An ultrasound examination assistive arm sensing and adjustment system

Abstract

This invention discloses an ultrasound examination assistive arm sensing and adjustment system, relating to the field of medical diagnostic auxiliary equipment technology in biomedical engineering. It is applied to an ultrasound examination arm assistive frame, which includes a fixed base, a first sub-connecting base, a connecting arm, a second sub-connecting base, a cantilever, and a bracket, all hinged sequentially. A servo electric actuator for driving the connecting arm to adjust its angle is hinged to the first sub-connecting base, and the output end of the servo electric actuator is hinged to the connecting arm. The assistive system includes: a first data acquisition module for acquiring real-time distance values; a second data acquisition module for acquiring real-time pressure values; a third data acquisition module for acquiring real-time angle values ​​of the connecting arm; and an angle recognition module. It tracks the wrist flexion angle and automatically adjusts the support point for the forearm, ensuring that the wrist and forearm are always in a straight line, reducing wrist strain for medical personnel during ultrasound examinations.

Description

Technical Field

[0001] This invention relates to the field of medical diagnostic auxiliary equipment technology in biomedical engineering, and in particular to a sensing and adjustment system for an ultrasound examination assistive arm. Background Technology

[0002] In the application of medical diagnostic auxiliary equipment in biomedical engineering, clinical medical workers often need to keep their right arm suspended in the air for extended periods while holding the ultrasound probe to examine the patient's body in cross-sectional views during routine ultrasound examinations. This is especially true when examining patients with thick abdominal fat, where medical personnel need to continuously press the ultrasound probe to ensure full contact between the probe and the abdominal wall, obtaining clear ultrasound images of the abdominal organs. Because the arm is constantly raised, suspended, and pressed during the examination, operators are prone to upper limb soreness due to the weight of the limb and sustained force after prolonged work, and in severe cases, may even develop overuse injuries such as acute carpal tunnel syndrome.

[0003] To alleviate the aforementioned problems, arm support devices or assistive robotic arms are typically used to provide auxiliary support for medical staff's arms during routine ultrasound examinations. However, most existing assistive robotic arms are passive support structures, whose support positions or angles are usually relatively fixed after adjustment, making it difficult to adaptively adjust to the real-time movement of the ultrasound probe held by the medical staff. Because medical staff need to continuously move, press down, or rotate the ultrasound probe during examinations, the forearm support point changes with the probe's operating posture. If the support structure cannot adjust in time with arm movements, it can easily lead to a mismatch between the support point and the actual force application position, affecting the effectiveness of arm support for the medical staff.

[0004] For example, the patent with authorization announcement number CN106378772B discloses a wearable mechanical auxiliary arm for handling based on the lever principle. This type of mechanical auxiliary arm can assist the human upper limb in applying force to a certain extent, but it is mainly aimed at handling assistance scenarios and has not been adapted to the characteristics of medical staff's wrist bending, forearm support point changes, and continuous changes in probe pressing posture during ultrasound examination.

[0005] During actual ultrasound examinations, medical staff often need to bend their wrists and apply continuous force when moving the ultrasound probe. If the forearm support angle could be adjusted according to the degree of wrist flexion, keeping the wrist and forearm in the same straight line as much as possible, it would help reduce the risk of wrist strain caused by prolonged wrist bending. However, existing assistive robotic arm systems typically cannot actively adjust the forearm support angle based on the medical staff's wrist flexion, arm support pressure, and the current angle of the robotic arm. This still requires frequent manual adjustments of the support point by the medical staff, which not only affects the efficiency of ultrasound examinations but also reduces human-machine compatibility and continuous operational comfort during the examination. Summary of the Invention

[0006] In view of this, the purpose of this invention is to propose an ultrasound examination assist arm sensing and adjustment system to track the wrist flexion angle, automatically adjust the support point of the forearm, ensure that the wrist and forearm are in a straight line in real time, and reduce wrist strain for medical personnel during ultrasound examinations.

