Handheld ultrasonic equipment integrated with six-axis tracking device

Abstract

The utility model discloses handheld ultrasonic equipment integrated with a six-axis tracking device. A main control circuit board is fixed on a middle frame; the bottom shell is connected to the lower part of the middle frame; the convex array sound head assembly is connected to one end of the middle frame, and the linear array sound head assembly is connected to the other end of the middle frame; an ultrasonic transmitter of the main control circuit board is electrically connected with the signal processing unit, and the ultrasonic transmitter is used for transmitting an ultrasonic signal; the ultrasonic receiver is electrically connected with the signal processing unit; the ultrasonic receiver is used for receiving an ultrasonic signal which is transmitted by the ultrasonic transmitter through the convex array sound head assembly or the linear array sound head assembly and is propagated in the medium; the inertial measurement unit is electrically connected with the signal processing unit, and the inertial measurement unit is used for measuring the linear acceleration and angular velocity of the equipment so as to realize a six-axis tracking function. According to the utility model, the current ultrasonic probe scanning angle and operation speed can be known in real time; the cost is obviously reduced; and the system is strong in real-time response capability, convenient for handheld operation and carrying, and suitable for various application scenes.

Description

Technical Field

[0001] The utility model relates to an ultrasonic device, in particular to a palm ultrasonic device integrated with a six-axis tracking device. Background Art

[0002] With the development of virtual reality (VR), augmented reality (AR), drones, and robotics, the demand for six-axis tracking devices for precise measurement and control is increasing.

[0003] In traditional technologies, six-axis tracking devices mostly use laser, optical or magnetic sensors. Although these solutions have high accuracy, they are usually costly, large in size, and easily affected by the environment. In recent years, tracking technology based on ultrasonic and inertial sensors has gradually attracted attention due to its advantages such as high accuracy, low cost and strong anti-interference ability. It is necessary to develop an ultrasonic device suitable for a variety of high-precision positioning and tracking applications. Utility Model Content

[0004] The utility model aims to provide a handheld ultrasound device with an integrated six-axis tracking device, which can understand the current ultrasound probe scanning angle and running speed in real time, is suitable for a variety of high-precision positioning and tracking applications, and has broad research value for the training and use of handheld ultrasound devices.

[0005] The utility model solves the above technical problems with the following technical solutions: A handheld ultrasound device with an integrated six-axis tracking device, comprising a face shell, a middle frame, a main control circuit board, a convex array acoustic head assembly, a linear array acoustic head assembly and a bottom shell; the face shell is connected to the upper part of the middle frame, the main control circuit board is fixed on the middle frame; the bottom shell is connected to the lower part of the middle frame; the convex array acoustic head assembly is connected to one end of the middle frame, and the linear array acoustic head assembly is connected to the other end of the middle frame;

[0006] The main control circuit board integrates a signal processing unit, an ultrasonic transmitter, an ultrasonic receiver and an inertial measurement unit; the ultrasonic transmitter is electrically connected to the signal processing unit, and the ultrasonic transmitter is used to transmit ultrasonic signals;

[0007] The ultrasonic receiver is electrically connected to the signal processing unit, and the ultrasonic receiver is used to receive the ultrasonic signal transmitted by the ultrasonic transmitter through the convex array acoustic head assembly or the linear array acoustic head assembly after propagation in the medium;

[0008] The inertial measurement unit is electrically connected to the signal processing unit, and the inertial measurement unit is used to measure the linear acceleration and angular velocity of the device to achieve a six-axis tracking function.

[0009] As a preferred solution for a handheld ultrasound device with an integrated six-axis tracking device, the convex array acoustic head assembly includes a convex array acoustic head body, a convex array acoustic head fixing frame and a convex array light guide indicator light;

[0010] The convex array sound head body is fixed on the convex array sound head fixing frame, and the convex array sound head body is electrically connected to the signal processing unit; the convex array light guide indicator light is fixed on the side of the middle frame; the convex array light guide indicator light is electrically connected to the signal processing unit.

[0011] As a preferred solution for a handheld ultrasound device with an integrated six-axis tracking device, the linear array sound head assembly includes a linear array sound head body, a linear array sound head fixing frame, and a linear array light guide indicator light;

[0012] The linear array sound head body is fixed to the linear array sound head fixing frame, and the linear array sound head body is electrically connected to the signal processing unit through the linear array wiring pressure plate; the linear array light guide indicator light is fixed to the side of the middle frame; the linear array light guide indicator light is electrically connected to the signal processing unit through the linear array wiring pressure plate.

