Wearable cardiac ultrasound garment and cardiac monitoring method suitable for ultrasound-guided interventional robotic surgery

Abstract

The embodiment of the present application relates to the field of measurement for diagnosis and guidance, and particularly relates to a wearable heart ultrasonic clothes suitable for an ultrasonic guided interventional operation robot and a heart monitoring method. By adopting a gel to fix ultrasonic monitoring members between patient skin and a clothes main body, movement of the ultrasonic monitoring members is avoided to generate false images. Meanwhile, multiple ultrasonic monitoring members are arranged at different positions around a heart, so that the multiple ultrasonic monitoring members comprehensively monitor heart activities from different directions, and comprehensiveness and accuracy of heart function data are improved. A third ultrasonic monitoring member is arranged to be detachably fixed to the clothes main body, so that relative distances of the multiple ultrasonic monitoring members are changed to adapt to changes of heart positions caused by differences such as diseases of different patients. Furthermore, by adopting a fixing member to further fix the ultrasonic monitoring members, movement of the ultrasonic monitoring members is further prevented, so that heart function data in a monitoring process is more reliable, and meanwhile, manpower of ultrasonic doctors is saved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of measurement for diagnosis and guidance purposes, and in particular to a wearable cardiac ultrasound garment and a cardiac monitoring method suitable for an ultrasound-guided interventional surgery robot. Background Art

[0002] The statements herein merely provide background information related to the present application and do not necessarily constitute prior art.

[0003] During medical procedures such as surgery, heart rate and function monitoring is necessary to obtain vital signs and provide data feedback for ongoing procedures. Currently, ultrasound monitoring typically uses a cylindrical probe, held by the ultrasound physician and placed at several key locations on the patient's body. These locations are typically the apex, parasternal region, and subxiphoid fossa. This type of ultrasound examination is not only bulky and complex, but also heavily labor-intensive. During ultrasound-guided surgery, physician fatigue can severely impact surgical quality, and image quality can vary significantly depending on physician experience. Furthermore, community-based heart disease screening requires large ultrasound equipment and numerous physicians, resulting in significant inefficiency. Postoperative monitoring also requires an ultrasound device that can provide continuous monitoring to detect complications promptly. Therefore, in conjunction with the previously developed patch-type ultrasound system, this ultrasound vest was developed. This integrates the bulky ultrasound machine into a single vest. Patients simply don and secure the vest to quickly and continuously obtain clear ultrasound images. This design not only facilitates large-scale community-based screening and ultrasound-guided surgery, but is also highly suitable for continuous ultrasound monitoring in the ICU after cardiac surgery, enabling the timely detection of critical conditions such as pericardial effusion. Summary of the Invention

[0004] A brief overview of the present application is provided below to provide a basic understanding of certain aspects of the present application. It should be understood that this overview is not an exhaustive overview of the present application. It is not intended to identify key or important portions of the present application, nor is it intended to limit the scope of the present application. Its purpose is simply to present certain concepts in a simplified form as a prelude to the more detailed description that will be discussed later.

[0005] One aspect of an embodiment of the present application provides a wearable cardiac ultrasound garment suitable for an ultrasound-guided interventional surgical robot, which is used for real-time monitoring of a patient's heart beat and heart function during surgery, monitoring, and screening. The garment comprises: a garment body, a first ultrasound monitoring component, a second ultrasound monitoring component, a third ultrasound monitoring component, a fixing component, and a gel. The garment body is configured to be wearable on a patient during surgery, monitoring, and screening. The first ultrasound monitoring component and the second ultrasound monitoring component are configured to be fixed to the garment body. The third ultrasound monitoring component is configured to be detachably fixed to the garment body to adjust the position of the third ultrasound monitoring component on the garment body. The gel is configured to move the first ultrasound monitoring component to the patient's position. The acoustic monitoring device, the second ultrasonic monitoring device and the third ultrasonic monitoring device are fixed on the patient's skin in a predetermined manner, so that the first ultrasonic monitoring device, the second ultrasonic monitoring device and the third ultrasonic monitoring device can monitor the patient's heart. The fixing device is arranged on the main body of the clothing and is arranged to enable the main body of the clothing to fit closely to the patient's body and apply pressure to the patient's body to fix the position of the first ultrasonic monitoring device, the second ultrasonic monitoring device and the third ultrasonic monitoring device relative to the patient. The first ultrasonic monitoring device, the second ultrasonic monitoring device and the third ultrasonic monitoring device are all arranged between the main body of the clothing and the patient's skin, and are arranged to be able to comprehensively identify and monitor heart beats and heart functions from different directions.

[0006] Another aspect of an embodiment of the present application provides a heart monitoring method suitable for an ultrasound-guided interventional surgery robot, which uses the aforementioned wearable cardiac ultrasound garment to monitor heart beat and heart function.

[0007] The embodiment of the present application provides a wearable cardiac ultrasound garment suitable for an ultrasound-guided interventional surgical robot. The ultrasound monitoring component is fixed between the patient's skin and the main body of the garment by using gel, so that the position of the ultrasound monitoring component is fixed, thereby avoiding the movement of the ultrasound monitoring component and generating artifacts. At the same time, multiple ultrasound monitoring components are used and multiple ultrasound monitoring components are arranged at different positions around the heart, so that multiple ultrasound monitoring components can comprehensively identify and monitor heart beats and heart functions from different directions, thereby improving the comprehensiveness and accuracy of heart function data. The third ultrasound monitoring component is configured to be removable and fixed to the main body of the garment, so that the relative distance between the multiple ultrasound monitoring components changes to adapt to changes in heart position caused by physiological differences such as body shape in different patients. Moreover, the ultrasound monitoring component is further fixed by using a fixing component to further prevent the movement of the ultrasound monitoring component, so that the heart function data during the operation is more reliable, while saving ultrasound manpower.

[0008] The embodiment of the present application provides a cardiac monitoring method suitable for an ultrasound-guided interventional surgical robot. By adopting the aforementioned wearable cardiac ultrasound garment to monitor cardiac activity, the heart can be comprehensively monitored from different directions, and artifacts caused by movement are less likely to be generated during the monitoring process, thereby improving the comprehensiveness and accuracy of the monitoring data. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] To further illustrate the above and other advantages and features of the present application, the following detailed description of specific embodiments of the present application is provided in conjunction with the accompanying drawings. The accompanying drawings, together with the detailed description below, are incorporated into and form a part of this specification. Elements with the same function and structure are denoted by the same reference numerals. It should be understood that these drawings depict only typical examples of the present application and should not be construed as limiting the scope of the present application.

[0010] Figure 1 is a perspective schematic diagram of a wearable cardiac ultrasound garment provided in an embodiment of the present application;

[0011] Figure 2 is a schematic diagram of the cooperation between the disassembly component and the matching component provided in the embodiment of the present application;

[0012] Figure 3 is a schematic structural diagram of a third ultrasonic monitoring component provided in an embodiment of the present application;

[0013] Figure 4 is an enlarged schematic diagram of the cooperation between the first probe and the gel provided in an embodiment of the present application;

[0014] Figure 5 is an enlarged schematic diagram of the cooperation between the second probe and the gel provided in an embodiment of the present application;

[0015] Figure 6 is an enlarged schematic diagram of the cooperation between the third probe and the gel provided in the embodiment of the present application;

[0016] Figure 7 is an enlarged schematic diagram of the cooperation between the second probe, the adjustment member, the gel, and the adjustment drive member provided in an embodiment of the present application;

[0017] Figure 8 is an enlarged schematic diagram of the cooperation between the third probe, the adjustment member, the gel, and the adjustment drive member provided in an embodiment of the present application;

[0018] Figure 9 is a structural block diagram of an ultrasonic image processing device provided in an embodiment of the present application;

[0019] Figure 10 is an exploded schematic diagram of the components of the ultrasound patch probe provided in an embodiment of the present application;

[0020] Figure 11 is a cross-sectional schematic diagram of an ultrasonic patch probe provided in an embodiment of the present application;

[0021] Figure 12 is a cross-sectional schematic diagram of a cable support assembly and an electrical connection assembly provided in an embodiment of the present application;

[0022] Figure 13 Schematic diagram of the electrical connector provided by an embodiment of the present application in cooperation with the first circuit board and the second circuit board;

[0023] Figure 14 is a detailed schematic diagram of an electrical connector provided in an embodiment of the present application;

[0024] Figure 15 Schematic diagram of the cooperation between the detection assembly and the probe receiving assembly provided in an embodiment of the present application;

[0025] Figure 16 is a schematic diagram of a rectangular distribution of contacts provided by an embodiment of the present application;

[0026] Figure 17 This is a schematic diagram of radially distributed contacts provided by an embodiment of the present application.