[0007] To achieve the above technical objectives, the present invention provides an ultrasonic examination assist arm sensing and adjustment system, which is applied to an ultrasonic examination arm auxiliary frame. The ultrasonic examination arm auxiliary frame includes a fixed base, a first sub-connecting base, a connecting arm, a second sub-connecting base, a cantilever, and a bracket, which are hinged in sequence. The bracket is used to support the forearm. The cantilever and the bracket can swing with the forearm. A servo electric actuator for driving the connecting arm to adjust its angle is hinged on the first sub-connecting base. The output end of the servo electric actuator is hinged to the connecting arm.

[0008] The auxiliary system includes: a first data acquisition module for acquiring real-time distance values; a second data acquisition module for acquiring real-time pressure values; a third data acquisition module for acquiring real-time angle values ​​of the connecting arm; an angle recognition module that inputs the real-time distance values, real-time pressure values, and real-time angle values ​​into a trained angle recognition model and outputs an adjustment angle value; and an adjustment module that controls a servo electric actuator to adjust the angle of the connecting arm based on the adjustment angle value.

[0009] Preferably, the first data acquisition module is fixed on the cantilever.

[0010] Preferably, the second data acquisition module is fixed to the inner wall of the bracket.

[0011] Preferably, the hinge between the fixed connecting arm and the first sub-connecting seat of the third data acquisition module is used.

[0012] Preferably, the training method for the angle recognition model includes: collecting i sets of historical angle adjustment data and adjustment angle values ​​corresponding to the historical angle adjustment data, wherein the angle adjustment data includes real-time distance values, real-time pressure values ​​and real-time angle values;

[0013] Historical angle adjustment data and the corresponding adjustment angle values ​​are used as a sample set. The sample set is divided into a training set and a test set. The historical angle adjustment data in the training set is used as the input of the angle recognition model, and the adjustment angle values ​​in the training set are used as the output of the angle recognition model. The angle recognition model is trained and outputs an angle recognition model that meets the preset accuracy. The angle recognition model is either a Naive Bayes model or a Support Vector Machine model.

[0014] Preferably, the auxiliary system further includes a reset module, which compares the real-time pressure value with a preset pressure value threshold to determine whether to generate a reset command. The adjustment module controls the servo electric actuator to adjust the connecting arm to reset based on the reset command.

[0015] Preferably, the method for determining whether to generate a reset command includes: generating a reset command when the real-time pressure value is less than a preset pressure value threshold; and not generating a reset command when the real-time pressure value is greater than or equal to the preset pressure value threshold.

[0016] Preferably, a connecting clip is fixed to one end of the fixed base away from the first sub-connecting base, and a fourth locking bolt is threaded onto the surface of the connecting clip.

[0017] Preferably, the end of the ultrasound examination arm auxiliary frame is connected to a support tube, one end of which is hinged to a support platform, the connecting clip is fixed to the edge of the support platform by a fourth locking bolt, and the other end of the support tube is fixed to a fixed triangular seat, and the outer surface of the fixed triangular seat is evenly hinged with support legs.

[0018] Preferably, the top of the main support pipe is telescopically connected to a secondary support pipe, the top of the main support pipe is fitted with a fixing sleeve, the fixing sleeve is threaded with a second locking bolt, the top of the secondary support pipe is fixed with a connecting sleeve, the top of the connecting sleeve is rotatably connected with a connecting post, the surface of the connecting sleeve is threaded with a third locking bolt, the surface of the connecting post is evenly provided with fixing holes, the surface of the fixing triangular seat is threaded with a first locking bolt, the surface of the support leg is hinged with a support plate, the end of the support plate away from the support leg is hinged with a supporting triangular seat, and the supporting triangular seat is telescopically connected to the main support pipe.

