Remote control method and device and remote control system

Abstract

The invention discloses a remote control method, a remote control device and a remote control system. The method comprises the steps that operation information is obtained, the operation information comprises a first type of operation information generated according to operation of a first target object on a control device and a second type of operation information generated according to operation of the first target object on a soft keyboard, and the soft keyboard is displayed in the terminal device; the first type of operation information is used for controlling a mechanical arm of the inspection equipment, the second type of operation information is used for adjusting parameters of the inspection equipment, and the inspection equipment is used for obtaining health condition information of a second target object according to the first type of operation information and the second type of operation information; and controlling the inspection equipment to execute an action corresponding to the operation information. The technical problem that the health condition of the patient cannot be examined at any time due to the fact that examination on the patient is restricted by equipment because all examination operations can only be executed on the large-size examination equipment in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the technical field of remote operation equipment, and in particular to a remote control method and device, and a remote control system. Background Art

[0002] With the development of communication technology, patients can now be tested through remote examination equipment in the medical field. In related technologies, remote examination equipment includes two devices: a doctor's device and a patient's device. Figure 1 is a schematic diagram of a doctor-side device in the prior art, such as Figure 1 As shown, the doctor-side device includes a mobile table with pulleys, a computer host, a non-detachable operating table, a contour probe and two display screens. The non-detachable operating table is equipped with a camera joystick, an ultrasound keyboard and a touch screen. The device has many parts and is large in size. In the related art, the doctor can only Figure 1 The doctor-side device shown is used to control the patient-side device to remotely check the patient's health status. All operations are performed on Figure 1 As shown in the figure, the ultrasound keyboard and touch screen are both installed on a non-detachable operating platform and cannot be disassembled or moved. Therefore, the patient's examination is restricted by the device due to the heavy weight and poor portability of the control device, and the patient's health condition cannot be checked anytime and anywhere.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present application provide a remote control method and device, and a remote control system, so as to at least solve the technical problem that, since all inspection operations in the related technology can only be performed on a large-volume inspection device, the inspection of the patient is restricted by the equipment and the health status of the patient cannot be checked at any time.

[0005] According to one aspect of an embodiment of the present application, a remote control method is provided, which is applied to a remote inspection device, wherein the remote inspection device comprises: an inspection device and a control device for controlling the inspection device, wherein the control device and the inspection device are communicatively connected via a terminal device; the remote control method comprises: obtaining operation information, wherein the operation information comprises: a first type of operation information generated according to an operation of a first target object on the control device, and a second type of operation information generated according to an operation of the first target object on a soft keyboard, wherein the soft keyboard is displayed in the terminal device, the first type of operation information is used to control a robotic arm of the inspection device, the second type of operation information is used to adjust parameters of the inspection device, and the inspection device is used to obtain health status information of a second target object based on the first type of operation information and the second type of operation information; and controlling the inspection device to perform actions corresponding to the operation information.

[0006] Optionally, the first type of operation information is generated by the following method: based on a preset communication protocol, converting a physical signal generated according to the operation of the first target object on the control device into a digital signal, wherein the preset communication protocol defines the correspondence between the physical signal and the digital signal; generating a target signal sequence according to the digital signal, wherein the target signal sequence is used to represent the first type of operation information.

[0007] Optionally, the control device includes: a probe and an operation panel; generating a target signal sequence according to the digital signal, including: when the physical signal is a first type of physical signal, generating a first type of digital signal, wherein the first type of physical signal corresponds to a first type of operation performed by the first target object on the probe, and the first type of operation is an operation of changing the posture information of the probe; when the physical signal is a second type of physical signal, generating a second type of digital signal, wherein the second type of physical signal corresponds to a second type of operation performed by the first target object on the probe, and the second type of operation is an operation of changing the position of the probe on the operation panel; when the physical signal is a third type of physical signal, generating a third type of digital signal, wherein the third type of physical signal corresponds to a third type of operation performed by the first target object on the probe, and the third type of operation is an operation of changing the pressure applied by the probe on the operation panel; obtaining an initial signal sequence, replacing the digital signal at the first position in the initial signal sequence with the first type of digital signal, replacing the digital signal at the second position in the initial signal sequence with the second type of digital signal, and replacing the digital signal at the third position in the initial signal sequence with the third type of digital signal, to generate a target signal sequence.

[0008] Optionally, the second type of operation information is generated by the following method: based on a preset text protocol, converting a digital signal generated according to the operation of the first target object on the soft keyboard into an instruction signal, wherein the instruction signal is used to represent the second type of operation information.

[0009] Optionally, the preset text protocol defines a first type of command signal corresponding to a single key operation and a second type of command signal corresponding to a combination of key operations; the first type of command signal includes at least one of: a command signal for adjusting the ultrasonic image parameters output by the inspection device, a command signal for adjusting the ultrasonic mode of the inspection device, and a command signal for adjusting the first ultrasonic parameter of the inspection device, wherein the first ultrasonic parameter includes: ultrasonic frequency, ultrasonic depth and ultrasonic focal position; the second type of command signal includes at least one of: a command signal for adjusting the second ultrasonic parameter of the inspection device, a command signal for adjusting the scanning parameter of the inspection device, and a command signal for adjusting the probe type of the inspection device, wherein the second ultrasonic parameter includes: ultrasonic echo intensity.

[0010] Optionally, the second type of operation information is also generated by the following method: converting a voice signal sent by the first target object into a command signal based on a preset text protocol.

[0011] Optionally, the remote control method also includes: displaying an operation interface, wherein the operation interface is generated after the inspection device executes an action corresponding to the first type of operation information and an action corresponding to the second type of operation information, and the operation interface includes: health status information of the second target object and parameters of the inspection device, and when the operating position of the robotic arm is the same and the parameters of the inspection device are different, the health status information displayed in the operation interface is different; when the second type of operation information indicates to display the soft keyboard and the operation interface at the same time, the soft keyboard and the operation interface are displayed at the display interface of the terminal device at the same time; when the second type of operation information does not indicate to display the soft keyboard and the operation interface at the same time, only the operation interface is displayed on the display interface of the terminal device.

[0012] According to another aspect of an embodiment of the present application, a remote inspection system is also provided, including: a terminal device, a control device and an inspection device, wherein the control device includes: an operation panel and a probe, which is used to convert the physical operation of the first target object applied to the operation panel through the probe into first-type operation information based on a preset communication protocol, and send the first-type operation information to the terminal device, wherein the first-type operation information is a digital signal; the terminal device is connected to the control device and the inspection device, and is used to receive the first-type operation information and send the first-type operation information to the inspection device, and display a soft keyboard, generate second-type operation information according to the operation of the first target object on the soft keyboard based on a preset text protocol, and send the second-type operation information to the inspection device, wherein the second-type operation information is a command signal; the inspection device includes: a robotic arm, which is used to adjust parameters according to the second-type operation information, and control the robotic arm to perform the action indicated by the first-type operation information, obtain health status information of the second target object, and send the health status information to the terminal device.

[0013] Optionally, the control device is used to convert a first type of operation applied by the first target object to the probe into a first type of digital signal, wherein the first type of operation is an operation to change the posture information of the probe, and the first type of digital signal is used to generate the first type of operation information.