[0027] Description of reference numerals:

[0028] 10. Garment body; 107. Ultrasonic monitoring fixing portion; 11. First ultrasonic monitoring component; 111. First probe; 12. Second ultrasonic monitoring component; 121. Second probe; 13. Third ultrasonic monitoring component; 131. Third probe; 132. Third ultrasonic generator; 14. Fixing component; 141. First probe fixing portion; 142. Second probe fixing portion; 143. Third probe fixing portion; 15. Disassembly component; 16. Fitting component; 17. Gel; 18. Adjustment component; 19. Adjustment drive component;

[0029] 20. Probe accommodating assembly; 21. Accommodating member; 211. First accommodating portion; 2110. Continuous outer surface; 2111. First continuous inner wall; 2112. Second continuous inner wall; 212. Second accommodating portion; 22. Second connecting member;

[0030] 30. Electrical connection assembly; 31. Electrical connector; 311. Free portion; 312. Fixed portion; 313. Connecting portion; 314. Adjusting portion; 315. Stopping portion; 32. First circuit board; 321. Connecting hole; 322. Connecting point;

[0031] 40. Detection assembly; 41. Detection member; 42. Second circuit board; 421. Contact; 4210. First diameter; 4211. Second diameter; 43. Transition member;

[0032] 50. Cable support assembly; 51. Support member; 511. Main body; 512. Limiting member; 513. Extension member; 5131. First continuous outer wall; 5132. Second continuous outer wall; 5133. Third continuous outer wall; 52. Cable; 53. First connector;

[0033] 100. Ultrasonic image processing unit; 101. Acquisition module; 102. Preprocessing module; 103. Basic feature extraction module; 104. Correlation feature extraction module; 105. Feature fusion module; 106. Deployment optimization module. DETAILED DESCRIPTION

[0034] Exemplary embodiments of the present application will be described below with reference to the accompanying drawings. For the sake of clarity and conciseness, not all features of actual implementations are described in the specification. However, it should be understood that many implementation-specific decisions must be made in the process of developing any such actual implementation in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and these constraints may vary depending on the implementation. In addition, it should be understood that although the development work may be very complex and time-consuming, it is a routine task for those skilled in the art who benefit from the content of this application.

[0035] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, the accompanying drawings only show the device structure and / or processing steps that are closely related to the solution according to the present application, while other details that are not closely related to the present application are omitted.

[0036] The disclosure below provides a plurality of different embodiments or examples for implementing the present application. In order to simplify the disclosure of the present application, the components and methods of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In the description of the embodiments of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless otherwise specifically defined.

[0037] During surgery, ultrasound can be used to monitor the heart. However, current ultrasound methods require manual control of the ultrasound device, which restricts the operator's movements. In addition, the position of ultrasound detection in the current ultrasound equipment is inaccurate or unstable, making it impossible to fully and accurately monitor the heart during surgery.

[0038] The embodiment of the present application provides a wearable cardiac ultrasound garment suitable for ultrasound-guided interventional surgery robots, which is used to monitor the patient's heart beat and heart function in real time during surgery, monitoring, and screening. Figure 1 A perspective schematic diagram of a wearable cardiac ultrasound garment provided by an embodiment of the present application is shown, Figure 1As shown, it comprises: a clothes body 10, a first ultrasonic monitoring member 11, a second ultrasonic monitoring member 12, a third ultrasonic monitoring member 13, a fixing member 14, and a gel. The clothes body 10 is arranged to be worn on a patient during an operation, monitoring, or screening process. The first ultrasonic monitoring member 11 and the second ultrasonic monitoring member 12 are arranged to be fixed to the clothes body 10. The third ultrasonic monitoring member 13 is arranged to be detachably fixed to the clothes body 10, so as to adjust the position of the third ultrasonic monitoring member 13 on the clothes body 10. The gel is arranged to fix the first ultrasonic monitoring member 11, the second ultrasonic monitoring member 12, and the third ultrasonic monitoring member 13 on the skin of the patient in a predetermined manner, so that the first ultrasonic monitoring member, the second ultrasonic monitoring member, and the third ultrasonic monitoring member can monitor the heart of the patient. The fixing member 14 is arranged on the clothes body 10 and is arranged to make the clothes body 10 closely fit the body of the patient and to apply pressure to the body of the patient, so as to fix the positions between the first ultrasonic monitoring member 11, the second ultrasonic monitoring member 12, and the third ultrasonic monitoring member 13 and the patient. The first ultrasonic monitoring member 11, the second ultrasonic monitoring member 12, and the third ultrasonic monitoring member 13 are all arranged between the clothes body 10 and the skin of the patient and are arranged to comprehensively identify and monitor the heartbeat and the heart function from different directions.

[0039] The wearable heart ultrasonic clothes suitable for an ultrasonic guided interventional operation robot provided by the embodiments of the present application fixes the ultrasonic monitoring members between the skin of the patient and the clothes body 10 by using the gel, so as to fix the positions of the ultrasonic monitoring members and avoid the generation of artifacts due to the movement of the ultrasonic monitoring members. Meanwhile, the multiple ultrasonic monitoring members are arranged at different positions around the heart, so that the multiple ultrasonic monitoring members can comprehensively identify and monitor the heartbeat and the heart function from different directions, and the comprehensiveness and accuracy of the heart function data are improved. The third ultrasonic monitoring member 13 is arranged to be detachably fixed to the clothes body 10, so that the relative distances between the multiple ultrasonic monitoring members can be changed to adapt to the changes in the position of the heart of different patients due to physiological differences such as body type. Furthermore, the ultrasonic monitoring members are further fixed by using the fixing member 14, so as to further prevent the movement of the ultrasonic monitoring members, to make the heart function data in the operation process more reliable, and to save the manpower in the operation.

[0040] Figure 3 The structure schematic diagram of the third ultrasonic monitoring member provided by the embodiments of the present application is shown. In some embodiments, as Figure 1 and Figure 3As shown, the first ultrasonic monitoring component 11 includes a first probe and a first ultrasonic generator, and the first ultrasonic generator is configured to provide ultrasound to the first probe; the second ultrasonic monitoring component 12 includes a second probe and a second ultrasonic generator, and the second ultrasonic generator is configured to provide ultrasound to the second probe; the third ultrasonic monitoring component 13 includes a third probe 131 and a third ultrasonic generator 132, and the third ultrasonic generator 132 is configured to provide ultrasound to the third probe. The first probe and the second probe are configured to be fixed to the clothing body 10, and the third probe 131 is configured to be detachably fixed to the clothing body 10 to adjust the position of the third probe 131 on the clothing body 10. The gel is configured to fix the first probe, the second probe, and the third probe 131 to the patient's skin in a predetermined manner, so that when the fixing component 14 applies pressure to the patient's body, the positions of the first probe, the second probe, and the third probe 131 relative to the patient are fixed; the first probe, the second probe, and the third probe 131 are all arranged between the clothing body 10 and the patient's skin, and are configured to comprehensively identify and monitor heart beats and heart function from different directions.

[0041] In some embodiments, as Figure 1 As shown, a plurality of ultrasonic monitoring fixing parts 107 are formed on the side of the clothing body close to the skin, which are used to fix the first ultrasonic generator, the second ultrasonic generator and the third ultrasonic generator on the clothing body 10 respectively. The ultrasonic monitoring fixing part 107 can be set to a bag-like structure to accommodate the first ultrasonic generator, the second ultrasonic generator and the third ultrasonic generator to prevent them from sliding and causing the probe to deviate from the ultrasonic monitoring position.

[0042] In some embodiments, the first ultrasonic monitoring component 11, the second ultrasonic monitoring component 12 and the third ultrasonic monitoring component 13 are configured to be identical, and are all composed of a probe and an ultrasonic generator. Figure 3 The form shown.

[0043] In some embodiments, the first probe and the second probe are fixed to the clothing body 10 so as to be set around the heart from two different positions, and the third probe 131 is configured to be able to adjust its position relative to the clothing body 10, so that the relative positions between multiple probes can be adjusted by manually adjusting the position of the third probe 131, so that multiple probes can be set around the heart, thereby improving the accuracy of the data.

