Remote color ultrasound diagnostic device
Through the remote controlled remote color ultrasound diagnostic device, the problem that traditional ultrasound detection cannot be carried out remotely is solved, efficient ultrasound examination in remote areas is achieved, and the popularization of medical resources is improved.
Patent Information
- Application Number
- CN202421507759.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-28
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-06-28
AI Technical Summary
Traditional ultrasound detection diagnosis cannot be performed remotely, especially in remote areas where medical resources are uneven, it is difficult to achieve efficient ultrasound examination.
A remote color ultrasound diagnostic device is designed, including a remote diagnostic component and a motion detection component. The movement of the mobile detection mechanism is remotely controlled by the control mechanism to realize the three-dimensional freedom movement of the ultrasound probe, so that the diagnostic personnel can conduct ultrasound detection without face-to-face.
The remoteization of ultrasound exploration has been achieved, the problem of ultrasound examination in areas with unbalanced medical resources has been solved, and the efficiency of medical services in remote areas has been improved.
Smart Images
Figure CN223143527U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of color Doppler ultrasound equipment, in particular to a remote color Doppler ultrasound diagnosis device. Background Art
[0002] An ultrasonic diagnostic system is a technology that uses ultrasonic imaging technology for diagnosis and is one of the most commonly used medical imaging methods. Ultrasonic diagnostic systems are commonly used to observe body structures such as tendons, muscles, joints, blood vessels, and internal organs. The purpose of using an ultrasonic diagnostic system is often to find the source of a disease or rule out any cause.
[0003] With the development of society, people's demand for ultrasonic detection has gradually increased. However, due to the uneven development of medical levels in various regions of our country, it is difficult to conveniently perform professional ultrasonic examinations in some remote areas. In particular, it is more difficult to perform ultrasonic examinations in some border areas with poor medical conditions. Therefore, carrying out remote medical ultrasonic detection is of great significance for improving the popularization of ultrasonic medicine and facilitating ultrasonic examinations in remote areas.
[0004] Currently, the common remote ultrasonic diagnosis is mainly in the form of remote consultation. Through a remote voice system, an ultrasonic doctor guides an operator in a remote area to complete the corresponding ultrasonic scan, and then the doctor completes the diagnosis through a remote video. This increases the manpower requirement and is inefficient, affecting the overall development process of remote diagnosis and treatment. Content of the Utility Model
[0005] The utility model provides a remote color Doppler ultrasound diagnosis device, aiming to solve the problem that ultrasonic exploration and diagnosis in the traditional technology cannot be carried out remotely.
[0006] In view of the problems existing in the prior art, an embodiment of the utility model provides a remote color Doppler ultrasound diagnosis device, including:
[0007] A remote diagnosis component, including a remote diagnosis host and a manipulation mechanism arranged on the remote diagnosis host, the manipulation mechanism being electrically connected to the remote diagnosis host; and,
[0008] A mobile detection component, including a detection fixing frame and a mobile detection mechanism movably arranged on the detection fixing frame, an ultrasonic probe being arranged at the end of the mobile detection mechanism, the detection fixing frame being used to cover above the subject to be measured, and the ultrasonic probe being arranged facing the subject to be measured;
[0009] Wherein, the mobile detection mechanism is electrically connected to the remote diagnosis host, and the manipulation mechanism is used for a diagnostician to manipulate to control the movement direction of the mobile detection mechanism so as to perform ultrasonic exploration on the subject to be measured.
[0010] According to a remote color Doppler ultrasound diagnostic device provided by the present utility model, the operating mechanism is movably arranged on the diagnostic host, the mobile detection mechanism has degrees of freedom in the x-axis direction, y-axis direction, and z-axis direction, and the operating mechanism is used for a diagnostician to operate and move, so as to correspondingly control the movement direction of the mobile detection mechanism.
[0011] According to a remote color Doppler ultrasound diagnostic device provided by the present utility model, the operating mechanism includes a base and a multi-link operating part rotatably arranged on the base. The multi-link operating part includes a rotating seat, a bracket, a first movable rod, a second movable rod, and a third movable rod. The rotating seat is rotatably arranged on the base, the bracket is arranged on the rotating seat, one end of the first movable rod is hinged to the bracket, the second movable rod is hinged to the other end of the first movable rod, the third movable rod is hinged to the end of the second movable rod, the third movable rod is used for a diagnostician to hold and operate, and the movement track of the third movable rod is used to represent the movement track of the mobile detection mechanism.