[0014] Optionally, the control device is further used to convert a second type of operation applied by the first target object to the operation panel into a second type of digital signal, wherein the second type of operation is an operation of changing the position of the probe on the operation panel, and the second type of digital signal is used to generate the first type of operation information.

[0015] Optionally, the control device also includes a pressure sensor for converting a third type of operation applied by the first target object to the operating panel through the probe into a third type of digital signal, wherein the third type of operation is an operation of changing the pressure applied by the probe on the operating panel, and the third type of digital signal is used to generate the first type of operation information.

[0016] According to another aspect of an embodiment of the present application, a remote control device is also provided, including: an acquisition module for acquiring operation information, wherein the operation information includes: a first type of operation information generated according to the operation of the first target object on the control device, and a second type of operation information generated according to the operation of the first target object on a soft keyboard, the soft keyboard is displayed in the terminal device, the first type of operation information is used to control the robotic arm of the inspection device, the second type of operation information is used to adjust the parameters of the inspection device, and the inspection device is used to obtain the health status information of the second target object based on the first type of operation information and the second type of operation information; a control module is used to control the inspection device to perform actions corresponding to the operation information.

[0017] According to another aspect of an embodiment of the present application, a non-volatile storage medium is provided, in which a computer program is stored, wherein the remote control method described above is executed by running the computer program on a device where the non-volatile storage medium is located.

[0018] According to another aspect of an embodiment of the present application, there is further provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the above remote control method through the computer program.

[0019] In an embodiment of the present application, a remote control method for a remote inspection device is provided, wherein the remote inspection device comprises: an inspection device and a control device for controlling the inspection device, the control device and the inspection device being communicatively connected via a terminal device; the remote control method adopts obtaining operation information, wherein the operation information comprises: a first type of operation information generated according to an operation of a first target object on the control device, and a second type of operation information generated according to an operation of the first target object on a soft keyboard, the soft keyboard being displayed in the terminal device, the first type of operation information being used to control a robotic arm of the inspection device, the second type of operation information being used to adjust parameters of the inspection device, and the inspection device being used to obtain health status information of a second target object based on the first type of operation information and the second type of operation information Information; a way of controlling the inspection device to execute actions corresponding to the operation information, by splitting the large-volume doctor-side device in the related technology into two portable small-volume devices, namely a small-volume terminal device and a control device; the doctor can control the patient-side device through the two small-volume devices, thereby converting the inconvenient doctor-side device into a portable device, improving the versatility, ease of use, miniaturization and lightness of the doctor-side device, thereby achieving the technical effect of being able to operate the device at any time to check the patient's health condition and avoiding the patient's examination being restricted by the device, thereby solving the technical problem that all inspection operations in the related technology can only be performed on a large-volume inspection device, causing the patient's examination to be restricted by the device and the patient's health condition to be unable to be checked at any time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 is a schematic diagram of a doctor-side device according to the related art;

[0022] Figure 2 It is a hardware structure block diagram of a computer terminal for a remote control method for simultaneously realizing two functions of adjusting ultrasound parameters of an examination device at a patient end and controlling a mechanical arm of an examination device at a patient end according to an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a remote inspection device 30 according to an embodiment of the present application;

[0024] Figure 4 is a flowchart of the steps of a remote control method according to an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a soft keyboard according to an embodiment of the present application;

[0026] Figure 6 is a schematic diagram of a remote inspection system according to an embodiment of the present application;

[0027] Figure 7 is a structural diagram of a remote control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] In order to better understand the embodiments of the present application, the technical terms involved in the embodiments of the present application are explained as follows:

[0031] Posture information: refers to information about the position, direction, and movement of a person / object in space; posture information includes parameters such as position coordinates, posture angle, speed, acceleration, etc. In the embodiment of the present application, the posture information of the probe is used to indicate the Euler angle information of the probe, namely, the pitch angle, yaw angle, and roll angle.

[0032] In related technologies, doctors can only Figure 1 The doctor operates on the device shown in the figure, runs the control program in the computer host, and adjusts the ultrasound parameters of the patient's examination device through the physical ultrasound keyboard on the non-detachable operating table. Figure 1The display screen in the doctor's terminal device shown has only a display function and cannot realize touch operation. Therefore, it is difficult to carry and further limits the scenario in which the doctor performs health examination on the patient. In order to solve this problem, the embodiment of the present application provides a relevant solution, which is described in detail below.

[0033] According to an embodiment of the present application, a method embodiment of a remote control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] In the remote control method provided in the embodiment of the present application, the operation of the examination equipment on the patient side can also be implemented through the terminal device, that is, the terminal device can realize the function of adjusting the ultrasonic parameters of the examination equipment on the patient side, and can also realize the function of controlling the robotic arm of the examination equipment on the patient side; the remote control method that realizes the function of adjusting the ultrasonic parameters of the examination equipment on the patient side and the function of controlling the robotic arm of the examination equipment on the patient side at the same time can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 2 The hardware structure block diagram of a computer terminal for a remote control method for simultaneously realizing the two functions of adjusting the ultrasonic parameters of the patient-side inspection device and controlling the mechanical arm of the patient-side inspection device is shown. Figure 2 As shown, the computer terminal 20 may include one or more (202a, 202b, ..., 202n are used to illustrate) processors 202 (the processor 202 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 204 for storing data, and a transmission device 206 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 2 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown.

[0035] It should be noted that the one or more processors 202 and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 20. As involved in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0036] The memory 204 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the remote control method in the embodiment of the present application. The processor 202 executes various functional applications and data processing by running the software programs and modules stored in the memory 204, that is, the remote control method described above is realized. The memory 204 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 204 may further include a memory remotely arranged relative to the processor 202, and these remote memories may be connected to the computer terminal 20 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0037] The transmission device 206 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer terminal 20. In one example, the transmission device 206 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 206 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0038] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 20 .

[0039] The embodiment of the present application also provides a remote control method for a remote inspection device, which is used to control a mechanical arm of the inspection device and adjust ultrasonic parameters of the inspection device together with the remote inspection device. Figure 3 is a schematic diagram of a remote inspection device 30 provided according to an embodiment of the present application, such as Figure 3As shown, the remote inspection device includes: an inspection device 302 and a control device 304 for controlling the inspection device, and the control device 304 is connected to the inspection device 302 through a terminal device. Figure 4 is a flowchart of the steps of a remote control method for controlling a mechanical arm of an inspection device and adjusting ultrasonic parameters of an inspection device together with a remote inspection device according to an embodiment of the present application, such as Figure 4 As shown, the method comprises the following steps:

[0040] Step S402, obtaining operation information, wherein the operation information includes: first type of operation information generated according to the operation of the first target object on the control device, and second type of operation information generated according to the operation of the first target object on the soft keyboard, the soft keyboard is displayed in the terminal device, the first type of operation information is used to control the robotic arm of the inspection device, the second type of operation information is used to adjust the parameters of the inspection device, and the inspection device is used to obtain the health status information of the second target object based on the first type of operation information and the second type of operation information.

