Mechanical arm puncture system based on remote ultrasonic diagnosis guidance

Abstract

The invention relates to a mechanical arm puncture system based on remote ultrasonic diagnosis guidance. The mechanical arm puncture system comprises a remote operation end, a cloud server and a medical diagnosis end. The remote operation end is used for receiving an operation instruction sent by the medical care diagnosis end, controlling corresponding equipment and sending collected data to the medical care diagnosis end; the remote operation end comprises a first mechanical arm and a second mechanical arm, the tail end of the first mechanical arm is integrated with an ultrasonic probe for image acquisition, and the tail end of the second mechanical arm is integrated with a puncture module for puncture treatment of a focus; the cloud server is used for data transfer between the remote operation end and the medical diagnosis end; the medical diagnosis end can receive the ultrasonic image transmitted from the remote operation end in real time, perform analysis and diagnosis, make a diagnosis and treatment plan and send an operation instruction to the remote operation end. According to the invention, ultrasonic diagnosis and puncture treatment can be carried out on long-distance and inconvenient patients, and the system has transmission safety, high image quality and system stability.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a robotic arm puncture system based on remote ultrasonic diagnosis guidance. Background Art

[0002] In the medical field, ultrasound diagnosis is a commonly used non-invasive examination method that can observe the internal structure and functional status of the human body in real time and dynamically. However, traditional ultrasound diagnosis relies on manual operation by doctors, which not only requires doctors to have superb skills and experience, but also limits the scope of application of ultrasound diagnosis, especially in scenarios such as telemedicine and emergency rescue.

[0003] With the development of science and technology, telemedicine technology has gradually matured. Among them, remote ultrasound diagnosis technology has been valued because it can break through geographical restrictions and provide medical services to patients who are far away or have inconvenient transportation. However, the existing remote ultrasound diagnosis technology still faces challenges in terms of real-time image transmission, stability, and accuracy of operation. In addition, when the remote-operated robotic arm performs delicate operations such as puncture, how to ensure the safety and effectiveness of the operation is also an urgent problem to be solved. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the limitations of traditional medical diagnosis in the prior art, and to provide a robotic arm puncture system based on remote ultrasound diagnosis guidance that can realize ultrasound diagnosis and puncture treatment for patients who are far away and inconvenient, and has transmission security, high image quality and system stability.

[0005] In order to solve the above technical problems, the present invention provides a robotic arm puncture system based on remote ultrasound diagnosis guidance, comprising: a remote operation terminal, a cloud server and a medical diagnosis terminal; The remote operation end is used to receive operation instructions sent by the medical diagnosis end, control corresponding equipment, and send collected data to the medical diagnosis end; the remote operation end includes a first mechanical arm and a second mechanical arm, the end of the first mechanical arm is integrated with an ultrasonic probe for image acquisition, and the end of the second mechanical arm is integrated with a puncture module for puncture treatment of lesions; The cloud server is used for real-time communication between the remote operation end and the medical diagnosis end, and realizes data transfer, transit, storage and backup; The medical diagnosis end can receive ultrasound images transmitted from the remote operation end in real time, and perform analysis and diagnosis, formulate treatment plans, and send operation instructions to the remote operation end.

[0006] In one embodiment of the present invention, the remote operation end can display the online status of the medical diagnosis end currently registered in the cloud server, and can send a diagnosis request to the medical diagnosis end through the cloud server.

[0007] In one embodiment of the present invention, the remote operation end compresses, contrast-enhances and extracts features from the images collected by the ultrasound probe.

[0008] In one embodiment of the present invention, the medical diagnosis end includes an operating console, an image display device and a data transmission module; a control panel is provided on the operating console for controlling the remote operation end to perform operations; the image display device is used to display various data of the remote operation end and present images in real time to help the operator clearly identify the target area; the data transmission module is used to realize data transmission at the remote operation end to ensure the rapid and secure transmission of information.