[0013] As a preferred solution for a handheld ultrasound device with an integrated six-axis tracking device, the main control circuit board is also integrated with a display module, the display module is electrically connected to the signal processing unit, and the display module is used to display the real-time measurement and tracking results of the device;

[0014] A display window is provided on the surface shell at a position corresponding to the display module.

[0015] As a preferred solution for a handheld ultrasound device with an integrated six-axis tracking device, the main control circuit board is also integrated with a power supply system, the power supply system is electrically connected to the signal processing unit, and the power supply system is used to power the convex array sound head assembly, the linear array sound head assembly, the signal processing unit, the ultrasonic transmitter, the ultrasonic receiver and the inertial measurement unit.

[0016] As a preferred solution for a handheld ultrasound device with an integrated six-axis tracking device, the main control circuit board also integrates a data transmission module, the data transmission module is electrically connected to the signal processing unit, and the data transmission module is used to transmit ultrasound device data to an external terminal.

[0017] As a preferred solution for the handheld ultrasound device with integrated six-axis tracking device, the inertial measurement unit is configured with an ICM-20689 chip.

[0018] As a preferred solution for a handheld ultrasound device with an integrated six-axis tracking device, the signal processing unit integrates an amplifier, a filter and an analog-to-digital converter; the signal processing unit performs signal amplification, filtering and analog-to-digital conversion processing on the received ultrasonic signal and the output signal of the ICM-20689 chip.

[0019] The beneficial effects of the utility model are as follows: a face shell, a middle frame, a main control circuit board, a convex array sound head assembly, a linear array sound head assembly and a bottom shell are provided; the face shell is connected to the upper part of the middle frame, and the main control circuit board is fixed on the middle frame; the bottom shell is connected to the lower part of the middle frame; the convex array sound head assembly is connected to one end of the middle frame, and the linear array sound head assembly is connected to the other end of the middle frame; the main control circuit board is integrated with a signal processing unit, an ultrasonic transmitter, an ultrasonic receiver and an inertial measurement unit; the ultrasonic transmitter is electrically connected to the signal processing unit, and the ultrasonic transmitter is used to transmit an ultrasonic signal; the ultrasonic receiver is electrically connected to the signal processing unit, and the ultrasonic receiver is used to receive the ultrasonic signal transmitted in the medium by the ultrasonic transmitter via the convex array sound head assembly or the linear array sound head assembly; the inertial measurement unit is electrically connected to the signal processing unit, and the inertial measurement unit is used to measure the linear acceleration and angular velocity of the device to realize the six-axis tracking function. This utility model adopts a combination of ultrasonic technology and high-performance IMU to provide high-precision six-axis tracking capability, and can understand the current ultrasonic probe scanning angle and operating speed in real time; compared with traditional optical or laser tracking systems, the cost is significantly reduced; the real-time response capability is strong, the equipment design is compact, easy to hand-held operation and carry, and is suitable for a variety of application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0021] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0022] Figure 1 A schematic diagram of the overall structure of a handheld ultrasound device with an integrated six-axis tracking device provided by an embodiment of the utility model;

[0023] Figure 2 An exploded schematic diagram of a handheld ultrasound device with an integrated six-axis tracking device provided by an embodiment of the utility model;

[0024] Figure 3 Another exploded schematic diagram of a handheld ultrasound device with an integrated six-axis tracking device provided by an embodiment of the utility model;

[0025] Figure 4 A schematic diagram of the hardware framework of a handheld ultrasound device with an integrated six-axis tracking device provided in an embodiment of the utility model;

[0026] Figure 5 A circuit diagram of an ultrasonic transmitter of a handheld ultrasonic device with an integrated six-axis tracking device provided in an embodiment of the utility model;

[0027] Figure 6 A circuit diagram of an ultrasonic receiver for a handheld ultrasonic device with an integrated six-axis tracking device provided by an embodiment of the utility model;

[0028] Figure 7 A circuit diagram of an inertial measurement unit of a handheld ultrasonic device with an integrated six-axis tracking device provided in an embodiment of the utility model;

[0029] Figure 8 A circuit diagram of a handheld ultrasound device signal processing unit with an integrated six-axis tracking device provided in an embodiment of the utility model;

[0030] Fig. 9 A circuit diagram of a data transmission unit of a handheld ultrasound device with an integrated six-axis tracking device provided in an embodiment of the utility model.

