A wearable ultrasonic scanning module, a wearable device and a scanning imaging method

Abstract

The application relates to the technical field of wearable devices, and particularly relates to a wearable ultrasonic scanning module, a wearable device and a scanning imaging method, the module comprising a base, a motor, a transmission assembly, a rotary encoder and an ultrasonic scanning probe; the motor is connected to the base; the transmission assembly comprises a first transmission wheel set, a first rotating shaft, a second transmission wheel set and a second rotating shaft, the first rotating shaft and the second rotating shaft are rotationally connected to the base respectively, the output shaft of the motor drives the first rotating shaft to rotate through the first transmission wheel set, the first rotating shaft drives the second rotating shaft to rotate through the second transmission wheel set, and the first rotating shaft is arranged side by side with the motor; the rotary encoder is connected to the base and the first rotating shaft, and is used for measuring the rotation angle of the first rotating shaft; the ultrasonic scanning probe is eccentrically connected to the second rotating shaft, and the ultrasonic scanning probe and the motor are located on opposite sides of the base respectively. The application effectively reduces the structural thickness of the second rotating shaft in the axial direction, so that the module can be integrated into a wearable device.

Description

Technical Field

[0001] This invention relates to the field of wearable device technology, and in particular to a wearable ultrasonic scanning module, wearable device, and scanning imaging method. Background Technology

[0002] Existing technologies for wearable ultrasound imaging devices targeting maternal and infant health include wearable ultrasound patches. These technologies integrate an array of ultrasound transducers into a flexible patch, enabling continuous monitoring for up to 48 hours. However, this technology has significant limitations. As a static patch with a fixed field of view, it cannot actively perform mechanical scanning to expand the imaging area or change the viewing angle, thus limiting its application in scenarios requiring large-area scanning (such as whole-abdominal imaging).

[0003] Existing mechanical scanning technologies for 3D reconstruction are mainly divided into two categories:

[0004] One type involves traditional ultrasonic scanning equipment where the operator manually moves the probe, or the system drives the probe along a linear or arc-shaped trajectory, reconstructing a three-dimensional image by acquiring a series of two-dimensional cross-sectional images. For example, a GE patent (publication number US2024 / 0206853A1) describes a method that identifies the outer contour of a structure of interest in multiple images by receiving ultrasonic echo signals during probe movement and then superimposing them to obtain a reconstructed image. The scanning trajectory, speed, and accuracy of this type of method are highly dependent on the operator's skill or the performance of the general-purpose motor, making it difficult to achieve stable, rapid, and accurate large-angle automated scanning under wearable constraints.

[0005] In particular, the existing system-driven probe method is difficult to apply to wearable devices for maternal and infant health. This is because the Z-axis is the front-back direction of the human face. When the system-driven probe is used to scan the fetus in the abdomen of a pregnant woman, it protrudes too much along the Z-axis, which makes the wearable device thicker overall and less wearable, thus making it difficult to apply.

[0006] Another type is precision robotic systems used in complex imaging research. To meet the extremely high requirements for data acquisition flexibility in cutting-edge research such as ultrasound tomography, complex mechanical systems with 36 degrees of freedom, such as MEDUSA, have emerged. It can freely position the transducer, but the system is large and expensive, designed purely for laboratory environments, and is far from meeting the wearable and low-cost requirements of consumer medical products. Summary of the Invention

[0007] The purpose of this invention is to address the problems of existing wearable ultrasonic imaging devices using wearable ultrasonic patches, which are static patches with a fixed field of view and cannot scan a large area; and existing ultrasonic scanning devices with driven probes are relatively thick and have poor wearability, making them unsuitable for the field of wearable devices. This invention provides a wearable ultrasonic scanning module, a wearable device, and a scanning imaging method.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a wearable ultrasonic scanning module, including a base, a motor, a transmission assembly, a rotary encoder, and an ultrasonic scanning probe; the motor is connected to the base; the transmission assembly includes a first transmission wheel set, a first rotating shaft, a second transmission wheel set, and a second rotating shaft, the first rotating shaft and the second rotating shaft being rotatably connected to the base respectively, the output shaft of the motor driving the first rotating shaft to rotate through the first transmission wheel set, the first rotating shaft driving the second rotating shaft to rotate through the second transmission wheel set, the first rotating shaft and the motor being arranged side by side; the rotary encoder is connected to the base and the first rotating shaft, the rotary encoder being used to measure the rotation angle of the first rotating shaft; the ultrasonic scanning probe is eccentrically connected to the second rotating shaft, the ultrasonic scanning probe and the motor being located on opposite sides of the base respectively.