[0041] The remote control method provided in the embodiment of the present application is implemented based on the terminal device and the control device 304. In step S402, the terminal device obtains the operation information input by the doctor-side user (i.e., the first target object) using the control device 304 and the terminal device, wherein the operation information input by the doctor-side user (i.e., the first target object) includes: the operation information (first category) generated by the doctor-side user operating the control device 304, and the operation information (second category) generated by the doctor-side user directly operating the terminal device. Figure 3 As shown, the inspection device 302 includes a robotic arm 306, and the (first type) operation information generated by the doctor-side user operating the control device 304 is used to control the robotic arm 306 to perform different actions; the (second type) operation information is generated based on the operation of the doctor-side user (i.e., the first target object) on the software disk displayed on the display screen of the terminal device. The inspection device 302 is an ultrasonic device, and the (second type) operation information is used to adjust the ultrasonic parameters of the inspection device, wherein the ultrasonic parameters can be adjusted when inspecting the same patient-side user (i.e., the second target object), or when inspecting different patient-side users (i.e., the second target object), or when inspecting different parts of the same patient-side user (i.e., the second target object); that is, the adjustment of the ultrasonic parameters of the inspection device 302 is not limited by the application object or application scenario.

[0042] According to an optional embodiment of the present application, the first type of operation information is generated by the following method: based on a preset communication protocol, a physical signal generated according to the operation of the first target object on the control device is converted into a digital signal, wherein the preset communication protocol defines the correspondence between the physical signal and the digital signal; a target signal sequence is generated according to the digital signal, wherein the target signal sequence is used to represent the first type of operation information.

[0043] The first type of operation information is generated based on the operation performed by the doctor-end user (i.e., the first target object) on the control device 304. In this embodiment, the terminal device converts the physical signal generated when the doctor-end user (i.e., the first target object) performs a physical operation (such as changing the position, changing the pressure, and other physical operations that change physical information) on the control device 304 into a digital signal based on a preset communication protocol; wherein the preset communication protocol defines the representation method of the digital signal of different physical operations, and the position of the digital signals corresponding to different physical operations in the digital signal sequence (i.e., the target signal sequence) corresponding to the first type of operation information; after the control device 304 converts the physical signal generated by the physical operation performed by the doctor-end user (i.e., the first target object) into a digital signal, it combines other information to jointly generate a (target) signal sequence representing the (first type) operation information generated by the physical operation performed by the doctor-end user (i.e., the first target object) this time. The above-mentioned other information used to generate the (target) signal sequence includes: a "domain valid data" byte indicating which bytes in the (target) signal sequence are valid data, a "frame category" byte indicating the category of the (target) signal sequence, a "data frame direction" sequence indicating the transmission direction of the (target) signal sequence, and a "reserved" byte reserved for subsequent storage and expansion of other information; each time the doctor-side user (i.e., the first target object) generates the first type of operation information in the form of a digital signal for the operation performed on the control device 304, it is combined with the above-mentioned other information to jointly generate the first type of operation information (i.e., the target signal sequence) in the form of a digital signal corresponding to the current operation of the doctor-side user (i.e., the first target object). It should be noted that in the embodiment of the present application, the first type of operation information is generated after conversion by the terminal device and is transmitted between the terminal device and the inspection device 302 in the form of a digital signal.

[0044] Optionally, the control device 304 includes: a probe 308 and an operation panel 310; generating a target signal sequence according to the digital signal, including: generating a first type of digital signal when the physical signal is a first type of physical signal, wherein the first type of physical signal corresponds to a first type of operation performed by the first target object on the probe, and the first type of operation is an operation to change the posture information of the probe 308; generating a second type of digital signal when the physical signal is a second type of physical signal, wherein the second type of physical signal corresponds to a second type of operation performed by the first target object on the probe 308, and the second type of operation is to change the position of the probe 308 on the operation panel 310; when the physical signal is a third-type physical signal, a third-type digital signal is generated, wherein the third-type physical signal corresponds to a third-type operation performed by the first target object on 308, and the third-type operation is an operation of changing the pressure applied by the probe 308 on the operation panel 310; an initial signal sequence is obtained, the digital signal at the first position in the initial signal sequence is replaced by the first-type digital signal, the digital signal at the second position in the initial signal sequence is replaced by the second-type digital signal, and the digital signal at the third position in the initial signal sequence is replaced by the third-type digital signal, to generate a target signal sequence.