[0019] As can be seen from the above technical solutions, this application has the following beneficial effects:

[0020] 1: By monitoring the distance between the wrist and the cantilever, and the pressure applied by the forearm to the bracket, an angle recognition model is trained based on these key parameters to output the angle adjustment value of the connecting arm in real time. The angle of the connecting arm is adjusted by a servo electric actuator to ensure that the forearm and wrist are always in the same straight line.

[0021] 2: By monitoring the pressure applied to the bracket by the forearm, it can be determined whether the bracket is supporting the forearm. If the support is insufficient, the angle of the connecting arm can be adjusted by the servo electric actuator, so that the bracket can always support the forearm of the medical staff, further improving the comfort of the forearm of the medical staff during ultrasound examination. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 A block diagram of an ultrasonic examination assistive arm sensing and adjustment system provided by the present invention; Figure 2 This is a schematic diagram of the overall structure of the ultrasound examination arm auxiliary frame provided by the present invention; Figure 3 This is a schematic diagram of the connection structure between the servo electric actuator and the connecting arm provided by the present invention; Figure 4 A schematic diagram of the overall structure of the support tube provided by the present invention; Figure 5 This is a front view schematic diagram of the support tube structure provided by the present invention; Figure 6 This is a schematic diagram of the connection structure between the support platform and the connecting sleeve provided by the present invention;

[0024] Figure 7 This is a schematic diagram of the bracket supporting the forearm provided by the present invention.

[0025] Figure Descriptions: 1. Main support tube; 101. Fixed triangular seat; 101a. Support leg; 101a1. First locking bolt; 101b. Support plate; 101c. Support triangular seat; 102. Support auxiliary tube; 102a. Fixed sleeve; 102b. Second locking bolt; 103. Support platform; 103a. Connecting sleeve; 103b. Connecting post; 103b1. Fixed hole; 103c. Third locking bolt; 2. Ultrasonic examination arm auxiliary frame; 21. Fixed seat; 211. Connecting clip; 212. Fourth locking bolt; 22. Connecting arm; 221. First sub-connecting seat; 222. Second sub-connecting seat; 23. Cantilever; 24. Bracket; 3. Servo electric actuator. Detailed Implementation

[0026] The following description is exemplary in nature and is not intended to limit the scope, application, or use of this disclosure. It should be understood that in all these figures, the same or similar reference numerals indicate the same or similar parts and features. The figures are merely schematic representations of the concept and principles of embodiments of this disclosure and do not necessarily show the specific dimensions and scale of the various embodiments of this disclosure. Certain details or structures of embodiments of this disclosure may be exaggerated in particular portions of certain figures.

[0027] Example 1

[0028] like Figure 1 , Figure 2 and Figure 3 As shown in the figure, the ultrasonic examination assist arm sensing and adjustment system described in this embodiment is applied to the ultrasonic examination arm auxiliary frame 2. The ultrasonic examination arm auxiliary frame 2 includes a fixed base 21, a first sub-connecting base 221, a connecting arm 22, a second sub-connecting base 222, a cantilever 23, and a bracket 24 that are hinged in sequence. The bracket 24 is used to support the forearm, and the cantilever 23 and the bracket 24 can swing with the forearm.

[0029] That is, the first sub-connector 221 is rotatably connected to the fixed seat 21, and the two ends of the cantilever 23 are rotatably connected to the bracket 24 and the second sub-connector 222 respectively. The rotation direction of the first sub-connector 221 and the fixed seat 21 is the same as the rotation direction of the two ends of the cantilever 23 and the bracket 24 and the second sub-connector 222, which is along the Y-axis. The purpose is that when the medical staff puts their forearm on the bracket 24 and moves the ultrasound probe left and right, the medical staff's forearm swings left and right accordingly, and the first sub-connector 221, the connecting arm 22, the second sub-connector 222, the cantilever 23 and the bracket 24 can swing along the Z-axis on the fixed seat 21.