[0044] In some embodiments, the clothing body 10 is provided in different sizes to adapt to the body shape of the patient. For example, the clothing body 10 can be provided in three sizes to cover a range of body shapes of patients.

[0045] In some embodiments, the distance between the first ultrasonic monitoring element 11 and the second ultrasonic monitoring element 12 can be configured to vary with the size of the garment body 10. Because the distance between the subxiphoid fossa and the parasternal detection point is relatively constant for patients of the same height and weight, the positions of the first and second probes are fixed, so that when the patient puts on the garment body 10, the second probe is aligned with the subxiphoid fossa, while the first probe is aligned with the parasternal detection point.

[0046] In some embodiments, the hearts of patients of the same height and weight may be of different sizes, and cardiac expansion is mainly manifested in the outward movement of the apex of the heart. Therefore, the third probe 131 is configured to be detachable and adjustable to facilitate adjustment of the detection position according to different heart sizes.

[0047] In some embodiments, the distance between the first ultrasonic monitoring component 11 and the second ultrasonic monitoring component 12 on the same clothing main body 10 remains unchanged, and the first ultrasonic monitoring component 11 and the second ultrasonic monitoring component 12 are both fixedly set on the clothing main body 10; when the size of the clothing main body 10 changes, when the first ultrasonic monitoring component 11 and the second ultrasonic monitoring component 12 are fixedly set, it is necessary to expand or reduce the distance between the first ultrasonic monitoring component 11 and the second ultrasonic monitoring component 12 according to the size, so as to reposition the patient's heart position and reduce the monitoring error caused by physiological factors such as body shape.

[0048] In some embodiments, the first probe, the second probe, and the third probe are fixed to the clothing body 10 so that when the patient puts on the clothing body 10, the first probe, the second probe, and the third probe are arranged around the patient's heart, so that the probes can monitor the patient's heart beat and heart function from different directions. At the same time, multiple probes are fixed on the clothing body 10 and the patient's skin without the need for manual fixation, thereby realizing unassisted real-time monitoring, saving manpower during the operation, and improving the convenience and stability of monitoring.

[0049] In some embodiments, as Figure 1 As shown, the first probe is fixed on the position of the clothing body so that when the patient puts on the clothing body 10, the first probe is located next to the patient's sternum, the second probe is fixed on the position of the clothing body so that when the patient puts on the clothing body 10, the second probe is located under the patient's xiphoid process, and the third probe 131 is fixed on the position of the clothing body 10 so that when the patient puts on the clothing body 10, the third probe 131 is located at the patient's apex, thereby realizing monitoring of heart beat and heart function from different directions. The first probe, the second probe and the third probe are respectively arranged beside the patient's sternum, under the xiphoid process and at the apex of the heart, so that the probes can avoid the patient's sternum and avoid bone structure interference with electrical signals.

[0050] Figure 4 A schematic diagram showing the cooperation between the first probe and the gel provided in an embodiment of the present application is shown. Figure 5 A schematic diagram showing the cooperation between the second probe and the gel provided in an embodiment of the present application is shown. Figure 6 A schematic diagram showing the cooperation of the third probe and the gel provided in an embodiment of the present application is shown. In some embodiments, the predetermined manner is set as follows: Figure 4 As shown, the gel 17 is configured to enable the first probe 111 to be fixed parallel to the patient's skin, as shown in FIG. Figure 5 As shown, the gel 17 is configured to fix the second probe 121 at an angle of 80°-90° to the patient's skin. Figure 6 As shown, the gel 17 is configured to fix the third probe 131 at an angle of 45°-60° to the patient's skin, so that the first probe 111, the second probe 121 and the third probe 131 can monitor the heart from different directions.

[0051] In some embodiments, the gel 17 is configured to have a supporting effect after solidification, so that the angle between the probe and the skin surface can be controlled by controlling the amount and shape of the gel 17. Since the probe position is configured so that after the patient puts on the clothing main body 10, the second probe 121 and the third probe 131 are respectively located under the patient's xiphoid process and at the apex of the heart, and the two are located on different sides of the heart, they need to be set at different angles so that each probe is facing the direction where the heart is located, to ensure that the monitoring range of multiple probes covers the range of the heart.

[0052] Figure 7 An enlarged schematic diagram showing the cooperation between the second probe, the adjustment member, the gel and the adjustment drive member provided in an embodiment of the present application is shown. Figure 8 FIG. 1 shows an enlarged schematic diagram of the third probe provided in an embodiment of the present application in cooperation with the adjustment member, the gel, and the adjustment drive member. In some embodiments, as shown in FIG. Figure 7 and Figure 8 As shown, the wearable cardiac ultrasound clothing can also include an adjusting member 18 and an adjusting driving member 19. The adjusting member 18 is configured to be fixed to the side of the first probe 111, the second probe 121 and the third probe 131 away from the patient's skin. The adjusting driving member 19 is configured to be fixed to the clothing body 10. The adjusting driving member 19 is fixed to the adjusting member 18 and is configured to be able to drive the adjusting member 18 to move.

[0053] In some embodiments, as Figure 7 and Figure 8 As shown, the adjusting member 18 can be configured to have a surface with a predetermined tilt angle in contact with the adjusting driving member 19, so that when the adjusting driving member 19 drives the adjusting member 18 to move, it can move in a direction perpendicular to the tilt surface, thereby driving the second probe 121 and the third probe 131 to press the gel 17 at a predetermined angle to adjust the shape of the gel 17, so that after the gel 17 solidifies, the second probe 121 can be fixed in a position facing the heart.

[0054] In some embodiments, the adjustment drive member 19 can be configured as an inflatable balloon, and the operator manually pumps air into the balloon to control the size of the expansion, thereby changing the inclination angle of the adjustment member 18 to shape the gel 17 at a predetermined angle. This allows contactless adjustment of the inclination slope of the gel 17, making the angle setting of the second probe 121 and the third probe 131 more convenient.

[0055] Figure 2 A schematic diagram showing the cooperation between the disassembly part and the matching part provided in the embodiment of the present application is shown in FIG. Figure 2 As shown, the wearable cardiac ultrasound garment further includes a detachable part 15 and a fitting part 16. The detachable part 15 is configured to be fixed to the third probe 131, and the fitting part 16 is configured to be fixed to the garment body 10. The detachable part 15 and the fitting part 16 are configured to be detachably connected so that the position of the third probe 131 on the garment body 10 can be adjusted.

[0056] In some embodiments, as Figure 2 As shown, the side of the third probe away from the patient's skin is fixed to the detachable part 15, the detachable part 15 and the matching part 16 can be configured to be bonded, and the matching part 16 is configured to be fixed to the clothing body 10; when the detachable part 15 is separated from the matching part 16, the third probe 131 fixed to the detachable part 15 is also away from the clothing body 10, which allows the position of the third probe 131 to be adjusted multiple times.

[0057] In some embodiments, as Figure 2 As shown, the extension range of the fitting part 16 is set to cover the coverage range of the detachable part 15, so that the detachable part 15 can maintain a detachable connection with the fitting part 16 when the position is changed, thereby adjusting the position of the third probe 131 relative to the clothing body 10.

[0058] In some embodiments, the fitting 16 can be set at the apex of the patient's heart so that the third probe 131 can move within the patient's apex along with the detachable part 15 and can maintain a detachable connection with the fitting 16 to ensure the firmness of the fixation between the third probe 131 and the clothing body 10.

[0059] In some embodiments, the fixing member 14 is disposed on a side of the garment body 10 opposite to the side in contact with the patient's skin, and is disposed at the location where the second ultrasound monitoring member 12 is disposed on the garment body 10. In other words, the garment body 10 includes an inner side and an outer side, the side in contact with the patient's skin being the inner side, and the fixing member 14 being disposed on the outer side.

[0060] In some embodiments, the fixing members 14 are provided in plurality and can cooperate with each other, and are provided so that the tightness of the cooperation can be adjusted to adapt to the patient's body shape.

[0061] In some embodiments, as Figure 1 As shown, the fixing part 14 includes a first probe fixing part 141, a second probe fixing part 142, and a third probe fixing part 143, which are all arranged to be fixed to the clothes body 10 so as to apply pressure to the probes fixed to the clothes body 10 and further fixed to the clothes body 10.