[0009] The wearable ultrasonic scanning module of this invention, through a compact transmission layout integrating the motor, the transmission assembly, and the ultrasonic scanning probe into the base, and the measure of arranging the first rotating shaft and the motor side by side (instead of directly mounting the motor on the first rotating shaft), effectively reduces the axial displacement of the second rotating shaft (refer to...). Figure 5 The structural thickness (Z-axis) allows this module to be integrated into wearable devices. Simultaneously, the ultrasonic scanning probe is eccentrically connected to the second rotating shaft, enabling it to rotate with the shaft to scan a fan-shaped area. This allows for a single, full-area mechanical scan covering the required area of ​​the wearable device, eliminating the need for manual movement by the user. A rotation encoder provides position feedback for the ultrasonic scanning probe's rotation, achieving precise closed-loop control of the scanning angle and ensuring spatial consistency of the image sequence acquired by the probe, laying the foundation for high-quality 3D reconstruction. This module balances imaging range and structural volume within a limited space, operates smoothly, achieves high integration and precise control, and possesses high reliability. It is an ultrasonic scanning hardware solution suitable for wearable integration and can provide high-quality raw data for subsequent advanced image processing.

[0010] As a preferred embodiment of the present invention, the first transmission wheel set and / or the second transmission wheel set are speed reduction transmission wheel sets.

[0011] As a preferred embodiment of the present invention, the first transmission wheel set includes a first driving wheel and a first driven wheel; the first driving wheel is connected to the output shaft of the motor, and the first driven wheel is connected to the first rotating shaft; the first driving wheel and the first driven wheel are connected by a synchronous belt; or, the first driving wheel and the first driven wheel are connected by gear meshing.

[0012] As a preferred embodiment of the present invention, the second transmission wheel set includes a second driving wheel and a second driven wheel; the second driving wheel is connected to the first rotating shaft, and the second driven wheel is connected to the second rotating shaft; the second driving wheel and the second driven wheel are connected by a synchronous belt; or, the second driving wheel and the second driven wheel are connected by gear meshing.

[0013] As a preferred technical solution of the present invention, the rotary encoder is a photoelectric encoder, which includes a light-shielding wheel and a photoelectric sensor, the photoelectric sensor and the light-shielding wheel cooperating; the light-shielding wheel is connected to the first rotating shaft; the photoelectric sensor is connected to the base.

[0014] As a preferred technical solution of the present invention, the rotary encoder is a magnetoelectric encoder, which includes a magnet and a Hall effect sensor, the Hall effect sensor and the magnet cooperating; a plurality of magnets are arranged at equal intervals along the circumference of the first rotating shaft; the Hall effect sensor is mounted on the base.

[0015] As a preferred embodiment of the present invention, the second rotating shaft is connected to a mounting base; the mounting base is connected to the ultrasonic scanning probe; the mounting base is connected to a connector, and the connector is electrically connected to the ultrasonic scanning probe.

[0016] As a preferred embodiment of the present invention, the base is connected to a housing; the housing and the ultrasonic scanning probe are disposed opposite to each other; the housing covers the motor, the first transmission wheel set, the first rotating shaft, the second transmission wheel set, and the rotary encoder.

[0017] As a preferred embodiment of the present invention, the base is connected to a bracket, and the bracket is provided with a first mounting position and a second mounting position; the first mounting position is connected to the motor; and the second mounting position is connected to the first rotating shaft.

[0018] Secondly, the present invention also provides a wearable device, including a device body and wearable components; the device body includes a power supply, a wireless communication module, an integrated control circuit, and a wearable ultrasonic scanning module as described in any one of the above, the integrated control circuit being electrically connected to the wearable ultrasonic scanning module, the wireless communication module, and the power supply respectively; the wearable components include a waist belt assembly and a back strap assembly, the back strap assembly being connected to the waist belt assembly, and the waist belt assembly being connected to the device body.

[0019] The wearable device of the present invention, through a compact transmission layout integrating the motor, the transmission assembly, and the ultrasonic scanning probe into the base, and by arranging the first rotating shaft and the motor side by side (instead of directly mounting the motor on the first rotating shaft), effectively reduces the axial displacement of the second rotating shaft (refer to...). Figure 5 The structural thickness (Z-axis) allows this module to be integrated into wearable devices. Simultaneously, the ultrasonic scanning probe is eccentrically connected to the second rotating shaft, enabling it to rotate with the shaft to scan a fan-shaped area. This allows for a single, full-area mechanical scan covering the required area of ​​the wearable device, eliminating the need for manual movement by the user. A rotation encoder provides position feedback for the ultrasonic scanning probe's rotation, achieving precise closed-loop control of the scanning angle and ensuring spatial consistency of the image sequence acquired by the probe, laying the foundation for high-quality 3D reconstruction. This module balances imaging range and structural volume within a limited space, operates smoothly, achieves high integration and precise control, and possesses high reliability. It is an ultrasonic scanning hardware solution suitable for wearable integration and can provide high-quality raw data for subsequent advanced image processing.

[0020] As a preferred embodiment of the present invention, the belt assembly includes a belt and an opening / closing part, the opening / closing part being connected to both ends of the belt, and the belt can be closed into a loop through the opening / closing part.

[0021] As a further preferred technical solution of the present invention, the opening and closing part adopts Velcro, magnetic buckle, snap fastener or belt buckle.