[0045] like Figure 3As shown, the control device 304 provided in the embodiment of the present application includes a (profiling) probe 308 and an operation panel 310, wherein the operation panel 310 is used to convert physical operations performed by the doctor-end user (i.e., the first target object) on the operation panel 310 through the probe 308 into physical signals; as mentioned in the previous embodiment, the preset communication protocol defines the representation method of digital signals of different physical operations, and the position of digital signals corresponding to different physical operations in the digital signal sequence corresponding to the first type of operation information (i.e., the target signal sequence); for example, in this embodiment, the preset communication protocol defines the digital signal corresponding to the (first type) operation of changing the posture information (including pitch angle, roll angle, and yaw angle) of the probe 308 in the control device 304 as including: as the final signal sequence (i.e., the target signal sequence); The first byte (RollL) and the second byte (RollH) of the digital sequence (number sequence) are used to represent the digital signal of the roll angle, wherein the signal value of the signal (Roll) representing the roll angle of the probe is equal to the second byte (RollH) shifted left by 8 bits and then bitwise ORed with the first byte (RollL), and then the result of the bitwise OR operation is divided by 10.0, that is, Roll = ((RollH<<8)|RollL) / 10.0; wherein, "<<" represents left shift, "|" represents bitwise OR operation, and " / " is a division sign; when the doctor-end user operates the contouring probe 308 to generate the signal Roll, it indicates that the doctor-end user has changed the roll angle of the contouring probe 308, wherein the information recorded in the signal RollL is the roll angle of the contouring probe 308 relative to the initial position. The third byte (PitchL) and the fourth byte (PitchH) of the final signal sequence (i.e., the target signal sequence) are used as digital signals for representing the pitch angle, wherein the signal value of the signal (Pitch) representing the pitch angle of the contouring probe 308 is equal to the fourth byte (PitchH) shifted left by 8 bits and then bitwise ORed with the third byte (PitchL), and then the result of the bitwise OR operation is divided by 10.0, i.e., Pitch = ((PitchH<<8)|PitchL) / 10.0; when the doctor-end user operates the contouring probe 308 to generate the signal Pitch, it indicates that the doctor-end user has changed the pitch angle of the contouring probe 308, and the information recorded in the signal Pitch is the pitch angle of the contouring probe 308 relative to the initial position.The 5th byte (YawL) and the 6th byte (YawH) of the final signal sequence (i.e., the target signal sequence) are used as digital signals for indicating the yaw angle, wherein the signal value of the signal (Yaw) indicating the pitch angle of the contouring probe 308 is equal to the bitwise OR operation of the 6th byte (YawH) shifted left by 8 bits and the 5th byte (YawL), and then the result of the bitwise OR operation is divided by 10.0, i.e., Yaw = ((YawH<<8)|YawL) / 10.0; when the doctor-end user operates the contouring probe 308 to generate the signal Yaw, it indicates that the doctor-end user has changed the yaw angle of the contouring probe 308, and the information recorded in the signal Yaw is the yaw angle of the contouring probe 308 relative to the initial position. In this embodiment, the Euler angle (i.e., attitude information) of the profiling probe 308 is simultaneously represented by a signal (Roll) representing a roll angle, a signal (Pitch) representing a pitch angle, and a signal (Yaw) representing a yaw angle, so that the attitude of the profiling probe 308 relative to the initial position can be accurately represented. The target signal sequence also includes the 7th byte (Io_L) and the 8th byte (Io_H) as the final signal sequence (i.e., the target signal sequence), wherein the 7th byte (Io_L) and the 8th byte (Io_H) represent the digital signals finally output by the first type of digital signal. The preset communication protocol also defines the digital signal corresponding to the (second type) operation of changing the position of the probe 308 in the control device 304 on the operation panel 310 as a (second type) digital signal, wherein the (second type) digital signal includes: the 9th byte (Button1L) and the 10th byte (Button1H) as the final signal sequence (i.e., the target signal sequence), wherein the signal (Flag) indicating that the contouring probe touches the operation panel is equal to the result of the bitwise OR operation of the 10th byte (Button1H) shifted left by 8 bits and the 9th byte (Button1L), i.e., Flag = (Button1H<<8)|Button1L; when the value of the signal Flag is 1, it indicates that the pressure F generated by the doctor-side user through the contouring probe 308 touching the operation panel 310 is valid, and when the value of the signal Flag is 0, it indicates that the pressure F generated by the doctor-side user through the contouring probe 308 touching the operation panel 310 is invalid.(Second category) digital signals, further comprising: the 11th byte (Pos_X_L) and the 12th byte (Pos_X_H) as the final signal sequence (i.e., the target signal sequence), wherein the horizontal coordinate (X) of the profiling probe 308 on the operation panel 310 is equal to the result of a bitwise OR operation between the 12th byte (Pos_X_H) shifted 8 bits to the left and the 11th byte (Pos_X_L), i.e., X=(POS_X_H<<8)|(POS_X_L); (Second category) digital signals also include: the 13th byte (Pos_Y_L) and the 14th byte (Pos_Y_H) as the final signal sequence (i.e., the target signal sequence), wherein the vertical coordinate (Y) of the profiling probe 308 on the operation panel 310 is equal to the result of a bitwise OR operation between the 14th byte (Pos_Y_H) shifted left by 8 bits and the 13th byte (Pos_Y_L), i.e., Y=(POS_Y_H<<8)|(POS_Y_L). In addition, the preset communication protocol defines the digital signal corresponding to the (third type) operation of changing the pressure applied by the doctor-end user (i.e., the first target object) on the operation panel 310 through the probe 308 as a third type of digital signal, wherein the third type of digital signal includes: the 15th byte (F_L) and the 16th byte (F_H) as the final signal sequence (i.e., the target signal sequence), wherein the value of the signal (F) representing the pressure applied by the doctor-end user on the operation panel 310 through the contouring probe 308 is equal to the 16th byte (F_H) shifted left by 8 bits and then bitwise ORed with the 15th byte (F_L), and then the bitwise ORed result is divided by 10.0, i.e., F =((F_H<<8)|F_L) / 10.0; when the signal F is equal to 0, it indicates that the doctor-side user has not placed the probe 308 on the operation panel 310; when the signal F is greater than 0, it indicates that the doctor-side user applies pressure to the operation panel 310 through the profiling probe 308. At this time, if the value of the signal Flag is 1, the pressure applied by the doctor-side user to the operation panel 310 through the profiling probe 308 is effective pressure, which can control the patient-side device to make corresponding changes; if the value of the signal Flag is 0, the pressure applied by the doctor-side user to the operation panel 310 through the profiling probe 308 is invalid pressure, which cannot control the patient-side device to make corresponding changes. In this embodiment, the valid / invalid judgment of the pressure signal (F) is added, which can effectively prevent the pressure generated when the profiling probe contacts other objects from affecting the parameters of the patient-side device.After the terminal device converts the physical operation applied by the doctor-side user (i.e., the first target object) on the control device 304 into a digital signal according to the preset communication protocol, it obtains the initial signal sequence that has been filled with the reserved bytes, domain valid bytes, frame category bytes and data frame direction bytes, fills the digital signal converted from the physical operation into the corresponding position in the initial signal sequence, and generates the first type of operation information (i.e., the target signal sequence) in the form of a digital signal corresponding to the current operation of the doctor-side user (i.e., the first target object).

[0046] According to another optional embodiment of the present application, the second type of operation information is generated by the following method: based on a preset text protocol, the digital signal generated according to the operation of the first target object on the soft keyboard is converted into an instruction signal, wherein the instruction signal is used to represent the second type of operation information.

[0047] The second type of operation information is obtained by converting the operation information input by the doctor-side user (i.e., the first target object) in the soft keyboard based on a preset text protocol; wherein the soft keyboard is called from a related program for operating the inspection device 302; the terminal device converts the digital signal generated by the doctor-side user (i.e., the first target object) operating on the soft keyboard into an instruction signal based on a preset text protocol, and transmits the instruction signal to the inspection device 302 using a communication signal (such as an Ethernet-based communication signal, a mobile network-based communication signal) to adjust the ultrasound parameters of the inspection device 302.

[0048] Optionally, the preset text protocol defines a first type of command signal corresponding to a single key operation and a second type of command signal corresponding to a combination of key operations; the first type of command signal includes at least one of: a command signal for adjusting the ultrasonic image parameters output by the inspection device, a command signal for adjusting the ultrasonic mode of the inspection device, and a command signal for adjusting the first ultrasonic parameter of the inspection device, wherein the first ultrasonic parameter includes: ultrasonic frequency, ultrasonic depth, and ultrasonic focal position; the second type of command signal includes at least one of: a command signal for adjusting the second ultrasonic parameter of the inspection device, a command signal for adjusting the scanning parameter of the inspection device, and a command signal for adjusting the probe type of the inspection device, wherein the second ultrasonic parameter includes: ultrasonic echo intensity.