[0062] In some embodiments, as shown, Figure 1 As shown, the second probe fixing part 142 can be arranged as two straps and arranged to be fixed to the clothes body 10 at positions such that when the patient wears the clothes body 10, the second probe fixing part 142 is located at both sides of the patient's armpit, and the two second probe fixing parts 142 are arranged to be able to extend from both sides of the patient's body to the front of the patient's chest and then cooperate together, so as to further fix the second probe 121 under the patient's xiphoid process.

[0063] In some embodiments, as shown, Figure 1 As shown, the first probe fixing part 141 and the third probe fixing part 143 can also be arranged as straps, and arranged to be fixed to the clothes body 10 at positions such that when the patient wears the clothes body 10, the first probe fixing part 141 and the third probe fixing part 143 are respectively located at both sides of the patient's armpit and do not interfere with the second probe fixing part 142; and arranged to be fixed to the clothes body 10 at one end of the strap, and the free end of the strap can cooperate with the shoulder position of the clothes body 10, and then realize staggered fixing to the patient's shoulder position, so as to apply pressure to the first probe 111 and the third probe 131 respectively, and then further fix the first probe 111 to the patient's parasternal position and the third probe 131 to the patient's apex.

[0064] By arranging the first probe fixing part 141, the second probe fixing part 142, and the third probe fixing part 143 on the clothes body 10, pressure can be applied to the clothes body 10, so as to further fix the first probe 111, the second probe 121, and the third probe 131 between the clothes body 10 and the patient's skin, thereby realizing stable monitoring.

[0065] Another aspect of the embodiments of the present application provides a heart monitoring method suitable for an ultrasound-guided interventional surgery robot, which monitors heart beating and heart function by using the aforementioned wearable heart ultrasound clothes.

[0066] The heart monitoring method suitable for an ultrasound-guided interventional surgery robot provided by the embodiments of the present application monitors heart activity by using the aforementioned wearable heart ultrasound clothes, so that the heart can be comprehensively monitored from different directions, and false images caused by movement are less likely to occur during the monitoring process, thereby improving the comprehensiveness and accuracy of the monitoring data.

[0067] The following is a specific implementation process of the heart monitoring method provided by the present application: the patient wears the clothing body 10 that matches his or her body shape and size on the upper body; applies the gel 17 to a predetermined thickness on the first probe 111 and the second probe 121 respectively, and sticks the side of the probe with the gel 17 parallel to the patient's skin to fix the distribution of the first probe 111 and the second probe 121 on the patient's skin; controls the volume of the adjustment driving member 19 so that the adjustment member 18 tilts accordingly, squeezes the gel 17 and changes the shape of the gel 17 so that the second probe 121 is fixed at an angle of 80°-90° to the patient's skin; waits for the gel 17 on the first probe 111 and the second probe 121 to solidify so that it supports the probe; brings the second probe fixing part 142 close to and fixes it to the body to fix the second probe 121 under the patient's xiphoid process; brings the first probe fixing part 141 close to and fixes it to the body to fix the first probe 111 The patient's sternum is positioned adjacent to the sternum; the detachable member 15 is separated from the fitting member 16 to adjust the position of the third probe 131 according to the position of the patient's apex. After the apex position is determined, the gel 17 is applied to the third probe 131 at a predetermined thickness, and the detachable member 15 and the fitting member 16 are fixed to fix the distribution of the third probe 131 on the patient's skin; the volume of the adjusting driving member 19 is controlled to tilt the adjusting member 18 accordingly, squeezing the gel 17 and causing the gel 17 to change its shape so that the third probe 131 is fixed at a 45°-60° angle to the patient's skin, and the gel 17 on the third probe 131 is allowed to solidify so that it supports the third probe 131; the third probe fixing portion 143 is brought close to and fixed to the body so that the third probe 131 is further fixed at the patient's apex, thereby completing the setup of the wearable cardiac ultrasound garment, so that the probe can be fixed on the patient's skin and directed toward the patient's heart to monitor the patient's cardiac activity. In some embodiments, the first ultrasonic monitoring component 11, the second ultrasonic monitoring component 12, and the third ultrasonic monitoring component 13 are respectively provided with an ultrasonic image processing unit. Figure 9 FIG. 1 shows a structural block diagram of an ultrasonic image processing device provided in an embodiment of the present application, as shown in FIG. Figure 9 As shown, the ultrasound image processing unit 100 includes a preprocessing module 102, a basic feature extraction module 103, an associated feature extraction module 104, a feature fusion module 105, a deployment optimization module 106 and an acquisition module 101, so that the cardiac ultrasound image acquired by the probe can be processed in real time, so as to facilitate timely feedback on the patient's heart function.

[0068] Among them, the acquisition module 101 is used to continuously acquire cardiac ultrasound images of the patient at multiple time points; the preprocessing module 102 is used to segment the cardiac ultrasound images and obtain segmentation results; the basic feature extraction module 103 is used to extract static features of the segmentation results; the associated feature extraction module 104 is used to extract dynamic features of the segmentation results; the feature fusion module 105 is used to combine static features with dynamic features and, based on the combination, determine the volume change trend of pericardial effusion; and the deployment optimization module 106 is used to make the combination lightweight so that it can process ultrasound images in real time. Cardiac ultrasound images acquired at multiple time periods contain both spatial and temporal information. By extracting static and dynamic features of ultrasound images separately, such separate processing can more effectively capture information in these two different states, thereby avoiding information interference between different modules and improving the targetedness of feature extraction. At the same time, it avoids processing information of all dimensions simultaneously, saving computing resources.

[0069] In some embodiments, the preprocessing module 102 is configured to receive a cardiac ultrasound image and to output a segmentation result of the ultrasound image, the segmentation result including a binary mask of the area where the pericardial effusion is located in the cardiac ultrasound image and a sequence of predicted values ​​of the pericardial effusion volume in the cardiac ultrasound image.

[0070] In some embodiments, the cardiac ultrasound image and the segmentation result satisfy the following relationship:

[0071] .

[0072] Where T represents the number of time points; t represents the time period number; Represents the features of the cardiac ultrasound images corresponding to T time periods, which include texture, edge, and morphological feature information; Model represents the relationship between them; It represents the pixel-level segmentation result of the pericardial effusion area at time t, and the output result is a binary mask; Represents the sequence of predicted pericardial effusion volume values ​​from time period t+1 to time period t+10, in mL, which is used to dynamically monitor the growth trend of effusion.

[0073] In some embodiments, the output result of the pre-processing module 102 is the segmented pericardial effusion ultrasound image and the predicted sequence value of the pericardial effusion volume, so as to facilitate the subsequent pericardial effusion region analysis and pericardial effusion volume prediction.

[0074] In some embodiments, the basic feature extraction module 103 includes: a first basic feature extraction unit, used to extract color and edge features of the cardiac ultrasound image; a second basic feature extraction unit, used to extract texture features of the cardiac ultrasound image; a third basic feature extraction unit, used to extract morphological features of the cardiac ultrasound image, and the first basic feature extraction unit, the second basic feature extraction unit and the third basic feature extraction unit are set in parallel.

[0075] In some embodiments, multiple parallel extraction units are set up to extract static features of cardiac ultrasound images, so that the features extracted by each unit are complementary, which facilitates feature splicing and outputs a consistent and comprehensive feature map.

[0076] In some embodiments, the first basic feature extraction unit includes a pooling layer and two dilated convolution layers to enhance the grayscale distribution contrast and edge features of the pericardial effusion area. The edge feature extraction satisfies the following relationship:

[0077] .

[0078] in, represents the raw pixel matrix of the input cardiac ultrasound image; represents the maximum pooling operation to reduce the resolution of cardiac ultrasound images and thus enhance edge saliency; represents a dilation rate of 2, which expands the receptive field to capture long-distance edge features; and Represents the convolution kernel weight matrix, which is used to extract edge features in different directions; Represents the output edge feature map, which characterizes the grayscale difference boundary between pericardial effusion and surrounding tissue.

[0079] In some embodiments, setting a pooling layer can retain the most obvious color and edge features while reducing the size of the feature map, reducing the amount of calculation and speeding up subsequent processing; setting two layers of hole convolution layers can avoid information loss caused by pooling and capture a wider range of context information.

[0080] In some embodiments, the second basic feature extraction unit includes three convolutional layers and one channel attention layer to quantify the internal intensity heterogeneity of the pericardial effusion. The extraction of texture features satisfies the following relationship:

[0081] .

[0082] .

