ultrasound operating device 1 is retracted, the entire transesophageal cardiac ultrasound imaging operating device and control system mainly consists of five parts: the stent assembly 43, the drive mechanism 3, the positioning control mechanism 4, the ultrasound host and the remote control console 2. Each part is connected through a quick-disassembly interface. Therefore, each component is small in size and simple in shape when retracted, which is conducive to the assembly, disassembly and packaging of the device.

[0127] During the above operation, the method of fixing the first box 311 and the second box 312 by the snap-fit ​​assembly 35 is conducive to the repeated disinfection and sterilization of the first box 311 and the second box 312, and also facilitates the convenient fixing, installation and disassembly of the probe tube 52; the bracket assembly 43 can effectively and accurately connect the drive mechanism 3 and the positioning control mechanism 4, and can easily adjust the initial position of the probe tube 52 and the probe hand-held operating handle 51; the detachable connection between the first connecting bracket 432 and the second connecting bracket 433 and the mounting base assembly 431 realizes the convenient fitting of the sterile bag and ensures the sterility of the entire ultrasound process.

[0128] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A transesophageal echocardiography imaging operation and control system, comprising a transesophageal ultrasound body including a probe handheld handle and a probe tube, one end of the probe tube being connected to the probe handheld handle and the other end being connected to a crystal transducer for insertion into the human esophagus, the transesophageal ultrasound body having an interface connected to an ultrasound host, the ultrasound host being used to receive ultrasound images transmitted by the crystal transducer, characterized in that, The system includes a remote control console and a transesophageal ultrasound manipulation device; the device includes: A drive mechanism for driving the probe tube to move linearly along its axial direction and fixing the probe tube; the position of the drive mechanism is 0-40 cm away from the lips of the subject being examined. A positioning control mechanism for driving the probe tube to rotate and fixing the probe tube, the positioning control mechanism being connected to the probe hand-held operating handle; The remote control console is connected to the drive mechanism and the positioning control mechanism via wired or wireless signal, and is used to remotely control the drive mechanism to drive the probe tube to move linearly, and is also used to remotely control the positioning control mechanism to drive the probe tube to rotate. The remote control console is also connected to the ultrasound host via a wired or wireless signal and is used to display the ultrasound images and remotely control the display of the ultrasound images. The positioning control mechanism includes: A connecting component is rotatably connected to the drive mechanism, and the connecting component is relatively fixed to the ground; A rotating assembly is connected to the probe tube body and is used to drive the drive mechanism to rotate the probe tube body. The drive mechanism includes: The fixed component is rotatably connected to the connecting component; A first drive component connected to the fixed component; The connecting assembly includes a protective plate, a sliding member, and a connecting plate. A guide cover is provided between the protective plate and the connecting plate. The guide cover includes a first cover plate and a second cover plate. The second cover plate is sleeved on the outside of the first cover plate and a gap is left between them. The probe tube passes through the first cover plate, and the sliding member is located in the gap. A guide post is connected to the second cover plate. The protective plate has a guide groove, and the guide post is located in the guide groove and slides along the guide groove. The first driving assembly includes a first driving member, which is fitted with a driving housing. A rotation locking assembly is provided in the driving housing. The rotation locking assembly includes a second driving member and a friction member. The fixed end of the second driving member is located in the driving housing, and the driving end of the second driving member is fixedly connected to the friction member. The second driving member is used to drive the friction member to pass through the driving housing and the protective plate in sequence and then abut against the first cover plate.

2. The transesophageal echocardiography imaging operation and control system as described in claim 1, characterized in that, The first driving assembly further includes a driving wheel and a driven wheel, the central axes of the driving wheel and the driven wheel are parallel, and both the driving wheel and the driven wheel are rotatably connected to the fixing assembly; the probe tube is located between the driving wheel and the driven wheel, and the driven wheel and the driving wheel press against the outer wall of the probe tube; the fixed end of the first driving member is connected to the fixing assembly, and the driving end is fixedly connected to the driving wheel; The first control terminal in the remote control console is connected to the first drive unit via a signal, and the first control terminal is used to control the first drive unit.

3. The transesophageal echocardiography imaging operation and control system as described in claim 2, characterized in that, The rotating assembly includes a second drive assembly and a mounting base. The mounting base is used to fix the probe hand-held operating handle, and the second drive assembly is used to drive the mounting base to rotate the drive mechanism. The protective plate is fixedly connected to the fixing component, the connecting plate is connected to the end of the protective plate away from the fixing component, and the connecting plate is fixed relative to the ground. The sliding member is located between the protective plate and the connecting plate and is slidably connected to the connecting plate. The probe tube passes sequentially through the protective plate and the connecting plate; The fourth control terminal in the remote control console is connected to the second drive component via a signal, and the fourth control terminal is used to control the second drive component.