[0022] As a further preferred technical solution of the present invention, a pad is connected to the inner side of the belt, the width of the pad is greater than the width of the belt, and the pad can increase the comfort of the belt when worn.

[0023] As a preferred embodiment of the present invention, the shoulder strap assembly includes two shoulder straps, with each end of the shoulder strap connected to the waist belt. The shoulder straps are provided with adjustment buckles, which can adjust the length of the shoulder straps.

[0024] As a further preferred technical solution of the present invention, the shoulder strap is widened in the shoulder area.

[0025] As a further preferred technical solution of the present invention, the inner side of the shoulder strap is connected to a shoulder pad in the shoulder area to increase wearing comfort.

[0026] Thirdly, the present invention also provides a scanning imaging method, utilizing a wearable ultrasonic scanning module as described in any of the above claims, the method comprising: The ultrasonic scanning probe is driven to rotate around the second rotating shaft by the motor and the transmission assembly; During the rotation of the ultrasonic scanning probe, the rotation encoder calculates the real-time angle of the ultrasonic scanning probe. When the real-time angle matches several preset target angles, the ultrasonic scanning probe acquires the corresponding ultrasonic images, thereby obtaining a sequence of ultrasonic images with known spatial locations.

[0027] The scanning imaging method described in this invention, based on the high integration, high reliability, and high precision of the wearable ultrasonic scanning module, enables the original image sequence acquired by the ultrasonic scanning probe to have excellent spatial coordinate consistency and temporal synchronization. This allows some computationally complex post-processing algorithms (such as noise suppression or motion compensation enhancement based on multi-frame registration) to be implemented more easily and effectively on the device or in the cloud, thereby enabling the construction of three-dimensional images through the ultrasonic image sequence.

[0028] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The wearable ultrasonic scanning module and wearable device of the present invention, through the compact transmission layout of integrating the motor, the transmission component and the ultrasonic scanning probe into the base, and the measure of arranging the first rotating shaft and the motor side by side (instead of directly mounting the motor on the first rotating shaft), effectively reduces the axial force of the second rotating shaft (refer to...). Figure 5The structural thickness (Z-axis) allows this module to be integrated into wearable devices. Simultaneously, the ultrasonic scanning probe is eccentrically connected to the second rotating shaft, enabling it to rotate with the shaft to scan a fan-shaped area. This allows for a single, full-area mechanical scan covering the required area of ​​the wearable device, eliminating the need for manual movement by the user. A rotary encoder provides position feedback for the ultrasonic scanning probe's rotation, achieving precise closed-loop control of the scanning angle and ensuring spatial consistency of the image sequence acquired by the probe, laying the foundation for high-quality 3D reconstruction. This module balances imaging range and structural volume within a limited space, operates smoothly, achieves high integration and precise control, and possesses high reliability. It is an ultrasonic scanning hardware solution suitable for wearable integration and can provide high-quality raw data for subsequent advanced image processing. 2. The scanning imaging method described in this invention is based on the high integration, high reliability, and high precision of the wearable ultrasonic scanning module, which enables the original image sequence acquired by the ultrasonic scanning probe to have excellent spatial coordinate consistency and temporal synchronization. This makes it easier and more effective to implement some computationally complex post-processing algorithms (such as noise suppression or motion compensation enhancement based on multi-frame registration) on the device or in the cloud, thereby enabling the construction of three-dimensional images through the ultrasonic image sequence. Attached Figure Description

[0029] Figure 1 This is a schematic diagram showing the connection relationships of a wearable ultrasonic scanning module. Figure 2 This is a front view schematic diagram of a wearable ultrasonic scanning module. Figure 3 This is a left-side view of a wearable ultrasonic scanning module. Figure 4 This is a rear view schematic diagram of a wearable ultrasonic scanning module. Figure 5 A schematic diagram of the three-dimensional structure of the wearable ultrasonic scanning module after assembly; Figure 6 For wearable devices.

[0030] Marked in the image: 100 - Base, 110 - Bracket, 111 - First mounting position, 112 - Second mounting position; 201-Motor, 202-First drive wheel, 203-First driven wheel, 204-First shaft, 205-Second drive wheel, 206-Second driven wheel, 207-Second shaft, 208-Mounting base; 300 - Rotary encoder; 301 - Light-shielding wheel; 302 - Photoelectric sensor; 400-Ultrasonic scanning probe; 500-Connector; 600 - Casing; 700 - Main body of the equipment; 800 - Belt assembly, 801 - Belt, 802 - Padding, 803 - Opening / closing part; 900 - Shoulder strap assembly, 901 - Shoulder strap, 902 - Adjustment buckle. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to experimental examples and specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0032] Unless otherwise specified, the use of terms such as "upper," "lower," "left," "right," "center," "inner," and "outer" to indicate orientation or positional relationships in the description of specific embodiments of the present invention is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the product / equipment / device is typically placed during use. These terms are merely for the purpose of facilitating the description of the present invention or simplifying the description in specific embodiments, enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a particular device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on the present invention.