[0083] in, The feature map representing the output of the third convolution layer represents the local texture details of the pericardial effusion area; Represents global average pooling, compressing the feature map into a channel description vector; Represents the weight of the fully connected layer and generates the channel attention weight; Represents the Sigmoid activation function, which maps the weights to the [0,1] interval; Represents the channel attention weight, quantifying the importance of different texture feature channels; Represents the weighted texture feature map, which characterizes the response of the heterogeneous area.

[0084] In some embodiments, three convolutional layers enable layer-by-layer understanding of images, from simple to complex, to gradually extract multi-level features; a single channel attention layer enables intelligent feature screening, highlighting key features. This combination balances the depth of the convolutional layers with the location of attention, enabling understanding of complex patterns while avoiding computational overhead and making attention judgments more accurate.

[0085] In some embodiments, the third basic feature extraction unit includes four convolutional layers and a dynamic receptive field adjustment module. The convolution kernel size is gradually reduced to capture the global geometric morphology of the pericardial effusion area. The morphological feature extraction satisfies the following relationship:

[0086] .

[0087] .

[0088] in, The feature map representing the output of the fourth convolution layer represents the geometric shape information of the effusion area; Represents the dynamic convolution kernel weight, which is used to calculate the feature point offset; Represents the spatial offset of the feature point, and adjusts the receptive field to adapt to the changes in the effusion morphology; and Indicates the initial feature point position and adjacent point coordinates; Represents the learnable weight coefficient, which controls the contribution of different positions to the morphological features; represents the raw pixel matrix of the input cardiac ultrasound image; Indicates the number of feature points, which is used to describe the total number of feature points considered or calculated during the feature extraction process; n represents the number of feature points, which is used to distinguish different feature points in the set; The output morphological feature map represents the global contour and size variation of the pericardial effusion area.

[0089] In some embodiments, four convolutional layers enable progressive analysis from global to local perspectives, while a dynamic receptive field adjustment module adapts to objects of varying sizes. This combination of hierarchical feature extraction and adaptive perception not only optimizes computational efficiency, making the feature extraction process suitable for on-device deployment, but also enhances the model's robustness to complex scenarios and improves the accuracy and stability of real-time inference.

[0090] In some embodiments, the extraction of associated features satisfies the following relationship:

[0091] .

[0092] in, Represents the associated feature map extracted by the 3D convolution operation, which contains dynamic information on the time series; Represents a three-dimensional convolution operation that can process information in both spatial and temporal dimensions simultaneously; Represents the feature map sequence from tk to t time, which is the input of 3D convolution, where t represents the time point and k represents the size of the time window; Represents the weight of the 3D convolution kernel. The weight performs dot product operation with the input feature map during the convolution process to extract related features.

[0093] In some embodiments, the correlation feature extraction module 104 may include an edge-texture correlation feature extraction unit, a spatial correlation feature extraction unit, and a temporal correlation feature extraction unit.

[0094] The spatial correlation feature extraction unit can include two convolution layers and one spatial attention layer, which are used to model the edge continuity of the effusion area, where the convolution kernel size can be set to 1×1; the edge-texture correlation feature extraction unit can include 0 pooling layers and 3 cross-channel convolution layers. By completely discarding the pooling layer, the spatial information loss caused by downsampling is completely avoided, the original resolution of the feature map is maintained, and cross-channel feature interaction is realized at the same time. The output of the spatial correlation feature extraction unit is integrated to achieve modeling of the edge and texture of the effusion area; the temporal correlation feature extraction unit can be set to use 3, 4, and 5 temporal convolution layers for 3D convolution respectively, which can capture the high-frequency changes between consecutive frames and expand the receptive field, realize multi-granularity temporal modeling, and thus extract the dynamic features of the effusion thickness and area changes between consecutive frames.

[0095] In some embodiments, the feature fusion module 105 includes: a spatial modeling unit for generating a spatial feature map by fusing static features through adaptive weights; and a temporal modeling unit for combining the spatial feature map with dynamic features to obtain the relationship of pericardial effusion between ultrasound images.

[0096] In some embodiments, by separately processing static features and dynamic features, the spatial modeling can be refined to capture local details, single-frame image processing can be performed without cross-frame calculation, memory usage can be reduced, and spatial modeling can be lightweight. The temporal modeling can capture global dynamics by only serializing processing of relevant features, avoiding high complexity and large computation of full spatio-temporal dimension processing.

[0097] In some embodiments, the relationship between the pericardial effusion in the ultrasound images satisfies the following expression:

[0098] .

[0099] wherein, represents a query matrix, representing the feature information currently needing attention; represents a key matrix, used for matching with the query matrix to determine the weight of the attention point; represents a value matrix, containing actual information content, which is weighted and summed according to the attention weight; represents the dimension of the key, used to scale the dot product result to prevent gradient vanishing or explosion; represents a normalization function that converts the input value into a probability distribution, ensuring that the sum of all attention weights is 1; represents an attention mechanism, used to calculate the correlation between different inputs to dynamically adjust the weight of information.

[0100] In some embodiments, the correlation feature map extracted by the 3D convolution operation can be input into the spatio-temporal Transformer module, and the long-term dependence relationship of the pericardial effusion evolution between adjacent cardiac ultrasound images can be modeled through the multi-head self-attention mechanism, thereby breaking through the processing limit of local feature relationship, modeling the global interaction between all positions and lines within the space, and providing stronger modeling capability for multi-line convolution feature fusion, so as to clearly understand and reflect the complex spatio-temporal relationship.

[0101] In some embodiments, the spatio-temporal Transformer module includes a double-branch architecture, i.e., a spatial encoding branch and a temporal encoding branch. The spatial encoding branch can use progressive down-sampling convolution layers to extract the effusion edge and echo intensity features in the single-frame ultrasound image. The temporal encoding branch can model the correlation between adjacent frames of ultrasound images through the multi-head self-attention mechanism, thereby capturing the dynamic change rule of the effusion volume.

[0102] In some embodiments, the feature fusion module 105 further includes a dynamic prediction unit for predicting the volume change trend of the pericardial effusion in the future ultrasound image sequence. In some embodiments, the future 10-frame pericardial effusion prediction value satisfies the following relationship:

[0103] .

[0104] .

[0105] Represents a recurrent neural network, which is used to capture long-term dependencies in sequential data; Represents the hidden state at time t, the internal state of LSTM, which contains all the information up to the current moment; Represents the cell state at time t, the core memory unit of LSTM, used to store long-term dependency information; represents the hidden state at time t-1; represents the cell state at time t-1; Represents fusion features, combining information of spatial and temporal features as input to LSTM; represents the output weight matrix, which is used to transform the hidden state into the final predicted value; Represents the predicted value of the effusion volume for the next 10 frames, which is calculated based on the hidden state and output weights at the current moment.

[0106] In some embodiments, the dynamic prediction unit can predict the pericardial effusion volume trend for the next 10 frames based on the LSTM network and the fused features of the current frame, namely the effusion segmentation mask of the current frame. This helps predict future effusion volume trends and estimate the probability of abnormal fluctuations, providing strong support for dynamic monitoring and anomaly detection of pericardial effusion.

[0107] In some embodiments, the deployment optimization module 106 may include a lightweight modeling unit, a dynamic quantization unit, and an operator fusion optimization unit.

[0108] The lightweight modeling unit is used to train a lightweight student model based on the relationship between pericardial effusion between ultrasound images and the output of the relationship between the predicted values ​​of pericardial effusion in the next 10 frames, so that the lightweight student model can realize real-time processing of image sequences on the edge computing device through the dynamic quantization unit and the operator fusion optimization unit.

[0109] The dynamic quantization unit dynamically adjusts quantization parameters based on the actual distribution of input data, reducing model size and computation, thereby achieving lightweight student models. The operator fusion optimization unit combines multiple computational operations into a single composite operation, reducing memory accesses and computational overhead. Through dynamic quantization and operator fusion optimization, the student model can achieve efficient, real-time pericardial effusion monitoring on wearable ultrasound devices.