[0031] In the figure, 1. front shell; 2. middle frame; 3. main control circuit board; 4. convex array sound head assembly; 5. linear array sound head assembly; 6. bottom shell; 7. signal processing unit; 8. ultrasonic transmitter; 9. ultrasonic receiver; 10. inertial measurement unit; 11. convex array sound head body; 12. convex array sound head fixing bracket; 13. convex array light guide indicator; 14. linear array sound head body; 15. linear array sound head fixing bracket; 16. linear array light guide indicator; 17. display module; 18. display window; 19. power supply system; 20. data transmission module. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0034] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The embodiment of the utility model provides a handheld ultrasound device with an integrated six-axis tracking device, including a front shell 1, a middle frame 2, a main control circuit board 3, a convex array sound head assembly 4, a linear array sound head assembly 5 and a bottom shell 6; the front shell 1 is connected to the upper part of the middle frame 2, and the main control circuit board 3 is fixed on the middle frame 2; the bottom shell 6 is connected to the lower part of the middle frame 2; the convex array sound head assembly 4 is connected to one end of the middle frame 2, and the linear array sound head assembly 5 is connected to the other end of the middle frame 2;

[0035] The main control circuit board 3 integrates a signal processing unit 7, an ultrasonic transmitter 8, an ultrasonic receiver 9 and an inertial measurement unit 10; the ultrasonic transmitter 8 is electrically connected to the signal processing unit 7, and the ultrasonic transmitter 8 is used to transmit ultrasonic signals;

[0036] The ultrasonic receiver 9 is electrically connected to the signal processing unit 7, and is used to receive the ultrasonic signal transmitted in the medium by the ultrasonic transmitter 8 through the convex array acoustic head assembly 4 or the linear array acoustic head assembly 5;

[0037] The inertial measurement unit 10 is electrically connected to the signal processing unit 7 , and the inertial measurement unit 10 is used to measure the linear acceleration and angular velocity of the device to achieve a six-axis tracking function.

[0038] In this embodiment, the convex array sound head assembly 4 includes a convex array sound head body 11, a convex array sound head fixing frame 12 and a convex array light guide indicator light 13; the convex array sound head body 11 is fixed on the convex array sound head fixing frame 12, and the convex array sound head body 11 is electrically connected to the signal processing unit 7; the convex array light guide indicator light 13 is fixed on the side of the middle frame 2; the convex array light guide indicator light 13 is electrically connected to the signal processing unit 7.

[0039] Specifically, the convex array acoustic head body 11 is fixed by a convex array acoustic head fixing frame 12, and connected to the signal processing unit 7 by a flat cable. The center frequency of the convex array acoustic head body 11 is generally 3.5MHZ, and the detection depth is relatively deep, usually detecting organs such as the liver, kidneys, lungs, abdominal cavity, pelvic cavity, and chest cavity. The working status of the convex array acoustic head assembly 4 can be indicated by the convex array light guide indicator 13.

[0040] In this embodiment, the linear array sound head assembly 5 includes a linear array sound head body 14, a linear array sound head fixing frame 15 and a linear array light guide indicator light 16; the linear array sound head body 14 is fixed on the linear array sound head fixing frame 15, and the linear array sound head body 14 is electrically connected to the signal processing unit 7 through the linear array wiring pressure plate; the linear array light guide indicator light 16 is fixed on the side of the middle frame 2; the linear array light guide indicator light 16 is electrically connected to the signal processing unit 7 through the linear array wiring pressure plate.

[0041] Specifically, the linear array acoustic head body 14 is fixed by the linear array acoustic head fixing frame 15, and connected to the signal processing unit 7 by means of a cable. The central frequency of the linear array probe body is generally above 7 MHZ, and the detection depth is relatively shallow, and it is usually used to inspect superficial organs and tissues such as muscles, bones, blood vessels, breasts, and arteries. The working status of the linear array acoustic head assembly 5 can be indicated by the linear array light guide indicator 16.

[0042] See also Figure 4 In this embodiment, the main control circuit board 3 is also integrated with a display module 17, which is electrically connected to the signal processing unit 7, and the display module 17 is used to display the real-time measurement and tracking results of the device; a display window 18 is provided at a position corresponding to the display module 17 on the surface shell 1; the main control circuit board 3 is also integrated with a power supply system 19, which is electrically connected to the signal processing unit 7, and the power supply system 19 is used to power the convex array sound head assembly 4, the linear array sound head assembly 5, the signal processing unit 7, the ultrasonic transmitter 8, the ultrasonic receiver 9 and the inertial measurement unit 10; the main control circuit board 3 is also integrated with a data transmission module 20, which is electrically connected to the signal processing unit 7, and the data transmission module 20 is used to transmit the ultrasonic device data to an external terminal.