[0033] Furthermore, the use of terms such as "horizontal," "vertical," "suspended," and "parallel" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, or parallel, but rather that it can be slightly tilted or have a deviation. For example, "horizontal" merely means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but that it can be slightly tilted. Alternatively, it can be simplified to mean that the corresponding device / component / element, when set in a "horizontal," "vertical," "suspended," or "parallel" direction, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the present invention.

[0034] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0035] Furthermore, in the description of the embodiments of the present invention, "several", "more than", and "a number of" represent at least two. The number can be any number, such as 2, 3, 4, 5, 6, 7, 8, or 9, and can even exceed nine.

[0036] Furthermore, in the description of the technical solution of this invention, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "provided with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to common connection methods in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0037] In the field of wearable devices for maternal and infant health, a key technical problem is how pregnant women can acquire real-time fetal facial expressions to perceive the fetus's mood, particularly how to obtain the clarity and reliability of reconstructed subtle facial features. Since the fetus moves freely within the mother's abdomen, large-area ultrasound scanning is required. Existing wearable ultrasound imaging devices use wearable ultrasound patches, which are static patches with a fixed field of view and cannot perform large-area scanning. Existing ultrasound scanning devices with probe-driven systems are generally thick and have poor wearability, making them unsuitable for the field of wearable devices for maternal and infant health. Therefore, the technical solution of this application was developed, which is described below in conjunction with… Figures 1 to 6 To elaborate.

[0038] Example 1 like Figures 1 to 5 As shown, the wearable ultrasonic scanning module of the present invention includes a base 100, a motor 201, a transmission component, a rotary encoder 300, and an ultrasonic scanning probe 400.

[0039] like Figures 1 to 4 As shown, the base 100 is connected to a bracket 110, and the bracket 110 is provided with a first mounting position 111 and a second mounting position 112.

[0040] like Figures 1 to 4 As shown, the motor 201 is connected to the first mounting position 111 of the base 100; in this embodiment, the motor 201 is a stepper motor or a servo motor. The motor 201 is used to output power to drive the ultrasonic scanning probe 400 to rotate.

[0041] like Figures 1 to 4As shown, the transmission assembly includes a first transmission wheel set, a first rotating shaft 204, a second transmission wheel set, and a second rotating shaft 207. The first rotating shaft 204 and the second rotating shaft 207 are rotatably connected to the base 100. The output shaft of the motor 201 drives the first rotating shaft 204 to rotate through the first transmission wheel set. The first rotating shaft 204 drives the second rotating shaft 207 to rotate through the second transmission wheel set. The first rotating shaft 204 is arranged side by side with the motor 201 and is connected to the second mounting position 112.

[0042] In some optional embodiments, the first transmission wheel set and / or the second transmission wheel set are reduction gear sets. In this embodiment, both the first transmission wheel set and the second transmission wheel set are reduction gear sets.

[0043] In one alternative implementation, such as Figures 1 to 4 As shown, the first transmission wheel assembly includes a first drive wheel 202 and a first driven wheel 203; the first drive wheel 202 is connected to the output shaft of the motor 201, and the first driven wheel 203 is connected to the first rotating shaft 204; the first drive wheel 202 and the first driven wheel 203 are connected by a synchronous belt; or, the first drive wheel 202 and the first driven wheel 203 are connected by gear meshing. The second transmission wheel assembly includes a second drive wheel 205 and a second driven wheel 206; the second drive wheel 205 is connected to the first rotating shaft 204, and the second driven wheel 206 is connected to the second rotating shaft 207; the second drive wheel 205 and the second driven wheel 206 are connected by a synchronous belt; or, the second drive wheel 205 and the second driven wheel 206 are connected by gear meshing. In this embodiment, the first drive wheel 202 can be selected with 48 teeth. Through the synchronous belt drive, power is transmitted to the first driven wheel 203, which can be selected with 16 teeth. This transmission design achieves speed reduction and torque increase. Similarly, the second drive wheel 205 can be selected with 48 teeth, and the second driven wheel 206 can be selected with 16 teeth, also achieving speed reduction and torque increase. Ultimately, the continuous rotation of the motor 201 can be converted into the reciprocating rotation of the second shaft 207. In this embodiment, traditional direct drive schemes or simple linkage mechanisms are difficult to achieve large-angle rotation in a limited space. By carefully selecting the pulley tooth ratio (e.g., 48:16=3:1), the required speed reduction ratio is achieved, while the flexibility of the synchronous belt drive adapts to the non-coaxial layout in a compact space, achieving a coexistence of "ultra-wide angle" and "ultra-thin form".

[0044] In one optional embodiment, the output shaft of the motor 201 and the first rotating shaft 204 are arranged in parallel or approximately parallel (the included angle between them does not exceed 5°), and power coupling and motion conversion are achieved through belt / pull transmission.

[0045] like Figures 1 to 4 As shown, the rotary encoder 300 connects the base 100 and the first rotating shaft 204, and the rotary encoder 300 is used to measure the rotation angle of the first rotating shaft 204.