[0049] In this embodiment, the soft keyboard displayed on the terminal device is used to implement all the functions of the ultrasonic keyboard. The soft keyboard presents different user interfaces (UI) according to different input instructions. Figure 5 It is a schematic diagram of a soft keyboard. The soft keyboard is similar to the keyboard installed on a laptop computer, including numeric keys, letter keys, and symbol keys, such as Figure 5As shown, the soft keyboard includes a single key operation area, a combination key prompt area and a sliding adjustment key for adjusting time gain compensation (TGC), wherein the single key operation area includes: a key (B) for adjusting the brightness of the ultrasound image generated by the inspection device 302, a key (M) for adjusting the ultrasound mode of the inspection device 302, a key (CW) for adjusting the parameters of the continuous wave of the inspection device 302, a key (PW) for adjusting the parameters of the pulse wave of the inspection device 302, a key (Color) for turning on / off the color mode of the inspection device 302, a key (Holo) for adjusting the holographic imaging parameters of the inspection device 302, and a key (Power) for adjusting the ultrasound power of the inspection device 302. The single button operation area also includes: a gain parameter adjustment area (Gain) of the inspection device 302, an ultrasonic depth adjustment area (Depth) of the inspection device 302, and an adjustment area (Zoom) for adjusting the ultrasonic image magnification of the inspection device 302, wherein the gain parameter adjustment area includes: an automatic adjustment mode button (Auto), a button for increasing gain (+), and a button for decreasing gain (-); the ultrasonic depth adjustment area (Depth) includes: a button for increasing ultrasonic depth (+), and a button for decreasing ultrasonic depth (-); the adjustment area (Zoom) for adjusting the ultrasonic image magnification of the inspection device 302 includes: an automatic adjustment mode button (Auto), a button for increasing magnification (+), and a button for decreasing magnification (-). The single button operation area also includes: a digital function button area, such as Figure 5 As shown, the digital function key area includes digital function keys (1-6) and keys for adjusting the up / down / left / right movement of the ultrasound image of the inspection device 302; wherein each digital function key is configured with a + key and a - key, and pressing the + / - key corresponding to the digital key can adjust the corresponding parameter. The single key operation area also includes: keys F1 to F11, wherein F1 is used to implement the function of "obtaining operation help guide" implemented by the Help key on the physical ultrasound keyboard, F2 is used to implement the function of "reporting and recording the device and parameters of the current ultrasound image" implemented by the Report key on the physical ultrasound keyboard, F3 is used to implement the function of "adjusting the focus position or scanning position of the ultrasound device on the inspection end" implemented by the Station key on the physical ultrasound keyboard, F10 is used to implement the function of "adjusting the magnification of the ultrasound image of the ultrasound device on the patient end" implemented by the Fzoom key on the physical ultrasound keyboard, and F11 is used to implement the function of "personalizing parameters according to the needs of the doctor end user" implemented by the Setup key on the physical ultrasound keyboard. The combination button prompt area is used to prompt the doctor end user (i.e., the first target object) what functions different button combinations can achieve, such as Figure 5As shown, the following information is recorded in the combination key prompt area: the shift+P combination key is used to realize the function of "adjusting the focus and frequency and other parameters of the probe of the examination-end ultrasound device" realized by the Probe key on the physical ultrasound keyboard, the shift+D combination key is used to realize the function of "adjusting the ultrasound gain of the examination-end ultrasound device" realized by the Dual key on the physical ultrasound keyboard, the shift+C combination key is used to realize the function of "adjusting the scanning depth of the examination-end ultrasound device" realized by the Cursor key on the physical ultrasound keyboard, the shift+F combination key is used to realize the function of "pause / freeze / capture the ultrasound image of the current patient" realized by the Freeze key F on the physical ultrasound keyboard, the ctrl+R combination key is used to realize the function of "obtaining the ultrasound image before the current moment" realized by the Review key on the physical ultrasound keyboard, the ctrl+E combination key is used to realize the function of "ending / stopping the current ultrasound scan" realized by the End Exam key on the physical ultrasound keyboard, and the ctrl+B combination key is used to realize the function of "stopping the current ultrasound scan" realized by the Body key on the physical ultrasound keyboard. The Mark key realizes the function of "adjusting the marking parameters of the ultrasound device at the inspection end, marking / drawing lines in the ultrasound image", shift+A is used to realize the function of "entering and adding text comments or annotations in the ultrasound image" realized by the ABCLabel key on the physical ultrasound keyboard, ctrl+P is used to realize the function of "jumping to the patient information interface, adding or modifying patient information in the patient information interface" realized by the Patient key on the physical ultrasound keyboard, the ctrl+S combination key is used to realize the function of "saving the current ultrasound image / data" realized by the Save key on the physical ultrasound keyboard, the shift+H combination key is used to realize the function of "shortening the time for recording (RECording) ultrasound images" realized by the REC← key on the physical ultrasound keyboard, the shift+J combination key is used to realize the function of "increasing the time for recording (RECording) ultrasound images" realized by the REC→ key on the physical ultrasound keyboard, and the ctrl+L combination key is used to realize the function of "clearing / resetting all parameters of the ultrasound device at the inspection end" realized by the Clear key on the physical ultrasound keyboard.