[0009] In one embodiment of the present invention, during the data transmission between the remote operation end and the medical diagnosis end, the transmission control protocol TCP is used to ensure the sequence control, error detection and retransmission mechanism of the data packet; the secure socket layer SSL protocol is used to encrypt the transmitted data, and at the same time cooperate with the datagram protocol UDP to improve the real-time performance of data transmission.

[0010] In one embodiment of the present invention, during the data transmission process, the operation instructions and the image data are packaged into a data packet and encrypted using a dynamic encryption library.

[0011] In one embodiment of the present invention, both the first robotic arm and the second robotic arm are provided with binocular vision detection devices for capturing the operation screen and transmitting it to the medical diagnosis end.

[0012] In one embodiment of the present invention, the puncture module is equipped with flanges of various specifications, supporting modular mounting of puncture instruments of different sizes, and realizing different puncture modes for different diseases. The modular design of the puncture module improves the personalization and effectiveness of treatment.

[0013] In one embodiment of the present invention, the end of the ultrasound probe adopts a flexible structure to better fit the patient's skin.

[0014] In one embodiment of the present invention, both the first robotic arm and the second robotic arm adopt a six-axis design, and can flexibly provide medical services to patients at different angles.

[0015] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The robotic arm puncture system based on remote ultrasound diagnosis guidance of the present invention can assist medical staff in performing ultrasound diagnosis and puncture treatment on patients who are far away or have inconvenient transportation, so that remote medical services can achieve similar quality and effects as traditional face-to-face medical services, and can adapt to different surgical needs, significantly improving the coverage and accessibility of medical services. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0017] Figure 1 It is a structural diagram of a robotic arm puncture system under remote ultrasound diagnosis guidance in a preferred embodiment of the present invention; Figure 2 It is a structural schematic diagram of the remote operation terminal and the diagnosis and treatment bed in the present invention; Figure 3 for Figure 2 A schematic diagram of the structure of the first mechanical arm and the ultrasonic probe at the mid-to-long-distance operation end; Figure 4 for Figure 2 Structural diagram of the second robotic arm and puncture module at the mid-to-long-distance operation end; Figure 5 for Figure 2 Schematic diagram of the structure of the binocular vision detection device at the mid-to-long-distance operation end; Explanation of the figure marks in the specification: 1. Remote operation end; 11. First robotic arm; 12. Second robotic arm; 13. Ultrasonic probe; 14. Puncture module; 3. Cloud server; 2. Medical diagnosis end; 3. Cloud server; 21. Operating console; 22. Image display device; 23. Data transmission module. DETAILED DESCRIPTION

[0018] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0019] Reference Figure 1-5 As shown, the present invention discloses a robotic arm puncture system based on remote ultrasonic diagnosis guidance, including: a remote operation terminal 1, a cloud server 3 and a medical diagnosis terminal 2; The remote operation terminal 1 is used to receive operation instructions sent by the medical diagnosis terminal 2, control corresponding equipment, and send collected data to the medical diagnosis terminal 2; the remote operation terminal 1 includes a first mechanical arm 11 and a second mechanical arm 12, the end of the first mechanical arm 11 is integrated with an ultrasonic probe 13 for image acquisition, and the end of the second mechanical arm 12 is integrated with a puncture module 14 for puncture treatment of lesions; The cloud server 3 is used for real-time communication between the remote operation terminal 1 and the medical diagnosis terminal 2 to realize data transfer, storage and backup; the cloud server 3 is responsible for receiving ultrasound images and patient data from the remote operation terminal 1, and forwarding this information to the medical diagnosis terminal 2. The cloud server 3 saves detailed records of each operation, including patient information and surgical parameters, and performs regular backup to prevent data loss; The medical diagnosis terminal 2 can receive the ultrasound image transmitted from the remote operation terminal 1 in real time, and perform analysis and diagnosis, formulate a diagnosis and treatment plan, and send operation instructions to the remote operation terminal 1.

[0020] In this embodiment, the remote operation terminal 1 can display the online status of the medical diagnosis terminal 2 currently registered in the cloud server 3, and can send a diagnosis request to the medical diagnosis terminal 2 through the cloud server 3.