[0030] The connecting arm 22 rotates along the Z-axis, i.e., swings along the Y-axis. This is so that when the medical staff holds the ultrasound probe and presses it on the patient's abdomen, the connecting arm 22 can rotate on the first sub-connecting seat 221 when the medical staff's forearm or wrist presses down, coordinating with the up and down movement of the medical staff's forearm and wrist. It is worth mentioning that the rotation angle between the connecting arm 22 and the first sub-connecting seat 221 and the second sub-connecting seat 222 is limited. The specific rotation angle can be set by those skilled in the art according to actual needs, and is not specifically limited here.

[0031] Furthermore, a servo electric actuator 3 for driving the connecting arm 22 to adjust its angle is hinged to the first sub-connecting seat 221. The output end of the servo electric actuator 3 is hinged to the connecting arm 22. By extending or retracting the output end of the servo electric actuator 3, the connecting arm 22 can be pushed to rotate around the hinge point between the connecting arm 22 and the first sub-connecting seat 221, thereby adjusting the angle between the connecting arm 22 and the first sub-connecting seat 221.

[0032] See Figure 1 and Figure 3 As shown, the auxiliary system includes a first data acquisition module, a second data acquisition module, a third data acquisition module, an angle recognition module, and an adjustment module. The modules are connected by wired and / or wireless means. The first data acquisition module is fixed on the cantilever 23 and is used to collect real-time distance values, that is, the distance from the detection point of the first data acquisition module to the palm of the medical staff. In this embodiment, the first data acquisition module uses a sensor with distance measurement function such as an ultrasonic ranging sensor or an infrared ranging sensor, which is not specifically limited here.

[0033] The second data acquisition module is fixed on the inner wall of the bracket 24 and is used to collect real-time pressure values, that is, the pressure applied to the second acquisition module by the medical staff with their arm on the bracket 24. In this embodiment, the second data acquisition module adopts one of the sensors that meet the pressure detection requirements, such as a piezoresistive pressure sensor or a piezoelectric pressure sensor, without making a specific limitation here.

[0034] The third data acquisition module is fixed at the hinge of the connecting arm 22 and the first sub-connecting seat 221, and is used to acquire the real-time angle value of the connecting arm 22, that is, the angle value between the connecting arm 22 and the first sub-connecting seat 221.

[0035] The angle recognition module takes real-time distance, real-time pressure, and real-time angle values ​​as input to the trained angle recognition model and outputs the adjustment angle value.

[0036] The adjustment module controls the servo electric actuator 3 to adjust the angle of the connecting arm 22 based on the adjustment angle value. It is worth mentioning that, in this embodiment, the adjustment module is a PLC or a programmable controller, without specific limitations. The extension and retraction length of the servo electric actuator 3 and the rotation angle of the connecting arm 22 have a fixed logical relationship, as follows:

[0037] The required length of the servo electric actuator 3 can be calculated based on the law of cosines.

[0038] Based on the control parameters of the selected servo electric actuator 3, the number of revolutions required for the servo electric actuator 3 to extend and retract to the required length can be obtained. Executing this number of revolutions will control the servo electric actuator 3 to extend and retract to the specified length.

[0039] The adjustment module can control the servo electric actuator 3 to drive the connecting arm 22 to adjust to the corresponding angle through the above logical relationship.

[0040] This embodiment, by adjusting the angle of the connecting arm 22, allows medical personnel to keep their wrist and forearm as much as possible in a straight line, while maintaining support for the forearm. This reduces wrist strain during ultrasound examinations. (See reference...) Figure 3 and Figure 7 As shown, when medical personnel press the ultrasound probe down on the abdomen of the person being examined, they need to maintain support for the forearm. That is, the ultrasound examination arm support 2 needs to apply a supporting force opposite to the gravity acting on the forearm in the Y-axis direction. This results in a larger angle between the medical personnel's wrist and forearm. Figure 7 The purpose of the F angle in this embodiment is to adjust the rotation angle M of the connecting arm 22 so that the bracket 24 moves down. This can maintain support for the forearm of the medical staff and keep the wrist and forearm of the medical staff as straight as possible.