[0050] The terminal device receives the operation of any key on the soft keyboard by the doctor-side user (i.e., the first target object), converts it into a function instruction signal for implementing the function corresponding to the key, and transmits it to the inspection device 302 based on the Ethernet / mobile network to control it to implement the corresponding function. For example, the doctor-side user (i.e., the first target object) presses Ctrl+P on the soft keyboard, and the terminal device converts it into the BUTTON_CLICK{patient} instruction, and controls the inspection device 302 to perform the xx operation; the doctor-side user (i.e., the first target object) presses shift+P on the soft keyboard, and the terminal device converts it into the BUTTON_CLICK{probe} instruction, and controls the inspection device 302 to perform the xx operation; the doctor-side user (i.e., the first target object) presses ctrl+R on the soft keyboard, and the terminal device converts it into the BUTTON_CLICK{Review} instruction, and controls the inspection device The inspection device 302 performs the xx operation. The doctor-side user (i.e., the first target object) presses ctrl+E on the soft keyboard. The terminal device converts it into a BUTTON_CLICK{EndExam} instruction to control the inspection device 302 to perform the xx operation. The doctor-side user (i.e., the first target object) presses the + button in the Zoom area on the soft keyboard. The terminal device converts it into a BUTTON_CLICK{Zoom_Inc} instruction to control the inspection device 302 to perform the xx operation. The doctor-side user (i.e., the first target object) presses the - button in the Zoom area on the soft keyboard. The terminal device converts it into a BUTTON_CLICK {Zoom_Dec} instruction, control the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses the Auto button in the Zoom area on the soft keyboard, and the terminal device converts it into BUTTON_CLICK{Zoom_Btn} instruction, control the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses ctrl+B on the soft keyboard, and the terminal device converts it into BUTTON_CLICK{BodMark} instruction, control the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses shift+A on the soft keyboard, and the terminal device converts it into The terminal device converts it into a BUTTON_CLICK{Clear-short} instruction, controls the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses the CW button on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{CW} instruction, controls the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) rotates the PW button on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{PW} instruction, controls the inspection device 302 to perform xx operation, and the doctor-side user (i.e., the first target object) presses Shift+D on the soft keyboard.The terminal device converts it into a BUTTON_CLICK{Dual} instruction, controls the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses button B on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{B} instruction, controls the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses button M on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{M} instruction, controls the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses Power on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{Power} instruction, controls the inspection device 302 performs xx operation, the doctor-side user (i.e., the first target object) presses ctrl+S on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{Save} instruction, controlling the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses Shift+H on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{P1} instruction, controlling the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses shift+J on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{P2} instruction, controlling the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses The doctor-end user (i.e., the first target object) presses shift+F on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{Freeze} instruction, and controls the inspection device 302 to perform the xx operation. The doctor-end user (i.e., the first target object) presses the Calc button on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{calc} instruction, and controls the inspection device 302 to perform the xx operation. The doctor-end user (i.e., the first target object) presses the Measure button on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{Measure} instruction, and controls the inspection device 302 to perform the xx operation. The doctor-end user (i.e., the first target object) presses the + / - button in the Depth area on the soft keyboard. The terminal device converts it into a BUTTON_CLICK{Depth_up} / BUTTON_CLICK{Depth_Down} instruction to control the inspection device 302 to perform xx operation. The doctor-side user (i.e., the first target object) presses the + / - / Auto button in the Gain area on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{Gain_Inc} / BUTTON_CLICK{Gain_Dec} / BUTTON_CLICK{Auto_short} instruction to control the inspection device 302 to perform xx operation. The doctor-side user (i.e., the first target object) presses the Shift+C keys on the soft keyboard at the same time.The terminal device converts it into a BUTTON_CLICK{Cursor} instruction, controls the inspection device 302 to perform the xx operation, the doctor-side user (i.e., the first target object) presses the number key 1 on the soft keyboard, or the + / - button above / below the number key 1, and the terminal device converts it into a BUTTON_CLICK{SoftKey1_Btn}, BUTTON_CLICK{SoftKey1_Inc} / BUTTON_CLICK{SoftKey1_Dec} instruction, controls the inspection device 302 to perform the xx operation, the doctor-side user (i.e., the first target object) presses the number key 2 on the soft keyboard, or the + / - button above / below the number key 2, and the terminal device It is converted into BUTTON_CLICK{SoftKey2_Btn}, BUTTON_CLICK{SoftKey2_Inc} / BUTTON_CLICK{SoftKey2_Dec} instructions to control the inspection device 302 to perform xx operation. The doctor-side user (i.e., the first target object) presses the number key 3 on the soft keyboard, or the + / - button above / below the number key 3. The terminal device converts it into BUTTON_CLICK{SoftKey3_Btn}, BUTTON_CLICK{SoftKey3_Inc} / BUTTON_CLICK{SoftKey3_Dec} instructions to control the inspection device 30 2 Execute xx operation. The doctor-side user (i.e., the first target object) presses the number key 4 on the soft keyboard, or the + / - key above / below the number key 4. The terminal device converts it into BUTTON_CLICK{SoftKey4_Btn}, BUTTON_CLICK{SoftKey4_Inc} / BUTTON_CLICK{SoftKey4_Dec} instructions to control the inspection device 302 to execute xx operation. The doctor-side user (i.e., the first target object) presses the number key 5 on the soft keyboard, or the + / - key above / below the number key 5. The terminal device converts it into BUTTON_CLICK{SoftKey5_Btn}, BUTTON_CLICK{SoftKey5_Inc} / BUTTON_CLICK{SoftKey5_Dec} instructions. ICK{SoftKey5_Inc} / BUTTON_CLICK{SoftKey5_Dec} instruction controls the inspection device 302 to perform xx operation. The doctor-side user (i.e., the first target object) presses the number key 6 on the soft keyboard, or the + / - key above / below the number key 6. The terminal device converts it into BUTTON_CLICK{SoftKey6_Btn}, BUTTON_CLICK{SoftKey6_Inc} / BUTTON_CLICK{SoftKey6_Dec} instruction controls the inspection device 302 to perform xx operation. The doctor-side user (i.e., the first target object) presses the Shift+A keys on the soft keyboard at the same time.The terminal device converts it into a BUTTON_CLICK{Label} instruction, controls the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses the F1 key on the soft keyboard, and the terminal device converts it into a BUTTON_CLICK{Help} instruction, controls the inspection device 302 to perform xx operation, and the doctor-side user (i.e., the first target object) presses the F2 key on the soft keyboard at the same time, and the terminal device converts it into a BUTTON_CLICK{Report} instruction, controls the inspection device 302 to perform xx operation, and the doctor-side user (i.e., the first target object) presses the F3 key on the soft keyboard at the same time, and the terminal device converts it into a BUTTON_CLICK{Station} instruction, controls the inspection device 302 to perform xx operation, and the doctor-side user (i.e., the first target object) presses the F10 key on the soft keyboard at the same time, and the terminal device converts it into a BUTTON_CLICK{Fzoom} instruction, controls the inspection device 302 to perform xx operation, and the doctor-side user (i.e., the first target object) presses the F11 key on the soft keyboard at the same time, and the terminal device Convert it into a BUTTON_CLICK{Setup} instruction, control the inspection device 302 to perform xx operation, the doctor-side user (i.e., the first target object) presses the Shift+Left keys on the soft keyboard at the same time, and the terminal device converts it into a BUTTON_CLICK{Left} instruction, control the inspection device 302 to move the pan-tilt camera to the left, the doctor-side user (i.e., the first target object) presses the Shift+Right keys on the soft keyboard at the same time, and the terminal device converts it into a BUTTON_CLICK{Right} instruction, control the inspection device 302 to move the pan-tilt camera to the right, the doctor-side user (i.e., the first target object) presses the Shift+Down keys on the soft keyboard at the same time, and the terminal device converts it into a BUTTON_CLICK{Down} instruction, control the inspection device 302 to move the pan-tilt camera down, the doctor-side user (i.e., the first target object) presses the Shift+Up keys on the soft keyboard at the same time, and the terminal device converts it into a BUTTON_CLICK{Up} instruction, control the inspection device 302 to move the pan-tilt camera up. ,

[0051] According to an optional embodiment of the present application, the second type of operation information is also generated by the following method: converting the voice signal sent by the first target object into a command signal based on a preset text protocol.

[0052] In this embodiment, the doctor-side user (i.e., the first target object) can manually perform corresponding operations on the soft keyboard displayed in the terminal device to adjust the inspection position of the inspection device 302, the parameters of the emitted ultrasound and the parameters of the generated image; or input voice signals to the terminal device by communicating with the terminal device. The terminal device converts the voice signals into command signals based on the above-mentioned preset text protocol or other defined text protocols to control the inspection device 302 to perform corresponding operations.

[0053] Step S404: Control the inspection device to perform an action corresponding to the operation information.

[0054] In step S404, the inspection device 302 receives the first type of operation information and / or the second type of operation information transmitted by the terminal device based on a communication signal (such as an Ethernet-based communication signal, a mobile network-based communication signal), and the inspection device 302 controls the robotic arm to perform different actions according to the first type of operation information, and adjusts the ultrasound parameters according to the second type of operation information to obtain data (i.e., health status information) representing the health status of the patient-end user (i.e., the second target object).

[0055] Through the above steps, the function of jointly controlling the inspection equipment based on the portable control device and the terminal device can be realized. The doctor-side user uses the relevant programs for controlling the inspection equipment downloaded from the portable control device and the terminal device to control the inspection terminal device for health examinations, avoiding the problem of ultrasonic examinations being limited by immovable control devices.

[0056] According to some optional embodiments of the present application, the remote control method also includes: displaying an operation interface, wherein the operation interface is generated after the inspection device executes an action corresponding to the first type of operation information and an action corresponding to the second type of operation information, and the operation interface includes: health status information of the second target object and parameters of the inspection device, and when the operating position of the robotic arm is the same and the parameters of the inspection device are different, the health status information displayed in the operation interface is different; when the second type of operation information indicates to display the soft keyboard and the operation interface at the same time, the soft keyboard and the operation interface are displayed at the same time on the display interface of the terminal device; when the second type of operation information does not indicate to display the soft keyboard and the operation interface at the same time, only the operation interface is displayed on the display interface of the terminal device.