[0110] In some embodiments, the first probe 111, the second probe 121, and the third probe 131 are all configured as predetermined ultrasound patch probes. Figure 10FIG. 1 is an exploded schematic diagram showing the components of the ultrasound patch probe provided in an embodiment of the present application. Figure 11 A cross-sectional schematic diagram of an ultrasonic patch probe provided in an embodiment of the present application is shown, as shown in FIG. Figure 10 and Figure 11 As shown, the ultrasonic patch probe includes: a cable support assembly 50; a probe accommodating assembly 20; an electrical connection assembly 30, which is arranged on the cable support assembly 50; a detection assembly 40, which is arranged on the probe accommodating assembly 20, the electrical connection assembly 30 is configured to be electrically connected to the detection assembly 40, and the detection assembly 40 is configured to perform ultrasonic detection on the object to be detected, and the electrical connection assembly 30 is configured to transmit the ultrasonic probe signal from the detection assembly 40 to the outside through the cable support assembly 50; wherein the cable support assembly 50 and the probe accommodating assembly 20 are configured to be detachably connected. By arranging the cable support assembly 50 and the probe accommodating assembly 20 into a detachable connection, the electrical connection assembly 30 arranged on the cable support assembly 50 can be separated from the detection assembly 40 arranged on the probe accommodating assembly 20, thereby realizing the formation and release of the electrical connection. In this way, the cable support assembly 50 connected to the outside can be released from the surface of the object to be detected, which is convenient for adjusting the position of the external cable and preventing mutual interference; the probe accommodating assembly 20 is kept fixed to the surface of the object to be detected, so that the position of the probe on the patient's body surface is fixed, avoiding repeated fixation of the probe and adjustment of the position, which is helpful for long-term monitoring of cardiac activity, and also allows the object to be detected to be free from cable constraints and move freely when no cardiac ultrasound detection is required.

[0111] In some embodiments, as Figure 11 As shown, the cable support assembly 50 includes a support member 51, a cable 52 and a first connecting member 53, the probe accommodating assembly 20 includes a accommodating member 21 and a second connecting member 22, the first connecting member 53 is configured to be fixedly connected to the support member 51, the cable 52 is configured to be fixed to the support member 51 at one end, and the other end is configured to be connected to the outside; the electrical connection assembly 30 is arranged on the support member 51, the detection assembly 40 is arranged on the accommodating member 21, the second connecting member 22 is configured to be fixedly connected to the accommodating member 21, the first connecting member 53 and the second connecting member 22 are configured to be detachably connected and matched, and when the first connecting member 53 is connected and matched with the second connecting member 22, the electrical connection assembly 30 is configured to be electrically connected to the detection assembly 40.

[0112] In some embodiments, the support member 51 and the accommodating member 21 are detachably connected through the disassembly cooperation between the first connecting member 53 and the second connecting member 22, thereby driving the electrical connection component 30 and the detection component 40 to move closer to or away from each other respectively. The cable 52 can be removed from the connection relationship with the object to be detected, and only the probe accommodating member 20 and the detection component 40 are kept fixed to the object to be detected, so that the object to be detected can be freed from the restraint of the cable 52 when ultrasonic monitoring is not required, and can move freely. When ultrasonic monitoring is required again, there is no need to reposition the position and angle of the detection component 40. The support member 51 and the accommodating member 21 can be re-fixed through the first connecting member 53 and the second connecting member 22 to realize the electrical connection between the electrical connection component 30 and the detection component 40 again.

[0113] In some embodiments, the cable 52 can be configured to pass through the support member 51 and extend to be fixed to the electrical connection component 30, so that the cable 52 can receive the ultrasonic signal through the electrical connection between the electrical connection component 30 and the detection component 40, and transmit it to the external processing equipment for real-time processing of the acquired ultrasonic signal.

[0114] In some embodiments, the first connecting member 53 and the second connecting member 22 can be set to materials that attract each other (for example, magnetic materials); the first connecting member 53 and the second connecting member 22 may not be continuous single components, but may include multiple discrete components (for example, multiple one-to-one corresponding magnetic points), which can ensure mutual attraction and fixation.

[0115] In some embodiments, the first connecting member 53 and the second connecting member 22 can be configured such that one of them is a hook and the other is a slot, and the hook and the slot cooperate with each other to achieve detachable connection with each other.

[0116] In some embodiments, as Figure 11 As shown, when the first connecting member 53 is connected to the second connecting member 22, a portion of the support member 51 is inserted into the accommodating member 21 to form an electrical connection between the electrical connection component 30 and the detection component 40; when the first connecting member 53 is separated from the second connecting member 22, the support member 51 is configured to drive the electrical connection component 30 to move synchronously to separate the electrical connection component 30 from the detection component 40, thereby releasing the electrical connection.

[0117] Figure 12 The cross-sectional view of the cable support assembly and the electrical connection assembly provided by the embodiment of the present application is shown. In some embodiments, such as Figure 10 As shown, the container 21 can be set as a through structure, and the through structure forms two openings, such as Figure 12As shown, the support member 51 can be set to a structure with a T-shaped vertical cross-section, and the vertical part of the T-shaped structure can be partially inserted into one of the openings of the accommodating member 21 to form a partially interlocking structure, thereby playing a guiding and limiting role when the support member 51 and the accommodating member 21 are combined and fixed, preventing mutual misalignment caused by external force after combination.

[0118] Figure 15 A schematic diagram showing the cooperation of the detection assembly and the probe receiving assembly provided by the embodiment of the present application is shown. In some embodiments, as Figure 15 As shown, the accommodating member 21 includes a first accommodating portion 211 and a second accommodating portion 212, the first accommodating portion 211 and the second accommodating portion 212 are arranged to be integrally formed, the second connecting member 22 is arranged in the second accommodating portion 212, the first accommodating portion 211 forms a matching space, the second accommodating portion 212 forms a detection space, the matching space and the detection space are arranged to be connected, the first accommodating portion 211 and the second accommodating portion 212 are arranged to have different inner diameters, so that the first accommodating portion 211 forms a transition port at the intersection of the detection space and the matching space, the second connecting member 22 surrounds the first accommodating portion 211 arranged at the transition port, as shown in FIG. Figure 11 As shown, the support member 51 is configured to be partially inserted into the matching space so that the first connecting member 53 and the second connecting member 22 are in contact and fixed.

[0119] In some embodiments, as Figure 15 As shown, the first accommodating portion 211 is configured as a through structure, and the through structure forms two opposite openings. The opening close to the detection space is a transition port, and the transition port is configured to allow the second circuit board 42 to pass through and extend into the matching space, so that the detection component 40 can achieve unobstructed contact with multiple electrical connectors 31 and maintain stable electrical connection; the second accommodating portion 212 is configured to extend in a direction away from the matching space and is formed with a detection port, and the detection component 40 can be configured to be bonded and fixed in the detection space.

[0120] In some embodiments, the electrical connection assembly 30 includes multiple electrical connectors 31 and a first circuit board 32. The first circuit board 32 is arranged between the support member 51 and the multiple electrical connectors 31. The first circuit board 32 is arranged to be fixed to the support member 51. The multiple electrical connectors 31 are arranged to be fixedly connected to the first circuit board 32. The support member 51 is formed with a mating opening. The first connector 53 is arranged to surround the support member 51 at the mating opening. The multiple electrical connectors 31 are arranged to extend toward the mating opening so that the multiple electrical connectors 31 are in contact with the detection assembly 40.

[0121] Figure 13 A schematic diagram showing the cooperation between the electrical connector provided by the embodiment of the present application and the first circuit board and the second circuit board is shown. In some embodiments, as Figure 13As shown, the first circuit board 32 can be set to a rectangle, and four connection holes 321 are formed at the four corners of the first circuit board 32 respectively. The first circuit board 32 can be fixedly connected to the support member 51 through the connection holes 321 and bolts; a plurality of connection points 322 can also be formed on the first circuit board 32, and the plurality of connection points 322 can be set to be welded, plugged or bonded to the first circuit board 32, and are set to correspond one-to-one with the plurality of electrical connectors 31, so as to fix the plurality of electrical connectors 31 on the first circuit board and realize electrical connection; the cable 52 can be fixed at the center position of the first circuit board 32 and connected to the outside.

[0122] In some embodiments, the detection assembly 40 includes a detection member 41 and a second circuit board 42. The detection member 41 is configured to be fixedly connected to the second circuit board 42. The shape of the second circuit board 42 is configured to match the shape of the transition port so as to extend the transition port to abut against multiple electrical connectors 31. The transition port is configured to be consistent with the shape of the mating port and be connected so that the first connector 53 is aligned and fits with the second connector 22.

[0123] In some embodiments, the plurality of electrical connectors 31 are configured not to extend out of the mating opening, and the second circuit board 42 is configured to extend out of the transition opening, so that when the support member 51 is mated and fixed with the first accommodating portion 211, the plurality of electrical connectors 31 can just abut against the second circuit board 42 to form an electrical connection, thereby maintaining the electrical connection stable and avoiding damage to the plurality of electrical connectors 31.