[0046] like Figures 1 to 4 As shown, the ultrasonic scanning probe 400 is eccentrically connected to the second rotating shaft 207. The rotation of the second rotating shaft 207 drives the ultrasonic scanning probe 400 to rotate and scan. The forward and reverse rotation of the motor 201 can achieve the forward and reverse rotation of the ultrasonic scanning probe 400, thereby enabling a wide range of rotational scanning. The ultrasonic scanning probe 400 and the motor 201 are located on opposite sides of the base 100. In this embodiment, the center frequency of the ultrasonic scanning probe 400 is 3 MHz to 4 MHz, preferably 3.7 MHz. The 3.7 MHz frequency achieves an optimized engineering balance between penetration depth (suitable for abdominal imaging) and resolution (able to distinguish subtle facial features of the fetus); see [link to documentation]. Figure 3 The ultrasonic scanning probe 400 rotates at an angle α from its initial position. The maximum value of α can be 60°, preferably 59.42°, to achieve ultra-wide-angle coverage.

[0047] like Figure 1 and Figure 2As shown, the rotary encoder 300 employs a photoelectric encoder and / or a magnetoelectric encoder; the photoelectric encoder includes a light-shielding wheel 301 and a photoelectric sensor 302, the photoelectric sensor 302 and the light-shielding wheel 301 cooperating; the light-shielding wheel 301 is connected to the first rotating shaft 204; the photoelectric sensor 302 is connected to the base 100; the magnetoelectric encoder includes a magnet and a Hall effect sensor, the Hall effect sensor and the magnet cooperating; a plurality of magnets are arranged at equal intervals along the circumference of the first rotating shaft 204; the base 100 is equipped with the Hall effect sensor. Both the photoelectric encoder and the magnetoelectric encoder utilize existing technologies. Taking the photoelectric encoder as an example, the grating pattern on the light-shielding wheel 301 is divided into multiple units, employing a dual-channel (or A / B phase) orthogonal encoding principle. The pulse signals of the two channels differ in phase by 1 / 4 cycle. By detecting the rising and falling edges, and their sequence and number, the controller can not only perform high-resolution position counting (e.g., subdividing the α-scan range into hundreds or even thousands of position points), but also unambiguously determine the rotation direction of the ultrasonic scanning probe 400, thereby achieving precise closed-loop control and motion correction of the scanning process. The rotary encoder 300 can achieve real-time, precise closed-loop control of the rotation angle of the ultrasonic scanning probe 400. In this embodiment, a photoelectric switch board (PCBA) is used. The photoelectric sensor 302 is integrated on the photoelectric switch board. A series of pulse signals are generated through the cooperation of the photoelectric switch board and the light-shielding wheel 301. These pulses are received and decoded by the controller, which can accurately calculate the real-time angular position and rotation direction of the second rotating shaft 207 (i.e., the ultrasonic scanning probe 400). Based on this feedback information, the controller can precisely command the motor 201 to start, stop, and reverse, so that the ultrasonic scanning probe 400 can stably scan at preset start and end angles (e.g., ...). Figure 3 Between α and α.

[0048] In one alternative implementation, such as Figures 2 to 4 As shown, the second rotating shaft 207 is connected to a mounting base 208; the mounting base 208 is connected to the ultrasonic scanning probe 400; the mounting base 208 is connected to a connector 500, which is electrically connected to the ultrasonic scanning probe 400. The connector 500 is a board-to-board connector, such as the AXK5F7054TY model. In traditional devices, such connections may use ordinary ribbon cables, but under the overall thickness constraints of this embodiment, the bending radius of any flexible ribbon cable would encroach on valuable space. Therefore, this embodiment creatively selects this ultra-thin, high-density, vertically mating board-to-board connector to achieve electrical connection in a near-zero thickness manner, which is a great optimization of the internal space of the wearable device.

[0049] In one alternative implementation, such as Figure 5 As shown, the base 100 is connected to the housing 600; the housing 600 and the ultrasonic scanning probe 400 are arranged opposite to each other; the housing 600 covers the motor 201, the first transmission wheel set, the first rotating shaft 204, the second transmission wheel set and the rotary encoder 300.

[0050] The key technical advantage of this embodiment is that the ultra-thin design of the mechanical scanning module is suitable for wearable devices. At the same time, the high stability of the mechanical scanning module ensures that the ultrasonic scanning probe 400 can move and collect data along the exact same trajectory in each scan. This makes it possible to use adaptive image fusion algorithms or super-resolution reconstruction algorithms based on spatial location information. Stable raw data is a prerequisite for the effectiveness of advanced image processing algorithms, and this embodiment provides a solid foundation for this.

[0051] A brief description of the workflow of the wearable ultrasonic scanning module described in this embodiment: 1. Initialization: When the module is powered on, the controller drives the motor 201 to reverse, which in turn drives the ultrasonic scanning probe 400 back to the mechanical origin, completing the initialization calibration.