[0041] Training methods for angle recognition models include:

[0042] Collect i sets of historical angle adjustment data and the corresponding adjustment angle values. The angle adjustment data includes real-time distance value, real-time pressure value and real-time angle value.

[0043] Historical angle adjustment data and the corresponding adjustment angle values ​​are used as a sample set. The sample set is divided into a training set and a test set. The historical angle adjustment data in the training set is used as the input of the angle recognition model, and the adjustment angle values ​​in the training set are used as the output of the angle recognition model. The angle recognition model is trained and outputs an angle recognition model that meets the preset accuracy. The angle recognition model is either a Naive Bayes model or a Support Vector Machine model.

[0044] Historical angle adjustment data was collected in the experimental environment. Multiple sets of angle adjustment data were used sequentially, and multiple adjustments were made to obtain multiple adjustment angle values. Technicians selected the optimal adjustment angle value, which corresponded to the best adjustment quality. The angle adjustment data in the multiple sets were continuously changed, thus obtaining i sets of historical angle adjustment data.

[0045] Example 2

[0046] See Figure 1 , Figure 2 and Figure 3As shown, based on the above embodiments, the improvement of this embodiment is that the auxiliary system also includes a reset module, which compares the real-time pressure value with the preset pressure value threshold to determine whether to generate a reset command. The adjustment module controls the servo electric actuator 3 to adjust the connecting arm 22 to reset based on the reset command. The purpose is that when medical personnel are performing an ultrasound examination, if the forearm of the medical personnel is not supported by the bracket 24, the actual pressure value collected by the second data acquisition module is 0 or close to 0, that is, the forearm of the medical personnel is not well supported. This may be because the height of the bracket 24 was adjusted too low during the previous ultrasound examination. At this time, the bracket 24 needs to automatically return to its original position. In conjunction with Embodiment 1, the forearm of the medical personnel can always be supported, realizing intelligent sensing and adjustment.

[0047] Specifically, methods for determining whether a reset instruction has been generated include:

[0048] If the real-time pressure value is less than the preset pressure value threshold, a reset command is generated;

[0049] If the real-time pressure value is greater than or equal to the preset pressure value threshold, no reset command will be generated;

[0050] The preset pressure threshold is obtained by those skilled in the art based on a large amount of experimental data. For example, K people of different body types are collected, where K is an integer greater than 1. Their forearms are placed on the bracket 24, and K sets of pressure values ​​are collected. The average value of the K sets of pressure values ​​can be used as the preset pressure threshold. The smaller the preset pressure threshold, the more sensitive the reset command is to be triggered. Conversely, the larger the preset pressure threshold, the slower the reset command is to be triggered.

[0051] Example 3

[0052] See Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, based on the above embodiments, this embodiment provides a bracket for use with an ultrasound examination arm auxiliary bracket 2. The bracket includes a main support tube 1, a fixed triangular base 101, a supporting auxiliary tube 102, a support platform 103, and supporting legs 101a. The supporting auxiliary tube 102 is telescopically connected to the main support tube 1. The support platform 103 is installed at the top of the supporting auxiliary tube 102. The height of the support platform 103 can be adjusted by telescopically adjusting the supporting auxiliary tube 102 and the main support tube 1. The fixed triangular base 101 is fixed to the bottom of the main support tube 1. There are at least three supporting legs 101a. The three supporting legs 101a are evenly hinged to the fixed triangular base 101. When the three fixed triangular bases 101 are spread out, they provide support for the entire bracket.

[0053] For further details, please refer to [link / reference]. Figure 2 and Figure 4As shown, a connecting card 211 is fixed to one end of the fixed base 21 away from the first sub-connecting base 221. A fourth locking bolt 212 is threaded onto the surface of the connecting card 211. The connecting card 211 is fixed to the edge of the support 103 by the fourth locking bolt 212. In this way, when using the bracket and ultrasound examination arm auxiliary frame 2 in different scenarios, the medical staff's upper arm can be placed on the support 103, while the forearm can be placed on the bracket 24.