[0124] In some embodiments, the side of the detection member 41 close to the detection port is an imaging surface, which transmits ultrasonic waves to the object to be detected. The imaging surface can be set to be flush with the detection port, concave relative to the detection port, or convex relative to the detection port.

[0125] In some embodiments, as Figure 11 As shown, the detection opening is configured with an inner diameter smaller than that of the detection space to act as a stop for the probe 41 and prevent it from falling out of the detection space. A layer of adhesive coupling material (e.g., gel 17) can be provided on the imaging surface. This adhesive coupling material layer possesses both adhesive properties and acoustic coupling capabilities, serving to adhere the probe 41 to the skin of the subject being detected and acoustically couple the ultrasonic waves emitted by the probe 41. This increases the viscosity of the probe 41, ensuring a more secure bond between the probe 41 and the subject being detected, while also providing acoustic coupling, reducing or even eliminating the loss of liquid coupling fluid used when the probe 41 is fixed to the subject for extended periods of time for ultrasonic monitoring, which can negatively impact imaging quality. The adhesive coupling material layer can include materials such as hydrogel, silicone gel, or silicone gel.

[0126] In some embodiments, the support member 51 includes a main body 511, a limiting portion 512 and an extension portion 513. The main body 511, the limiting portion 512 and the extension portion 513 are arranged to be integrally formed. The main body 511 forms a accommodating space. The extension portion 513 is arranged to be partially fixed in the accommodating space and is arranged to be able to extend out of the accommodating space. The first circuit board 32 is arranged in the accommodating space and is arranged to be fixedly connected to the extension portion 513. The limiting portion 512 is arranged to be fixed to the extension portion 513 and is arranged to allow multiple electrical connectors 31 to pass through.

[0127] In some embodiments, the first circuit board 32 is fixedly connected to the extension portion 513 through a plurality of connection holes 321, the limiting portion 512 is configured to be fixed to the extension portion 513, and the extension range of the limiting portion 512 in the extension direction of the electrical connector 31 is smaller than the length of the electrical connector 31, so that the electrical connector 31 can reserve a portion for contact with the second circuit board 42.

[0128] In some embodiments, the extension portion 513 is configured to cooperate with the shape of the first accommodating portion 211 so that the extension portion 513 can be partially inserted into the fitting space; the first connecting member 53 is configured to be fixed to the extension portion 513 and is configured to be able to contact or separate from the second connecting member 22 in the fitting space.

[0129] In some embodiments, as Figure 12 As shown, the extension portion 513 is formed with a first continuous outer wall 5131, a second continuous outer wall 5132 and a third continuous outer wall 5133. The first continuous outer wall 5131 and the second continuous outer wall 5132 are each formed by connecting cross sections located in different planes end to end. The first continuous outer wall 5131, the second continuous outer wall 5132 and the third continuous outer wall 5133 are sequentially spliced ​​to form a partial outer contour of the matching space; Figure 12 As shown, the first continuous outer wall 5131 is arranged to be perpendicular to the plane where the third continuous outer wall 5133 is located, the first connecting member 53 is arranged to be fixed to and cover the third continuous outer wall 5133, and the second continuous outer wall 5132 is arranged between the first continuous outer wall 5131 and the third continuous outer wall 5133, and is arranged to be inclined at a predetermined angle.

[0130] In some embodiments, as Figure 15 As shown, the first accommodating portion 211 is formed with a continuous outer surface 2110, a first continuous inner wall 2111, a second continuous inner wall 2112 and a third continuous inner wall. The first continuous inner wall 2111 and the second continuous inner wall 2112 are both formed by connecting cross sections located in different planes end to end. The first continuous inner wall 2111, the second continuous inner wall 2112 and the third continuous inner wall are sequentially spliced ​​to form a partial outer contour of the matching space; as shown Figure 11As shown, the first continuous inner wall 2111 is arranged perpendicularly to the plane of the third continuous inner wall, the second connecting member 22 is arranged to cover or embed the third continuous inner wall, the second continuous inner wall 2112 is arranged between the first continuous inner wall 2111 and the third continuous inner wall, and is arranged to be inclined at a predetermined angle, so that the second continuous inner wall 2112 is parallel to the second continuous outer wall 5132. This arrangement allows the second continuous outer wall 5132 of the extension 513 to be in contact with the second continuous inner wall 2112 when the extension 513 is partially inserted into the fitting space, thereby leaving a gap, avoiding the insertion of the support member 51 from causing a vacuum in the fitting space, and facilitating the separation of the support member 51 from the first accommodating portion 211.

[0131] In some embodiments, the third continuous inner wall is arranged to be consistent in shape and equal in size to the third continuous outer wall 5133, so that the first connecting member 53 matches the second connecting member 22.

[0132] In some embodiments, the continuous outer surface 2110 can be arranged perpendicularly to the first continuous inner wall 2111, thereby cooperating with the right-angled turning portion of the T-shaped structure of the support member 51, thereby limiting the movement of the support member 51; the continuous outer surface 2110 can be arranged as a non-angled surface to avoid scratching the operator or the object to be detected.

[0133] In some embodiments, the extension 513 is formed with an extension space, and the extension space is arranged to have an inner diameter smaller than the inner diameter of the accommodating space, so that the extension range of the second circuit board 42 is greater than the extension range of the limiting portion 512.

[0134] In some embodiments, the extension range of the first circuit board 32 is greater than the extension range of the limiting portion 512, which allows the first circuit board 32 to reserve space for fixing the extension 513, thereby further fixing the positions of the plurality of electrical connecting members 31, preventing the electrical connecting members 31 from being displaced by external forces during the disassembly or fitting of the support member 51 and the accommodating member 21, and ensuring stable electrical connection each time the fitting is performed.

[0135] In some embodiments, the limiting portion 512 is arranged to form a plurality of limiting holes, and the plurality of limiting holes are arranged to correspond one-to-one with the distribution of the plurality of electrical connecting members 31, so as to limit the movement of the plurality of electrical connecting members 31 in the circumferential direction.

[0136] In some embodiments, the limiting portion 512 is used to fill the gaps between the plurality of electrical connecting members 31, so as to keep the plurality of electrical connecting members 31 relatively fixed, thereby ensuring that each time the fitting is performed, the plurality of electrical connecting members 31 can correspond one-to-one with the contacts 421, and the electrical connection is stable.

[0137] In some embodiments, a plurality of contacts 421 are formed on the second circuit board 42 , and an arrangement of the plurality of contacts is configured to adapt to an arrangement of the plurality of electrical connectors 31 , so that the plurality of contacts 421 correspond to and contact the plurality of electrical connectors 31 one by one.

[0138] Figure 16 Schematic diagram showing that the contacts provided by the embodiment of the present application are distributed in a rectangular shape. In some embodiments, such as Figure 16 As shown, the second circuit board 42 can be configured to be rectangular, with multiple contacts 421 formed thereon evenly distributed in a rectangular shape, and multiple electrical connectors 31 correspondingly evenly distributed in a rectangular shape, thereby achieving a one-to-one correspondence between the multiple electrical connectors 31 and the multiple contacts 421, thereby establishing an electrical connection between the first circuit board 32 and the second circuit board 42; Figure 17 A schematic diagram showing that the contacts provided by the embodiment of the present application are radially distributed, as shown in FIG. Figure 17 As shown, the second circuit board 42 can be set to a circular shape, and the multiple contacts 421 formed thereon are arranged in a radial distribution, and the multiple electrical connectors 31 are correspondingly arranged in a radial distribution. The multiple contacts 421 can be arranged into multiple concentric rings, and the multiple contacts are located on multiple diameters of the concentric rings, for example Figure 17 In the figure, a predetermined angle is formed between the adjacent first diameters 4210 and second diameters 4211, and the multiple predetermined angles are equal in size, so that when the multiple electrical connectors 31 that are also radially distributed rotate as a whole, they can still maintain a one-to-one correspondence with the multiple contacts 421 by controlling the rotation angle, so that the cable 52 can be driven to rotate during the rotation of the electrical connector 31, thereby changing the direction of the cable 52, improving the flexibility of adjustment, and avoiding interference between the cable 52 and other equipment lines.

[0139] In some embodiments, the contact 421 may be configured as a groove or an electrode.