[0052] 2. Forward scanning: The controller commands the motor 201 to rotate forward, driving the ultrasonic scanning probe 400 to rotate at a constant speed from the starting position through the transmission component; at the same time, the rotation encoder 300 provides real-time feedback of the position signal.

[0053] 3. Data Acquisition: During the rotation of the ultrasonic scanning probe 400, the ultrasonic transmitting / receiving circuit, under the coordination of the controller, triggers the transmission and echo reception of ultrasonic waves at each preset target angle position point to acquire a two-dimensional ultrasonic image.

[0054] The target angle position can be set at equal angular intervals across the entire rotation range, or it can be set using a pre-defined interval method. For example, a 60° rotation range can be divided into three consecutive 20° intervals, each with equal angular intervals, but at least one interval's angle is not equal to the others. This could be a smaller angle interval on the outer intervals and a larger angle interval in the middle interval; or a 60° rotation range can be divided into two consecutive 30° intervals, with the angle interval gradually increasing from the initial position to the middle position and gradually decreasing from the middle position to the final position. The angle intervals of the two intervals can be set symmetrically, and so on.

[0055] 4. Endpoint Reversal: When the position feedback of the rotary encoder 300 indicates that the ultrasonic scanning probe 400 has reached the preset scanning end point, the controller commands the motor 201 to decelerate and stop and then reverse.

[0056] 5. Reverse Scanning and Cyclic Operation: The ultrasonic scanning probe 400 rotates back to its starting position at a constant speed, and can choose to collect data again during the return stroke, or quickly reset to prepare for the next scan. This cycle repeats continuously, achieving continuous dynamic imaging.

[0057] The wearable ultrasonic scanning module described in this embodiment, through a compact transmission layout integrating the motor 201, the transmission assembly, and the ultrasonic scanning probe 400 into the base 100, and the measure of arranging the first rotating shaft 204 and the motor 201 side by side (instead of directly mounting the motor 201 on the first rotating shaft 204), effectively reduces the axial (refer to) distance of the second rotating shaft 207. Figure 5 The structural thickness (Z-axis) of the module is reduced by spatially separating the output shaft of the motor 201 and the second rotating shaft 207. This structure greatly compresses the overall thickness of the module, meeting the stringent requirements of wearable devices for ultra-thin form. Simultaneously, the ultrasonic scanning probe 400 is eccentrically connected to the second rotating shaft 207, allowing it to rotate with the shaft to scan a fan-shaped area. This enables a single, full-area mechanical scan covering the required area of ​​the wearable device, eliminating the need for manual movement by the user. The rotation encoder 300 provides position feedback for the ultrasonic scanning probe 400's rotation, achieving precise closed-loop control of the scanning angle and ensuring spatial consistency of the image sequence acquired by the probe, laying the foundation for high-quality 3D reconstruction. This module balances imaging range and structural volume within a limited space, operates smoothly, achieves high integration and precise control, and possesses high reliability. It is an ultrasonic scanning hardware solution suitable for wearable integration and can provide high-quality raw data for subsequent advanced image processing.

[0058] The wearable ultrasonic scanning module described in this embodiment achieves ultra-wide-angle, high-precision, and stable scanning on wearable devices, fundamentally resolving the contradiction between imaging range and device size. It also addresses the limitations of existing wearable ultrasonic patches, which cannot perform active scanning and have a fixed and narrow field of view. This embodiment utilizes an innovative compact transmission layout of "motor-pulley-rotating shaft," enabling the ultrasonic scanning probe 400 integrated into the module to maintain an ultra-thin, lightweight, and wearable form while achieving a mechanical scanning angle α. This allows for one-time coverage of the entire abdominal area without requiring manual movement by the user. Furthermore, the first and second transmission wheel sets, with a reduction ratio of 3:1, are the core components for achieving large-angle rotation within extreme space. This replaces bulky multi-degree-of-freedom robotic arms or direct-drive motors, allowing the previously conflicting characteristics of "large field of view" and "small size" to coexist.

[0059] The wearable ultrasound scanning module described in this embodiment significantly improves the quality and reliability of raw data for 3D ultrasound image reconstruction. Traditional manual or simple motor-driven scanning suffers from uncontrollable trajectory and speed, resulting in poor spatial consistency of the acquired 2D image sequence and blurry or distorted 3D reconstruction results. The integrated rotary encoder 300 in this embodiment achieves millisecond-level, closed-loop real-time feedback and control of the rotation angle and direction of the ultrasound scanning probe 400. The rotary encoder 300 ensures that the ultrasound scanning probe 400 moves along the exact same trajectory and at a constant speed in every scan, resulting in each frame of 2D ultrasound image carrying precise and reproducible spatial coordinate labels. This provides high-quality, low-noise input for subsequent 3D volume data reconstruction algorithms and is a prerequisite for obtaining clear and accurate 3D images of the fetal face and other fine structures.