[0054] Furthermore, a fixing sleeve 102a is fitted onto the top of the main support tube 1. The side of the fixing sleeve 102a is open, and a second locking bolt 102b is threaded onto the fixing sleeve 102a. By adjusting the tightness of the second locking bolt 102b and the fixing sleeve 102a, the distance between the side openings of the fixing sleeve 102a can be controlled, thereby controlling the clamping or loosening of the auxiliary support tube 102. This facilitates the adjustment of the height of the auxiliary support tube 102 before fixing it.

[0055] See Figure 5 and Figure 6 As shown, a connecting sleeve 103a is fixed to the top of the supporting auxiliary pipe 102. A connecting pile 103b is rotatably connected to the top of the connecting sleeve 103a. The support platform 103 is fixed on the connecting pile 103b. A third locking bolt 103c is threaded onto the surface of the connecting sleeve 103a. Tightening the third locking bolt 103c can connect and fix the connecting sleeve 103a to the supporting auxiliary pipe 102. Fixing holes 103b1 are evenly opened on the surface of the connecting pile 103b. A pin is inserted into the fixing hole 103b1. The pin passes through the fixing hole 103b1 and the connecting sleeve 103a in sequence. The tilt angle between the support platform 103 and the supporting main pipe 1 can be adjusted by rotating the connecting pile 103b. After adjustment, the pin is inserted to fix the connecting pile 103b and the connecting sleeve 103a.

[0056] For further details, please refer to [link / reference]. Figure 4 and Figure 5 As shown, a first locking bolt 101a1 is threaded onto the surface of the fixed triangular base 101. Tightening the first locking bolt 101a1 allows the main support tube 1 to be connected and fixed to the fixed triangular base 101. A support plate 101b is hinged to the surface of the support leg 101a. A support triangular base 101c is hinged to the end of the support plate 101b away from the support leg 101a. The support triangular base 101c is telescopically connected to the main support tube 1. The fixing method between the support triangular base 101c and the main support tube 1 is the same as the fixing method between the main support tube 1 and the fixed triangular base 101, which will not be elaborated here. By loosening the support triangular base 101c and the main support tube 1, the support triangular base 101c can be retracted into the main support tube 1, and the three support legs 101a can be folded together, making it convenient to carry the bracket.

[0057] It is worth mentioning that the electrical devices involved in the above embodiments can be powered by a mobile power supply, which can be fixed at the bottom of the support 103. The specific power supply connection method and switching method are known and publicly available technologies, and will not be elaborated on here.

[0058] The exemplary implementation of the solution proposed in this disclosure has been described in detail above with reference to preferred embodiments. However, those skilled in the art will understand that various modifications and alterations can be made to the above specific embodiments without departing from the spirit of this disclosure, and various combinations can be made to the various technical features and structures proposed in this disclosure without exceeding the protection scope of this disclosure, which is determined by the appended claims.

Claims

1. A sensing and adjustment system for an ultrasound examination assistive arm, applied to an ultrasound examination arm auxiliary frame (2), characterized in that, The ultrasound examination arm auxiliary frame (2) includes a fixed seat (21), a first sub-connecting seat (221), a connecting arm (22), a second sub-connecting seat (222), a cantilever (23), and a bracket (24) that are hinged together in sequence. The bracket (24) is used to support the forearm. The cantilever (23) and the bracket (24) can swing with the forearm. A servo electric actuator (3) for driving the connecting arm (22) to adjust its angle is hinged on the first sub-connecting seat (221). The output end of the servo electric actuator (3) is hinged to the connecting arm (22). The auxiliary systems include: The first data acquisition module is used to collect real-time distance values; The second data acquisition module is used to collect real-time pressure values; The third data acquisition module is used to acquire the real-time angle value of the connecting arm (22); The angle recognition module takes real-time distance, real-time pressure, and real-time angle values ​​as input to the trained angle recognition model and outputs the adjustment angle value. The adjustment module controls the servo electric actuator (3) to adjust the angle of the connecting arm (22) based on the adjustment angle value.