4. The transesophageal echocardiography imaging operation and control system as described in claim 3, characterized in that, A support assembly is provided between the rotating component and the connecting component, the support assembly comprising: Mounting bracket assembly; The first connecting frame includes a first arm, a connecting column, and a second arm. The first arm is rotatably connected to the mounting base assembly, and the rotation axis of the first arm is parallel to the rotation axis of the drive wheel. One end of the connecting column is rotatably connected to the first arm, and the rotation axis of the connecting column is parallel to the rotation axis of the first arm. The other end of the connecting column is hinged to the second arm, and the hinge axis of the second arm is perpendicular to the rotation axis of the first arm. The other end of the second arm is rotatably connected to the mounting base, and the rotation axis of the mounting base is parallel to the rotation axis of the second arm. The second connecting frame includes a first support rod and a second support rod. One end of the first support rod is ball-jointed to the mounting base assembly, and the other end is rotatably connected to the second support rod. The rotation axis of the second support rod is parallel to the hinge axis of the second support arm, and the other end of the second support rod is connected to the connecting assembly.

5. The transesophageal echocardiography imaging examination operation and control system as described in claim 3, characterized in that, The fixing component includes a first housing and a second housing; The first box has a first cavity, and the second box has a second cavity. The opening end of the first box is hinged to the opening end of the second box. After the first box and the second box are closed, the opening ends of the first box and the second box are sealed. The driving wheel is located in the first cavity, and the driven wheel is located in the second cavity; The driving end of the first driving component passes through the first housing and is fixedly connected to the driving wheel; The probe tube passes through the connection between the first box and the second box and is located between the driven wheel and the driving wheel.

6. The transesophageal echocardiography imaging operation and control system as described in claim 5, characterized in that, A locking element is provided between the drive housing and the fixing component. There are two locking elements, which are respectively connected to the first housing and the second housing. The locking component includes a male buckle and an elastic element. One end of the male buckle passes through the first housing or the second housing, and the other end is bent in a direction away from each other. The elastic element is located between the male buckle and the driving wheel or the driven wheel, and one end of the elastic element is connected to the male buckle, and the other end is connected to the driving wheel or the driven wheel. The top wall of the drive housing has a communicating groove communicating with its inner cavity. After the bent end of the male buckle moves into the communicating groove, it engages with the drive housing.

7. The transesophageal echocardiography imaging examination operation and control system as described in claim 5, characterized in that, A latching assembly is provided between the first box and the second box. The latching assembly includes a fixing block, a connecting ring, and a female latch. The fixing block is fixedly connected to the first box, and the female latch is fixedly connected to the second box. One side of the connecting ring passes through the fixing block, and the other end is latched to the female latch.

8. The transesophageal echocardiography imaging operation and control system as described in claim 3, characterized in that, The sliding component is a roller, which is embedded in the protective plate and rotatably connected to the protective plate. The peripheral wall of the roller is in contact with the connecting plate and rotatably connected.

9. The transesophageal echocardiography imaging operation and control system as described in claim 3, characterized in that, The probe hand-held operating handle is equipped with a third driving component, which includes a forward driving component and a reverse driving component; The forward drive component includes a first gear, a first gripper, a first timing belt, and a first rotating component. The fixed end of the first rotating component is fixedly connected to the mounting base. The first timing belt is sleeved on the driving end of the first gripper and the first rotating component. The first gear meshes with the first gripper. The first gear is rotatably connected to the probe hand handle. The reverse drive component includes a second gear, a second gripper, a second synchronous belt, and a second rotating component. The fixed end of the second rotating component is fixedly connected to the mounting base. The second synchronous belt is sleeved on the driving end of the second gripper and the second rotating component. The second gear meshes with the second gripper. The second gear is rotatably connected to the probe hand handle. The third control terminal in the remote control console is signal-connected to both the first rotating component and the second rotating component, and the third control terminal is used to control the first rotating component and the second rotating component.

10. The transesophageal echocardiography imaging operation and control system as described in claim 4, characterized in that, A fixed base is detachably connected to the lower part of the mounting base. The fixed base is rotatably connected to the second support arm. The central axis of the rotation shaft of the fixed base is parallel to the central axis of the hinge shaft of the second support arm. The top wall of the fixing base is provided with a snap-fit ​​groove, and the bottom wall of the mounting base is connected with a snap-fit ​​block. The snap-fit ​​block is located in the snap-fit ​​groove. The side wall of the fixing base is provided with a rotating rod for fixing the snap-fit ​​block. One end of the rotating rod passes through the fixing base and is threadedly connected to the snap-fit ​​block.

11. The transesophageal echocardiography imaging operation and control system as described in claim 4, characterized in that, The mounting base assembly is provided with a mounting base locking assembly, which includes a knob rod, a top plate, a top plate mounting box, and a slanted push plate. The bottom wall of the top plate is an inclined surface, the top plate mounting box is fixedly connected to the mounting base assembly, and the inclined push plate is located in the top plate mounting box and is horizontally slidably connected to the top plate mounting box; The top wall of the inclined push plate is an inclined surface, and the inclination direction of the inclined surface of the inclined push plate is opposite to the inclination direction of the inclined surface of the top plate. The inclined surface of the inclined push plate is in contact with the inclined surface of the top plate. One end of the knob rod is rotatably connected to the mounting base assembly, and after passing through the mounting base assembly, it is threadedly connected to the inclined push plate. The knob rod is used to drive the inclined push plate to push the top plate to move towards or away from the top plate mounting box.

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