[0060] This embodiment of a wearable ultrasonic scanning module achieves a balance between high system integration, high reliability, and low power consumption. Integrating multiple modules such as power, transmission, control, and imaging within the compact space of a wearable device and ensuring their stable operation is a significant challenge. This embodiment addresses this challenge through a modular and integrated design (such as the structural design of the bracket 110 and the base 100), enabling precise positioning and reliable connection of each component. The base 100, acting as the "skeleton" of the entire module, provides a stable mounting reference and force support for all moving parts and controllers, effectively suppressing vibration and deformation during the scanning process. Simultaneously, under the closed-loop control of the rotary encoder 300, the stepper motor or servo motor does not need to operate at full power throughout the entire process; it only performs precise stepping and holding when necessary. Combined with an efficient transmission design, this significantly reduces the overall power consumption of the module and extends the battery life of the wearable device.

[0061] Example 2 like Figures 1 to 6 As shown, the wearable device of the present invention includes a device body 700 and wearable components.

[0062] The main body 700 of the device includes a power supply, a wireless communication module, an integrated control circuit, and a wearable ultrasonic scanning module as described in any one of the above. The integrated control circuit is electrically connected to the wearable ultrasonic scanning module, the wireless communication module, and the power supply.

[0063] The power source can be a rechargeable battery, such as a lithium battery or a sodium battery. The wireless communication module uses WiFi, and / or Bluetooth, and / or satellite imagery, and / or infrared technology. The wireless communication module connects the main body of the device 700 to a client and / or the cloud. Users can view the three-dimensional images reconstructed from the ultrasound image sequence scanned by the ultrasound scanning probe 400 through the client and / or the cloud, thus clearly seeing the fetus's facial expressions, etc.

[0064] The wearable component includes a waist belt assembly 800 and a back strap assembly 900, the back strap assembly 900 being connected to the waist belt assembly 800, and the waist belt assembly 800 being connected to the device body 700.

[0065] In one alternative implementation, such as Figure 5 As shown, the waist belt assembly 800 includes a waist belt 801 and an opening / closing part 803. The opening / closing part 803 is connected to both ends of the waist belt 801, and can close the waist belt 801 into a loop through the opening / closing part 803. The opening / closing part 803 adopts Velcro, magnetic buckle, snap buckle or belt buckle. A padding 802 is connected to the inner side of the waist belt 801. The width of the padding 802 is greater than the width of the waist belt 801. The padding 802 can increase the comfort of wearing the waist belt 801. The back strap assembly 900 includes two back straps 901. The two ends of the back straps 901 are respectively connected to the waist belt 801. The back straps 901 are provided with adjustment buckles 902, which can adjust the length of the back straps 901. The back straps 901 are widened in the shoulder area. Shoulder pads are connected to the inner side of the back straps 901 in the shoulder area to increase the comfort of wearing.

[0066] The wearable device described in this embodiment, through a compact transmission layout integrating the motor 201, the transmission assembly, and the ultrasonic scanning probe 400 into the base 100, and by arranging the first rotating shaft 204 and the motor 201 side by side (instead of directly mounting the motor 201 on the first rotating shaft 204), effectively reduces the axial (refer to) distance of the second rotating shaft 207. Figure 5 The structural thickness (Z-axis) significantly reduces the overall thickness of the module, meeting the stringent requirements of wearable devices for ultra-thin form. Simultaneously, the ultrasonic scanning probe 400 is eccentrically connected to the second rotating shaft 207, allowing it to rotate with the shaft to scan a fan-shaped area. This enables a single, full-area mechanical scan covering the required area of ​​the wearable device, eliminating the need for manual movement by the user. The rotation encoder 300 provides position feedback for the ultrasonic scanning probe 400's rotation, achieving precise closed-loop control of the scanning angle and ensuring spatial consistency of the image sequence acquired by the probe, laying the foundation for high-quality 3D reconstruction. This module balances imaging range and structural volume within a limited space, operates smoothly, achieves high integration and precise control, and possesses high reliability. It is an ultrasonic scanning hardware solution suitable for wearable integration and can provide high-quality raw data for subsequent advanced image processing.

[0067] Example 3 like Figures 1 to 6As shown, the scanning imaging method of the present invention utilizes the wearable ultrasonic scanning module as described in Example 1 or the wearable device as described in Example 2. The method includes: The ultrasonic scanning probe 400 is driven to rotate around the second rotating shaft 207 by the motor 201 and the transmission assembly.

[0068] During the rotation of the ultrasonic scanning probe 400, the rotation encoder 300 calculates the real-time angle of the ultrasonic scanning probe 400.

[0069] When the real-time angle matches several preset target angles, the ultrasonic scanning probe 400 acquires the corresponding ultrasonic images, thereby obtaining an ultrasonic image sequence with a known spatial location.

[0070] The rotary encoder 300 is integrated into the transmission assembly as a complete feedback subsystem that can be independently calibrated and provides absolute or incremental position signals.