2. The ultrasound examination assistive arm sensing and adjustment system according to claim 1, characterized in that, The first data acquisition module is fixed on the cantilever (23).

3. The ultrasonic examination assistive arm sensing and adjustment system according to claim 1, characterized in that, The second data acquisition module is fixed on the inner wall of the bracket (24).

4. The ultrasonic examination assistive arm sensing and adjustment system according to claim 1, characterized in that, The hinge between the fixed connecting arm (22) and the first sub-connecting seat (221) of the third data acquisition module.

5. The ultrasonic examination assistive arm sensing and adjustment system according to claim 1, characterized in that, Training methods for angle recognition models include: Collect i sets of historical angle adjustment data and the corresponding adjustment angle values. The angle adjustment data includes real-time distance value, real-time pressure value and real-time angle value. Historical angle adjustment data and the corresponding adjustment angle values ​​are used as a sample set. The sample set is divided into a training set and a test set. The historical angle adjustment data in the training set is used as the input of the angle recognition model, and the adjustment angle values ​​in the training set are used as the output of the angle recognition model. The angle recognition model is trained and outputs an angle recognition model that meets the preset accuracy. The angle recognition model is either a Naive Bayes model or a Support Vector Machine model.

6. The ultrasonic examination assistive arm sensing and adjustment system according to claim 1, characterized in that, The auxiliary system also includes a reset module, which compares the real-time pressure value with the preset pressure value threshold to determine whether to generate a reset command. The adjustment module controls the servo electric actuator (3) to adjust the connecting arm (22) to reset based on the reset command.

7. The ultrasonic examination assistive arm sensing and adjustment system according to claim 1, characterized in that, Methods for determining whether a reset instruction has been generated include: If the real-time pressure value is less than the preset pressure value threshold, a reset command is generated; If the real-time pressure value is greater than or equal to the preset pressure value threshold, a reset command will not be generated.

8. The ultrasonic examination assistive arm sensing and adjustment system according to claim 1, characterized in that, The fixed base (21) is fixed with a connecting card (211) at the end opposite to the first sub-connecting base (221), and a fourth locking bolt (212) is threaded onto the surface of the connecting card (211).

9. The ultrasonic examination assistive arm sensing and adjustment system according to claim 8, characterized in that, The ultrasound examination arm auxiliary frame (2) is connected to a support tube (1) at one end, and a support platform (103) is hinged to one end of the support tube (1). The connecting clip (211) is fixed to the edge of the support (103) by the fourth locking bolt (212); The other end of the main support tube (1) is fixed with a fixed triangular seat (101), and the outer surface of the fixed triangular seat (101) is uniformly hinged with support legs (101a).

10. The ultrasonic examination assistive arm sensing and adjustment system according to claim 9, characterized in that, The top of the main support tube (1) is telescopically connected to a support auxiliary tube (102), and a fixing sleeve (102a) is sleeved on the top of the main support tube (1). A second locking bolt (102b) is threaded onto the fixing sleeve (102a). The top of the supporting auxiliary pipe (102) is fixed with a connecting sleeve (103a), the top of the connecting sleeve (103a) is rotatably connected with a connecting pile (103b), the surface of the connecting sleeve (103a) is threaded with a third locking bolt (103c), and the surface of the connecting pile (103b) is evenly provided with fixing holes (103b1). The fixed triangular seat (101) is threaded with a first locking bolt (101a1), the support leg (101a) is hinged with a support plate (101b), the end of the support plate (101b) away from the support leg (101a) is hinged with a support triangular seat (101c), and the support triangular seat (101c) is telescopically connected to the support main tube (1).

Images