[0021] In this embodiment, the remote operation terminal 1 compresses, contrasts and extracts features of the image collected by the ultrasound probe 13. The amount of raw image data collected by the ultrasound probe 13 is usually large. In order to reduce the demand for transmission bandwidth and speed up the transmission speed, the image needs to be compressed. Contrast enhancement is used to improve the visibility of the image, making the boundaries between different tissues and structures clearer; feature extraction adjusts the contrast curve of the image to enhance the details of specific areas, which helps doctors to diagnose more accurately. Based on feature extraction, image analysis can be further performed, such as calculating parameters such as the size, shape and density of the lesion. The analysis results can assist doctors in quantitative analysis and tracking changes in the patient's condition.

[0022] Preferably, the medical diagnosis terminal 2 includes an operation table 21, an image display device 22 and a data transmission module 23; the operation table 21 is provided with a control panel for controlling the remote operation terminal 1 to operate; the image display device 22 is used to display various data of the remote operation terminal 1, present images in real time, and help the operator clearly identify the target area; the data transmission module 23 is used to realize the data transmission of the remote operation terminal 1 to ensure the rapid and safe transmission of information. The present invention can monitor the remote operation terminal 1 in real time and accurately control the operation of the robotic arm through the medical diagnosis terminal 2, reducing the risks that may be caused to the patient during the operation.

[0023] In this embodiment, the control panel on the operating table 21 adopts a touch screen design, which provides an intuitive and easy-to-operate interface for medical staff to send instructions to the remote operation terminal 1 through the touch screen for remote action control. The image display device 22 is equipped with a high-resolution display screen, which is responsible for displaying the ultrasound images and visual detection images transmitted from the remote operation terminal 1 to medical staff in real time, helping the operator to clearly identify the target area, and providing visual guidance of the puncture path by combining the actual image with the computer-generated image, thereby improving the accuracy of the operation; at the same time, the image display device 22 supports image display from multiple perspectives, allowing the operator to observe the surgical area from different angles and enhance judgment ability; the data transmission module 23 adopts advanced encryption technology to protect patient privacy and sensitive data, ensure compliance with the safety standards of the medical industry, and the efficient and secure transmission of ultrasound images, control instructions and patient data.

[0024] In the data transmission process between the remote operation terminal 1 and the medical diagnosis terminal 2 in this embodiment, the transmission control protocol TCP is used to ensure the sequence control, error detection and retransmission mechanism of the data packet; the secure socket layer SSL protocol is used to encrypt the transmitted data, and at the same time cooperate with the datagram protocol UDP to improve the real-time performance of data transmission.

[0025] The TCP protocol can ensure that each data packet can be transmitted accurately, improving the transmission security and image quality of remote ultrasound diagnosis and enhancing the stability of the system. The TCP protocol has a powerful flow control mechanism that can dynamically adjust the data transmission rate according to the network conditions to avoid data loss caused by network congestion, thereby ensuring the smooth display of ultrasound images. The TCP protocol ensures that data packets arrive at the receiving end in the order in which they are sent, which helps maintain the continuity and integrity of the image and avoid misdiagnosis caused by image stitching errors.

[0026] Furthermore, during data transmission, the operation instructions and image data are packaged into data packets and encrypted using a dynamic encryption library.

[0027] Furthermore, a binocular vision detection device 15 is provided on each of the first robotic arm 11 and the second robotic arm 12, for capturing the operation screen and transmitting it to the medical diagnosis terminal. In this embodiment, the binocular vision detection device is a binocular camera, which can accurately capture the operation screen and transmit it to the medical diagnosis terminal 2, helping medical staff to determine the needle insertion point, and combining it with the ultrasound image during the puncture process.

[0028] In this embodiment, the puncture module 14 is equipped with flanges of various specifications, supporting modular mounting of puncture instruments of different sizes, and realizing different puncture modes for different diseases. The modular design of the puncture module 14 improves the personalization and effectiveness of treatment.