[0071] The scanning imaging method described in this embodiment, based on the high integration, high reliability, and high precision of the wearable ultrasonic scanning module, enables the original image sequence acquired by the ultrasonic scanning probe 400 to have excellent spatial coordinate consistency and temporal synchronization. This allows some computationally complex post-processing algorithms (such as noise suppression or motion compensation enhancement based on multi-frame registration) to be implemented more easily and effectively on the device or in the cloud, thereby enabling the construction of three-dimensional images through the ultrasonic image sequence.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wearable ultrasonic scanning module, characterized in that, include: Base (100); A motor (201) is connected to the base (100); The transmission assembly includes a first transmission wheel set, a first rotating shaft (204), a second transmission wheel set, and a second rotating shaft (207). The first rotating shaft (204) and the second rotating shaft (207) are rotatably connected to the base (100). The output shaft of the motor (201) drives the first rotating shaft (204) to rotate through the first transmission wheel set. The first rotating shaft (204) drives the second rotating shaft (207) to rotate through the second transmission wheel set. The first rotating shaft (204) and the motor (201) are arranged side by side. A rotary encoder (300) is connected to the base (100) and the first rotating shaft (204). The rotary encoder (300) is used to measure the rotation angle of the first rotating shaft (204). An ultrasonic scanning probe (400) is eccentrically connected to the second rotating shaft (207), and the ultrasonic scanning probe (400) and the motor (201) are located on opposite sides of the base (100).

2. The wearable ultrasonic scanning module according to claim 1, characterized in that, The first transmission wheel set and / or the second transmission wheel set are speed reduction transmission wheel sets.

3. The wearable ultrasonic scanning module according to claim 1, characterized in that, The first transmission wheel set includes a first driving wheel (202) and a first driven wheel (203); The first drive wheel (202) is connected to the output shaft of the motor (201), and the first driven wheel (203) is connected to the first rotating shaft (204); The first drive wheel (202) and the first driven wheel (203) are connected by a timing belt; or, the first drive wheel (202) and the first driven wheel (203) are connected by gear meshing.

4. The wearable ultrasonic scanning module according to claim 1, characterized in that, The second transmission wheel set includes a second driving wheel (205) and a second driven wheel (206); The second drive wheel (205) is connected to the first rotating shaft (204), and the second driven wheel (206) is connected to the second rotating shaft (207); The second drive wheel (205) and the second driven wheel (206) are connected by a timing belt; or, the second drive wheel (205) and the second driven wheel (206) are connected by gear meshing.

5. The wearable ultrasonic scanning module according to claim 1, characterized in that, The rotary encoder (300) is a photoelectric encoder, which includes a light-shielding wheel (301) and a photoelectric sensor (302), and the photoelectric sensor (302) and the light-shielding wheel (301) cooperate with each other; The light-shielding wheel (301) is connected to the first rotating shaft (204); The photoelectric sensor (302) is connected to the base (100).

6. The wearable ultrasonic scanning module according to claim 1, characterized in that, The rotary encoder (300) is a magnetoelectric encoder, which includes a magnet and a Hall effect sensor, wherein the Hall effect sensor and the magnet cooperate. A plurality of magnets are arranged at equal intervals along the circumference of the first rotating shaft (204); The base (100) is on which the Hall effect sensor is mounted.

7. The wearable ultrasonic scanning module according to claim 1, characterized in that, The second rotating shaft (207) is connected to a mounting base (208); The mounting base (208) is connected to the ultrasonic scanning probe (400); The mounting base (208) is connected to a connector (500), which is electrically connected to the ultrasonic scanning probe (400).

8. The wearable ultrasonic scanning module according to any one of claims 1-7, characterized in that, The base (100) is connected to the outer shell (600); The outer casing (600) and the ultrasonic scanning probe (400) are arranged opposite to each other; The housing (600) covers the motor (201), the first transmission wheel set, the first rotating shaft (204), the second transmission wheel set, and the rotary encoder (300).

9. A wearable device, characterized in that, include: The main body of the device (700) includes a power supply, a wireless communication module, an integrated control circuit, and a wearable ultrasonic scanning module as described in any one of claims 1-8, wherein the integrated control circuit is electrically connected to the wearable ultrasonic scanning module, the wireless communication module, and the power supply respectively. Wearable components include a waist belt assembly (800) and a shoulder strap assembly (900), the shoulder strap assembly (900) being connected to the waist belt assembly (800), and the waist belt assembly (800) being connected to the device body (700).

10. A scanning imaging method, characterized in that, The method, using the wearable ultrasonic scanning module as described in any one of claims 1-8, comprises: The ultrasonic scanning probe (400) is driven to rotate around the second rotating shaft (207) by the motor (201) and the transmission assembly; During the rotation of the ultrasonic scanning probe (400), the rotation encoder (300) calculates the real-time angle of the ultrasonic scanning probe (400). When the real-time angle matches several preset target angles, the ultrasonic scanning probe (400) acquires the corresponding ultrasonic images, thereby obtaining an ultrasonic image sequence with a known spatial location.

Images