[0043] See also Figure 7 In this embodiment, the inertial measurement unit 10 is equipped with an ICM-20689 chip. The CM-20689 chip measures the linear acceleration and angular velocity of the device in real time. The signal processing unit 7 processes the received ultrasonic signal and the output signal of the ICM-20689 chip, and transmits the processed data to the external device through the data transmission unit to realize the six-axis tracking function. At the same time, the display module 17 is used to display the real-time measurement and tracking results to ensure that the system can efficiently and accurately complete the six-axis tracking task.

[0044] In this embodiment, the signal processing unit 7 integrates an amplifier, a filter and an analog-to-digital converter; the signal processing unit 7 performs signal amplification, filtering and analog-to-digital conversion on the received ultrasonic signal and the output signal of the ICM-20689 chip to ensure high fidelity of the signal.

[0045] In a possible embodiment, the signal processing unit 7 uses a high-performance microprocessor that can quickly process signals and perform accurate calculations. The data transmission unit uses a wireless or wired communication module to ensure real-time data transmission.

[0046] In a possible embodiment, a key module is further included, and the key module is used to control the start and stop of the handheld ultrasound device.

[0047] In summary, the utility model is provided with a face shell 1, a middle frame 2, a main control circuit board 3, a convex array sound head assembly 4, a linear array sound head assembly 5 and a bottom shell 6; the face shell 1 is connected to the upper part of the middle frame 2, and the main control circuit board 3 is fixed on the middle frame 2; the bottom shell 6 is connected to the lower part of the middle frame 2; the convex array sound head assembly 4 is connected to one end of the middle frame 2, and the linear array sound head assembly 5 is connected to the other end of the middle frame 2; the main control circuit board 3 is integrated with a signal processing unit 7, an ultrasonic transmitter 8, an ultrasonic receiver 9 and an inertial measurement unit 10; the ultrasonic transmitter 8 is electrically connected to the signal processing unit 7, and the ultrasonic transmitter 8 is used to transmit an ultrasonic signal; the ultrasonic receiver 9 is electrically connected to the signal processing unit 7, and the ultrasonic receiver 9 is used to receive the ultrasonic signal transmitted in the medium by the ultrasonic transmitter 8 through the convex array sound head assembly 4 or the linear array sound head assembly 5; the inertial measurement unit 10 is electrically connected to the signal processing unit 7, and the inertial measurement unit 10 is used to measure the linear acceleration and angular velocity of the device to realize the six-axis tracking function. The convex array acoustic head body 11 is fixed by the convex array acoustic head fixing frame 12, and is connected to the signal processing unit 7 by means of a cable. The center frequency of the convex array acoustic head body 11 is generally 3.5 MHZ, and the detection depth is relatively deep, and organs such as the liver, kidneys, lungs, abdominal cavity, pelvic cavity, and chest cavity are usually detected. The working state of the convex array acoustic head assembly 4 can be indicated by the convex array light guide indicator 13. The linear array acoustic head body 14 is fixed by the linear array acoustic head fixing frame 15, and is connected to the signal processing unit 7 by means of a cable. The center frequency of the linear array probe body is generally above 7 MHZ, and the detection depth is relatively shallow, and superficial organs and tissues such as muscles, bones, blood vessels, breasts, and arteries are usually inspected. The working state of the linear array acoustic head assembly 5 can be indicated by the linear array light guide indicator 16. The inertial measurement unit 10 is equipped with an ICM-20689 chip. The CM-20689 chip measures the linear acceleration and angular velocity of the device in real time. The signal processing unit 7 processes the received ultrasonic signal and the output signal of the ICM-20689 chip, and transmits the processed data to the external device through the data transmission unit to realize the six-axis tracking function. At the same time, the display module 17 is used to display the real-time measurement and tracking results to ensure that the system completes the six-axis tracking task efficiently and accurately. The signal processing unit 7 integrates an amplifier, a filter and an analog-to-digital converter; the signal processing unit 7 performs signal amplification, filtering, and analog-to-digital conversion processing on the received ultrasonic signal and the output signal of the ICM-20689 chip to ensure the high fidelity of the signal. The utility model adopts a combination of ultrasonic technology and high-performance IMU to provide high-precision six-axis tracking capabilities, and can understand the current ultrasonic probe scanning angle and running speed in real time; compared with traditional optical or laser tracking systems, the cost is significantly reduced; the real-time response capability is strong, the equipment design is compact, easy to hand-held operation and carry, and suitable for a variety of application scenarios.