[0029] Furthermore, the end of the ultrasound probe 13 adopts a flexible structure to better fit the patient's skin.

[0030] Preferably, the first robotic arm 11 and the second robotic arm 12 both adopt a six-axis design, and can flexibly provide medical services to patients at different angles.

[0031] Based on the remote ultrasound diagnosis guided robotic arm in this embodiment, the first robotic arm 11 and the second robotic arm 12 are respectively equipped with an ultrasound probe 13 and a puncture module 14. The ultrasound probe 13 is used to accurately locate the patient's lesion point and transmit the detection information to the remote operation end 1 and the medical diagnosis end 3 in real time through the data transmission module 23. The puncture module 14 can be replaced according to the patient's specific surgical plan to achieve the best medical effect.

[0032] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A robotic arm puncture system based on remote ultrasound diagnosis guidance, characterized in that: include: Remote operation terminal, cloud server and medical diagnosis terminal; The remote operation end is used to receive operation instructions sent by the medical diagnosis end, control corresponding equipment, and send collected data to the medical diagnosis end; the remote operation end includes a first mechanical arm and a second mechanical arm, the end of the first mechanical arm is integrated with an ultrasonic probe for image acquisition, and the end of the second mechanical arm is integrated with a puncture module for puncture treatment of lesions; The cloud server is used for real-time communication between the remote operation end and the medical diagnosis end, and realizes data transfer, transit, storage and backup; The medical diagnosis end can receive the ultrasound image transmitted from the remote operation end in real time, and perform analysis and diagnosis, formulate a diagnosis and treatment plan, and send operation instructions to the remote operation end.

2. A robotic arm puncture system based on remote ultrasound diagnosis guidance according to claim 1, characterized in that: The remote operation end can display the online status of the medical diagnosis end currently registered in the cloud server, and can send a diagnosis request to the medical diagnosis end through the cloud server.

3. A robotic arm puncture system based on remote ultrasound diagnosis guidance according to claim 2, characterized in that: The remote operation end compresses, contrasts, and extracts features of the images collected by the ultrasound probe.

4. A robotic arm puncture system based on remote ultrasound diagnosis guidance according to claim 1, characterized in that: The medical diagnosis end includes an operation table, an image display device and a data transmission module; the operation table is provided with a control panel for controlling the remote operation end to operate; the image display device is used to display various data of the remote operation end, present images in real time, and help the operator clearly identify the target area; The data transmission module is used to realize data transmission at the remote operation end to ensure the fast and safe transmission of information.

5. A robotic arm puncture system based on remote ultrasound diagnosis guidance according to claim 4, characterized in that: During the data transmission between the remote operation end and the medical diagnosis end, the transmission control protocol TCP is used to ensure the sequence control, error detection and retransmission mechanism of the data packet; the secure socket layer SSL protocol is used to encrypt the transmitted data, and at the same time cooperate with the datagram protocol UDP to improve the real-time performance of data transmission.

6. A robotic arm puncture system based on remote ultrasound diagnosis guidance according to claim 5, characterized in that: During data transmission, operation instructions and image data are packaged into data packets and encrypted using a dynamic encryption library.

7. A robotic arm puncture system based on remote ultrasound diagnosis guidance according to claim 1, characterized in that: The first robotic arm and the second robotic arm are both provided with binocular vision detection devices for capturing the operation screen and transmitting it to the medical diagnosis end.

8. A robotic arm puncture system based on remote ultrasound diagnosis guidance according to claim 1, characterized in that: The puncture module is equipped with flanges of various specifications, supports modular mounting of puncture instruments of different sizes, and realizes different puncture modes for different diseases.

9. A robotic arm puncture system based on remote ultrasound diagnosis guidance according to claim 1, characterized in that: The end of the ultrasound probe adopts a flexible structure to better fit the patient's skin.

10. A robotic arm puncture system based on remote ultrasound diagnosis guidance according to claim 1, characterized in that: Both the first robotic arm and the second robotic arm adopt a six-axis design, and can flexibly provide medical services to patients at different angles.

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