[0057] In some embodiments, in addition to being able to convert the operations performed by the doctor-side user (i.e., the first target object) on the soft keyboard into command signals and transmit them to the inspection device 302 via Ethernet / mobile network, the terminal device can also display an operation interface corresponding to the doctor-side user's operations (including first-category operation information and second-category operation information). For example, when the doctor-side user (i.e., the first target object) presses the Shift+P keys on the soft keyboard at the same time, the operation interface displayed by the terminal device is an inspection mode / probe switching interface, in which the doctor-side user (i.e., the first target object) can change the probe used by the inspection device 302 when performing the inspection operation; when the doctor-side user (i.e., the first target object) clicks the Power button on the soft keyboard, the operation interface displays the interface corresponding to the Power mode, wherein the interface corresponding to the Power mode includes parameters such as the ratio filtering of the inspection device 302, the label of the displayed spectrum, and the color mode; when the doctor-side user (i.e., the first target object) clicks the B button on the soft keyboard, the operation interface displays the interface corresponding to the B mode, wherein the operation interface corresponding to the B mode includes parameters such as image quality, dynamic range, focus position, image enhancement, and grayscale spectrum. If the doctor-side user calls out the soft keyboard while observing the operation interface, the terminal device will simultaneously display the soft keyboard on the operation interface, and the doctor-side user can adjust the parameters of the inspection device 302 through the soft keyboard while observing the operation interface; if the doctor-side user does not call out the soft keyboard, or controls the soft keyboard to disappear from the operation interface, only the operation interface will be displayed on the terminal device.

[0058] Figure 6 is a schematic diagram of a remote inspection system provided according to an embodiment of the present application, such as Figure 6 As shown, the remote inspection system includes: a terminal device 60, a control device 62 and an inspection device 64, wherein the control device 62 includes: an operation panel 620 and a probe 622, which are used to convert the physical operation of the first target object applied to the operation panel through the probe into first-type operation information based on a preset communication protocol, and send the first-type operation information to the terminal device 60, wherein the first-type operation information is a digital signal; the terminal device 60 is connected to the control device 62 and the inspection device 64, and is used to receive the first-type operation information and send the first-type operation information to the inspection device 64, and display a soft keyboard, generate second-type operation information according to the operation of the first target object on the soft keyboard based on a preset text protocol, and send the second-type operation information to the inspection device 64, wherein the second-type operation information is a command signal; the inspection device 64 includes: a mechanical arm 640, which is used to adjust parameters according to the second-type operation information, and control the mechanical arm 640 to perform the action indicated by the first-type operation information, obtain the health status information of the second target object, and send the health status information to the terminal device 60.

[0059] Optionally, the control device 62 is used to convert a first type of operation applied by the first target object to the probe 622 into a first type of digital signal, wherein the first type of operation is an operation to change the posture information of the probe 622, and the first type of digital signal is used to generate the first type of operation information.

[0060] Optionally, the control device 62 is also used to convert a second type of operation applied by the first target object to the operation panel 620 into a second type of digital signal, wherein the second type of operation is an operation of changing the position of the probe 622 on the operation panel 620, and the second type of digital signal is used to generate the first type of operation information.

[0061] Optionally, the control device 62 also includes a pressure sensor 624, which is used to convert a third type of operation applied by the first target object to the operating panel 620 through the probe 622 into a third type of digital signal, wherein the third type of operation is an operation of changing the pressure applied by the probe 622 on the operating panel 620, and the third type of digital signal is used to generate the first type of operation information.

[0062] Figure 6 When the remote inspection system shown is working, the doctor-side user (i.e., the first target object) operates the control device 62 and the terminal device 60 to control the inspection device 64, and further implements the health inspection of the inspection-side user. The doctor-side user (i.e., the first target object) manipulates the probe 622 to change the posture information of the probe 622 placed on the operation panel 620, such as the Euler angle (roll angle, yaw angle, and pitch angle). When the Euler angle of the probe 622 changes, the operation panel 620 transmits the physical signal generated after the posture information changes to the terminal device 60 through the universal serial bus. The terminal device 60 converts the received physical signal into a corresponding (first type) digital signal, and then transmits the (first type) operation information containing the (first type) digital signal to the inspection device 64 through the Ethernet / mobile network, and controls the inspection device 64 to perform the corresponding operation of the control device 62. The doctor-side user (i.e., the first target object) can also manipulate the probe 622 to change the position of the probe 622 on the operation panel 620. The operation panel 620 transmits the physical signal generated after the probe 620 changes its position to the terminal device 60 via USB. The terminal device 60 converts the physical signal into a (second type) digital signal corresponding to the position information, generates (first type) operation information containing the (second type) digital signal, and transmits the (first type) operation information to the inspection device 64 via Ethernet / mobile network to control the mechanical arm 640 in the inspection device 64 to change the inspection position. Figure 6As shown, the control device 62 includes a pressure sensor 624. The doctor-end user (i.e., the first target object) applies pressure to the operation panel 620 through the probe 622. The pressure sensor 624 placed under the operation panel 620 converts the pressure applied by the doctor-end user to the operation panel 620 through the probe 622 into a physical signal. The operation panel 620 transmits the physical signal to the terminal device 60 via USB. The terminal device 60 converts the physical signal converted from the pressure into a corresponding (third type) digital signal, and transmits the (first type) operation information generated by the (third type) digital signal to the inspection device 64 via Ethernet / mobile network, thereby changing the pressure applied to the patient-end user by the robotic arm 640 in the inspection device 64.

[0063] Figure 7 It is a structural diagram of a remote control device provided according to an embodiment of the present application, including: an acquisition module 70, used to obtain operation information, wherein the operation information includes: a first type of operation information generated according to the operation of the first target object on the control device, and a second type of operation information generated according to the operation of the first target object on the soft keyboard, the soft keyboard is displayed in the terminal device, the first type of operation information is used to control the robot arm of the inspection device, the second type of operation information is used to adjust the parameters of the inspection device, and the inspection device is used to obtain the health status information of the second target object based on the first type of operation information and the second type of operation information; a control module 72, used to control the inspection device to perform actions corresponding to the operation information.

[0064] It should be noted that Figure 7 The preferred implementation of the illustrated embodiment can be found in Figure 4 The relevant description of the illustrated embodiment will not be repeated here.

[0065] An embodiment of the present application further provides a non-volatile storage medium, in which a computer program is stored, wherein the above remote control method is executed by running the computer program on a device where the non-volatile storage medium is located.

[0066] The above-mentioned non-volatile storage medium is used to store programs that perform the following functions: obtain operation information, wherein the operation information includes: first type of operation information generated according to the operation of the first target object on the control device, and second type of operation information generated according to the operation of the first target object on the soft keyboard, the soft keyboard is displayed in the terminal device, the first type of operation information is used to control the robotic arm of the inspection device, the second type of operation information is used to adjust the parameters of the inspection device, and the inspection device is used to obtain the health status information of the second target object based on the first type of operation information and the second type of operation information; control the inspection device to perform actions corresponding to the operation information.

[0067] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the above remote control method through the computer program.

[0068] The processor in the above-mentioned electronic device is used to run a program that performs the following functions: obtaining operation information, wherein the operation information includes: first-type operation information generated based on the operation of the first target object on the control device, and second-type operation information generated based on the operation of the first target object on the soft keyboard, the soft keyboard is displayed in the terminal device, the first-type operation information is used to control the robotic arm of the inspection device, the second-type operation information is used to adjust the parameters of the inspection device, and the inspection device is used to obtain the health status information of the second target object based on the first-type operation information and the second-type operation information; controlling the inspection device to perform actions corresponding to the operation information.