[0140] Figure 14 Detailed schematic diagram of the electrical connector provided by the embodiment of the present application is shown. In some embodiments, such as Figure 14 As shown, the electrical connector 31 includes a free portion 311, a fixed portion 312, a connecting portion 313, an adjusting portion 314 and a stop portion 315. The fixed portion 312 and the connecting portion 313 are integrally formed and together form a cavity. The adjusting portion 314 is configured to connect the fixed portion 312 and the stop portion 315, and is configured to have elasticity. The stop portion 315 is configured to connect the adjusting portion 314 and the free portion 311. The free portion 311 abuts against the second circuit board 42 to form an electrical connection. The free portion 311 is subjected to resistance from the electrical connection, and the resistance is transmitted to the adjusting portion 314 via the stop portion 315, so that the adjusting portion 314 with elastic force buffers the resistance.

[0141] In some embodiments, the fixed portion 312 is configured to be fixedly connected to the connection point 322 on the first circuit board 32, and the connecting portion 313 is configured to extend in a direction away from the connection point 322 and form a cavity. The adjusting portion 314 can be configured to abut against the fixed portion 312 and the stop portion 315. The extension length of the free portion 311 is configured to be able to extend out of the cavity when the adjusting portion 314 is in a natural state, so that the free portion 311 can achieve unobstructed abutment with the contact 421.

[0142] In some embodiments, an opening is formed at one end of the cavity away from the fixing portion 312 , and the inner diameter of the opening is set to be smaller than the inner diameter of the cavity, so that the free portion 311 can extend out of the cavity and constrain the stop portion 315 in the cavity.

[0143] In some embodiments, the size of the stop portion 315 is set to allow it to move radially within the cavity, and the size of the stop portion 315 is larger than the size of the opening, that is, the opening is in an inward state relative to the cavity, so that the stop portion 315 can move within the cavity but will not detach from the cavity from the opening, thereby ensuring the overall stability of the electrical connector 31 so as to form a stable electrical connection.

[0144] In some embodiments, as Figure 11 As shown, the second circuit board 42 is connected to the detection member 41 through a flexible circuit board (not shown in the figure), so that the detection member 41 forms a communication connection with the cable 52.

[0145] In some embodiments, a transition piece 43 may be provided between the second circuit board 42 and the detection piece 41. The transition piece 43 may be fixedly connected (for example, bonded) to the second circuit board 42 and the detection piece 41, respectively, to bridge the shape difference between the second circuit board 42 and the detection piece 41, and maintain the communication connection between the detection piece 41 and the second circuit board 42 through a flexible circuit board (not shown in the figure), thereby connecting the electrical connector 31, the first circuit board 32 and the cable 52 in sequence to form a communication connection path.

[0146] Regarding the embodiments of the present application, it should also be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other to obtain new embodiments.

[0147] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A wearable cardiac ultrasound garment suitable for ultrasound-guided interventional surgery robots, used for real-time monitoring of a patient's heart beat and heart function during surgery, monitoring, and screening, characterized by: It includes: Clothes body, first ultrasonic monitoring part, second ultrasonic monitoring part, third ultrasonic monitoring part, fixing part and gel, The clothing body is configured to be wearable on the patient during the surgery, monitoring, and screening process. The first ultrasonic monitoring component and the second ultrasonic monitoring component are configured to be fixed to the clothing body, and the third ultrasonic monitoring component is configured to be detachably fixed to the clothing body so as to adjust the position of the third ultrasonic monitoring component on the clothing body. The gel is configured to fix the first ultrasound monitoring component, the second ultrasound monitoring component, and the third ultrasound monitoring component on the patient's skin in a predetermined manner, so that the first ultrasound monitoring component, the second ultrasound monitoring component, and the third ultrasound monitoring component can monitor the patient's heart. The fixing member is provided on the clothing body and is configured to enable the clothing body to fit closely to the patient's body and to apply pressure to the patient's body so as to fix the positions of the first ultrasonic monitoring member, the second ultrasonic monitoring member, and the third ultrasonic monitoring member relative to the patient. The first ultrasonic monitoring component, the second ultrasonic monitoring component, and the third ultrasonic monitoring component are all arranged between the clothing body and the patient's skin, and are configured to be able to comprehensively identify and monitor heart beats and heart functions from different directions; The first ultrasonic monitoring component includes a first probe, the second ultrasonic monitoring component includes a second probe, and the third ultrasonic monitoring component includes a third probe. The gel is configured to fix the first probe, the second probe, and the third probe on the patient's skin in a predetermined manner, so that when the fixing member applies pressure to the patient's body, the first probe, the second probe, and the third probe are fixed in position relative to the patient; The predetermined mode is set as follows: The gel is configured to enable the first probe to be fixed parallel to the patient's skin. The gel is configured to fix the second probe at an angle of 80°-90° to the patient's skin. The gel is configured to fix the third probe at an angle of 45° to 60° to the patient's skin. This enables the first probe, the second probe, and the third probe to monitor the heart from different positions.

2. The wearable cardiac ultrasound garment according to claim 1, wherein: The first ultrasonic monitoring component includes a first ultrasonic generator configured to provide ultrasound to the first probe; The second ultrasonic monitoring component includes a second ultrasonic generator, which is configured to provide ultrasound to the second probe; The third ultrasonic monitoring component includes a third ultrasonic generator, and the third ultrasonic generator is configured to provide ultrasound to the third probe. The first probe and the second probe are configured to be fixed to the clothing body, and the third probe is configured to be detachably fixed to the clothing body so as to adjust the position of the third probe on the clothing body. The first probe, the second probe and the third probe are all arranged between the clothing body and the patient's skin, and are configured to be able to comprehensively identify and monitor heart beats and heart functions from different directions.

3. The wearable cardiac ultrasound garment according to claim 2, wherein: The first probe, the second probe, and the third probe are fixed to the clothing body so that when a patient wears the clothing body, the first probe, the second probe, and the third probe are disposed around the patient's heart.

4. The wearable cardiac ultrasound garment according to claim 2, wherein: The first probe is fixed at the position of the clothing body so that when the patient puts on the clothing body, the first probe is located next to the patient's sternum; the second probe is fixed at the position of the clothing body so that when the patient puts on the clothing body, the second probe is located under the patient's xiphoid process; the third probe is fixed at the position of the clothing body so that when the patient puts on the clothing body, the third probe is located at the patient's apex, thereby realizing monitoring of heart beat and heart function from different directions.

5. The wearable cardiac ultrasound garment according to claim 2, wherein: It also includes a detachable part and a matching part, the detachable part is configured to be fixed to the third probe, and the matching part is configured to be fixed to the clothing body. The detachable part and the matching part are configured to be detachably connected so that the position of the third probe on the clothing body can be adjusted.

6. The wearable cardiac ultrasound garment according to claim 5, characterized in that: The extension range of the fitting part is set to cover the coverage range of the detachable part, so that the detachable part can maintain a detachable connection with the fitting part when the position is changed, thereby adjusting the position of the third probe relative to the clothing body.

7. The wearable cardiac ultrasound garment according to claim 1, wherein: The device further comprises an adjusting member and an adjusting driving member, wherein the adjusting member is configured to be fixed to a side of the first probe, the second probe, and the third probe away from the patient's skin, and the adjusting driving member is configured to be fixed to the clothing body. The adjusting driving member is fixed to the adjusting member and is configured to drive the adjusting member to move.

8. The wearable cardiac ultrasound garment according to claim 1, wherein: The fixing component is provided on a side of the clothing body opposite to a side close to the patient's skin, and is provided at a position where the second ultrasonic monitoring component is provided on the clothing body.

9. The wearable cardiac ultrasound garment according to claim 8, wherein: The fixing members are provided in plurality and can cooperate with each other, and are provided so that the tightness of the cooperation can be adjusted to adapt to the body shape of the patient.

10. The wearable cardiac ultrasound garment according to claim 1, wherein: The clothing body is provided with different sizes to adapt to the body shape of the patient.

11. The wearable cardiac ultrasound garment according to claim 10, characterized in that: The distance between the first ultrasonic monitoring component and the second ultrasonic monitoring component is configured to change according to the size of the clothing body.

12. The wearable cardiac ultrasound garment according to claim 1, wherein: It also includes an ultrasonic image processing unit, which is arranged in the first probe, the second probe and the third probe, and includes a preprocessing module, a basic feature extraction module, an associated feature extraction module, a feature fusion module, a deployment optimization module and an acquisition module, which is used to process the cardiac ultrasonic images acquired by the first probe, the second probe and the third probe in real time.

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