[0048] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A handheld ultrasound device with an integrated six-axis tracking device, characterized in that: The invention comprises a front shell (1), a middle frame (2), a main control circuit board (3), a convex array sound head assembly (4), a linear array sound head assembly (5) and a bottom shell (6); the front shell (1) is connected to the upper part of the middle frame (2), and the main control circuit board (3) is fixed on the middle frame (2); the bottom shell (6) is connected to the lower part of the middle frame (2); the convex array sound head assembly (4) is connected to one end of the middle frame (2), and the linear array sound head assembly (5) is connected to the other end of the middle frame (2); The main control circuit board (3) is integrated with a signal processing unit (7), an ultrasonic transmitter (8), an ultrasonic receiver (9) and an inertial measurement unit (10); the ultrasonic transmitter (8) is electrically connected to the signal processing unit (7), and the ultrasonic transmitter (8) is used to transmit ultrasonic signals; The ultrasonic receiver (9) is electrically connected to the signal processing unit (7), and the ultrasonic receiver (9) is used to receive the ultrasonic signal transmitted through the medium by the ultrasonic transmitter (8) via the convex array acoustic head assembly (4) or the linear array acoustic head assembly (5); The inertial measurement unit (10) is electrically connected to the signal processing unit (7), and the inertial measurement unit (10) is used to measure the linear acceleration and angular velocity of the device to achieve a six-axis tracking function.

2. A handheld ultrasound device with integrated six-axis tracking device according to claim 1, characterized in that: The convex array sound head assembly (4) comprises a convex array sound head body (11), a convex array sound head fixing frame (12) and a convex array light guide indicator light (13); The convex array sound head body (11) is fixed to the convex array sound head fixing frame (12), and the convex array sound head body (11) is electrically connected to the signal processing unit (7); the convex array light guide indicator (13) is fixed to the side of the middle frame (2); and the convex array light guide indicator (13) is electrically connected to the signal processing unit (7).

3. The handheld ultrasound device with integrated six-axis tracking device according to claim 1, characterized in that: The linear array sound head assembly (5) comprises a linear array sound head body (14), a linear array sound head fixing frame (15) and a linear array light guide indicator (16); the linear array sound head body (14) is fixed to the linear array sound head fixing frame (15), and the linear array sound head body (14) is electrically connected to the signal processing unit (7) via a linear array wiring clamp; the linear array light guide indicator (16) is fixed to a side of the middle frame (2); the linear array light guide indicator (16) is electrically connected to the signal processing unit (7) via the linear array wiring clamp.

4. The handheld ultrasound device with integrated six-axis tracking device according to claim 1, characterized in that: The main control circuit board (3) is further integrated with a display module (17), the display module (17) is electrically connected to the signal processing unit (7), and the display module (17) is used to display the real-time measurement and tracking results of the device; A display window (18) is provided on the face shell (1) at a position corresponding to the display module (17).

5. The handheld ultrasound device with integrated six-axis tracking device according to claim 1, characterized in that: The main control circuit board (3) is also integrated with a power supply system (19), the power supply system (19) is electrically connected to the signal processing unit (7), and the power supply system (19) is used to supply power to the convex array sound head assembly (4), the linear array sound head assembly (5), the signal processing unit (7), the ultrasonic transmitter (8), the ultrasonic receiver (9) and the inertial measurement unit (10).

6. The handheld ultrasound device with integrated six-axis tracking device according to claim 1, characterized in that: The main control circuit board (3) is further integrated with a data transmission module (20), the data transmission module (20) is electrically connected to the signal processing unit (7), and the data transmission module (20) is used to transmit ultrasound equipment data to an external terminal.

7. The handheld ultrasound device with integrated six-axis tracking device according to claim 1, characterized in that: The inertial measurement unit (10) is equipped with an ICM-20689 chip.

8. The handheld ultrasound device with integrated six-axis tracking device according to claim 1, characterized in that: The signal processing unit (7) integrates an amplifier, a filter and an analog-to-digital converter; the signal processing unit (7) performs signal amplification, filtering and analog-to-digital conversion processing on the received ultrasonic signal and the output signal of the ICM-20689 chip.

Images