[0069] It should be noted that the various modules in the above-mentioned remote control device can be program modules (for example, a set of program instructions that implement a certain specific function) or hardware modules. For the latter, it can be expressed in the following forms, but is not limited to this: the expression form of each of the above-mentioned modules is a processor, or the functions of each of the above-mentioned modules are implemented by a processor.

[0070] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0071] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0072] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0073] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0074] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0075] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A remote control method, characterized in that: Applied to a remote inspection device, the remote inspection device comprises: an inspection device and a control device for controlling the inspection device, the control device and the inspection device are communicatively connected via a terminal device; the method comprises: Acquiring operation information, wherein the operation information includes: first-type operation information generated according to an operation of the first target object on the control device, and second-type operation information generated according to an operation of the first target object on a soft keyboard, the soft keyboard is displayed in the terminal device, the first-type operation information is used to control a mechanical arm of the inspection device, the second-type operation information is used to adjust a parameter of the inspection device, and the inspection device is used to acquire health status information of the second target object according to the first-type operation information and the second-type operation information; The inspection device is controlled to perform an action corresponding to the operation information.

2. The method according to claim 1, characterized in that The first type of operation information is generated by the following method: Based on a preset communication protocol, converting a physical signal generated according to the operation of the first target object on the control device into a digital signal, wherein the preset communication protocol defines a corresponding relationship between the physical signal and the digital signal; A target signal sequence is generated according to the digital signal, wherein the target signal sequence is used to represent the first type of operation information.

3. The method according to claim 2, characterized in that The control device comprises: a probe and an operation panel; Generating a target signal sequence according to the digital signal comprises: In the case where the physical signal is a first type of physical signal, generating a first type of digital signal, wherein the first type of physical signal corresponds to a first type of operation performed by the first target object on the probe, and the first type of operation is an operation of changing the posture information of the probe; In the case where the physical signal is a second type of physical signal, generating a second type of digital signal, wherein the second type of physical signal corresponds to a second type of operation performed by the first target object on the probe, and the second type of operation is an operation of changing the position of the probe on the operation panel; In the case where the physical signal is a third type of physical signal, generating a third type of digital signal, wherein the third type of physical signal corresponds to a third type of operation performed by the first target object on the probe, and the third type of operation is an operation of changing the pressure applied by the probe on the operation panel; Acquire an initial signal sequence, replace the digital signal at the first position in the initial signal sequence with the first type of digital signal, replace the digital signal at the second position in the initial signal sequence with the second type of digital signal, and replace the digital signal at the third position in the initial signal sequence with the third type of digital signal, to generate the target signal sequence.

4. The method according to claim 1, characterized in that: The second type of operation information is generated by the following method: Based on a preset text protocol, a digital signal generated according to the operation of the first target object on the soft keyboard is converted into a command signal, wherein the command signal is used to represent the second type of operation information.

5. The method according to claim 4, characterized in that The preset text protocol defines a first type of command signal corresponding to a single key operation and a second type of command signal corresponding to a combination key operation; The first type of command signal includes at least one of the following: a command signal for adjusting the ultrasonic image parameters output by the inspection device, a command signal for adjusting the ultrasonic mode of the inspection device, and a command signal for adjusting the first ultrasonic parameter of the inspection device, wherein the first ultrasonic parameter includes: ultrasonic frequency, ultrasonic depth, and ultrasonic focus position; The second type of command signal includes at least one of the following: a command signal for adjusting a second ultrasonic parameter of the inspection device, a command signal for adjusting a scanning parameter of the inspection device, and a command signal for adjusting the probe type of the inspection device, wherein the second ultrasonic parameter includes: ultrasonic echo intensity.

6. The method according to claim 4, characterized in that The second type of operation information is also generated by the following method: converting the voice signal sent by the first target object into the command signal based on the preset text protocol.

7. The method according to claim 1, characterized in that The method further comprises: Displaying an operation interface, wherein the operation interface is generated after the inspection device performs an action corresponding to the first type of operation information and an action corresponding to the second type of operation information, and the operation interface includes: health information of the second target object and parameters of the inspection device, and when the operation position of the manipulator is the same and the parameters of the inspection device are different, the health information displayed in the operation interface is different; When the second type of operation information indicates to display the soft keyboard and the operation interface simultaneously, display the soft keyboard and the operation interface simultaneously on the display interface of the terminal device; When the second type of operation information does not indicate to display the soft keyboard and the operation interface at the same time, only the operation interface is displayed on the display interface of the terminal device.

8. A remote inspection system, characterized in that: include: Terminal equipment, control equipment and inspection equipment, among which, The control device comprises: an operation panel and a probe, which is used to convert a physical operation of a first target object applied to the operation panel by the probe into first-type operation information based on a preset communication protocol, and send the first-type operation information to the terminal device, wherein the first-type operation information is a digital signal; The terminal device is connected to the control device and the inspection device, and is used to receive the first type of operation information, send the first type of operation information to the inspection device, and display a soft keyboard, generate second type of operation information according to the operation of the first target object on the soft keyboard based on a preset text protocol, and send the second type of operation information to the inspection device, wherein the second type of operation information is a command signal; The inspection device includes: a robotic arm, used to adjust parameters according to the second type of operation information, and control the robotic arm to perform the action indicated by the first type of operation information, obtain health status information of the second target object, and send the health status information to the terminal device.

9. The remote inspection system according to claim 8, characterized in that: The control device is used to convert a first type of operation applied by the first target object to the probe into a first type of digital signal, wherein the first type of operation is an operation to change the posture information of the probe, and the first type of digital signal is used to generate the first type of operation information.

10. The remote inspection system according to claim 8, characterized in that: The control device is also used to convert a second type of operation applied by the first target object to the operation panel into a second type of digital signal, wherein the second type of operation is an operation of changing the position of the probe on the operation panel, and the second type of digital signal is used to generate the first type of operation information.

11. The remote inspection system according to claim 8, characterized in that: The control device also includes a pressure sensor for converting a third type of operation applied by the first target object to the operation panel through the probe into a third type of digital signal, wherein the third type of operation is an operation of changing the pressure applied by the probe on the operation panel, and the third type of digital signal is used to generate the first type of operation information.

12. A remote control device, characterized in that: include: an acquisition module, configured to acquire operation information, wherein the operation information includes: first-type operation information generated according to an operation of a first target object on a control device, and second-type operation information generated according to an operation of the first target object on a soft keyboard, the soft keyboard being displayed in a terminal device, the first-type operation information being used to control a mechanical arm of an inspection device, the second-type operation information being used to adjust parameters of the inspection device, and the inspection device being used to acquire health status information of a second target object according to the first-type operation information and the second-type operation information; A control module is used to control the inspection device to perform an action corresponding to the operation information.

13. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a computer program, wherein the remote control method according to any one of claims 1 to 7 is executed by running the computer program on the device where the non-volatile storage medium is located.

14. An electronic device comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to execute the remote control method according to any one of claims 1 to 7 through the computer program.

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