[0012] According to a remote color Doppler ultrasound diagnostic device provided by the present utility model, the operating mechanism further includes a first motor and a first pulling rope. The first motor is arranged in the base, an installation hole is arranged on the bottom side of the rotating seat, a first output shaft of the first motor movably passes through the installation hole, the first pulling rope is wound around the first output shaft in a two-way manner and both ends are respectively connected to two sides of the bracket, the first pulling rope is used to drive the first output shaft to rotate when the rotating seat rotates, and the first motor is electrically connected to the remote diagnostic host.
[0013] According to a remote color Doppler ultrasound diagnostic device provided by the present utility model, the operating mechanism further includes a second motor and a second pulling rope. The first movable rod is hinged to one side of the bracket, a first swinging block is arranged on the first movable rod, the second motor is arranged on the bottom side of the rotating seat and a second output shaft of the second motor extends horizontally, the second pulling rope is wound around the second output shaft in a two-way manner and both ends are respectively connected to two sides of the first swinging block, the second pulling rope is used to drive the second output shaft to rotate when the first movable rod rotates, and the second motor is electrically connected to the remote diagnostic host.
[0014] According to a remote color Doppler ultrasound diagnostic device provided by the present utility model, a connecting shaft is rotatably connected to the bracket, the connecting shaft movably passes through the first movable rod, a movable shaft is arranged at the hinged part of the second movable rod and the first movable rod, and a transmission belt is further arranged on the first movable rod. One end of the transmission belt is sleeved on the movable shaft, and the other end is sleeved on the connecting shaft;
[0015] The operating mechanism further includes a third motor and a third pulling rope. A second swinging block is provided on the connecting shaft. The third motor is disposed on one side of the second motor, and a third output shaft of the third motor extends horizontally. The third pulling rope is wound around the third output shaft bidirectionally, and two ends thereof are respectively connected to two sides of the second swinging block. The third pulling rope is used to drive the third output shaft to rotate when the movable shaft rotates. The third motor is electrically connected to the remote diagnosis host.
[0016] For a remote color Doppler ultrasound diagnosis device provided by the present invention, spring hooks are provided at ends of the first pulling rope, the second pulling rope, and the third pulling rope.
[0017] For a remote color Doppler ultrasound diagnosis device provided by the present invention, the second movable rod includes a first section and a second section. The second section is rotatably connected to an end of the first section, and a rotation axis of the second section extends along an axial direction of the first section. A first angle sensor is provided between the first section and the second section, and a second angle sensor is provided on the third movable rod.
[0018] For a remote color Doppler ultrasound diagnosis device provided by the present invention, screw rods and first driving motors are provided on both sides of the detection fixing frame. The screw rods extend along the x-axis direction, and the first driving motors are used to drive the corresponding screw rods to rotate; the mobile detection mechanism includes a mounting frame. Two ends of the mounting frame are threadedly connected to the corresponding screw rods, and the ultrasonic probe is disposed on the mounting frame so that the ultrasonic probe has a moving stroke along the x-axis direction.
[0019] For a remote color Doppler ultrasound diagnosis device provided by the present invention, the mobile detection mechanism includes a rack disposed on the mounting frame and a connecting seat engaged with the rack. A connecting line between two ends of the rack extends along the y-axis direction. A second driving motor and a transmission gear set are provided on the connecting seat. The second driving motor drives and connects the transmission gear set, and the transmission gear set is in transmission connection with the rack. The ultrasonic probe is disposed on the connecting seat to have a moving stroke along the y-axis direction.
[0020] For a remote color Doppler ultrasound diagnosis device provided by the present invention, the mobile detection mechanism further includes a pulley positioning strip disposed in a fitting manner with the rack. A pulley is provided on the connecting seat, and the pulley is slidably connected to the pulley positioning strip.
[0021] According to a remote color Doppler ultrasound diagnostic device provided by the present utility model, the mobile detection mechanism further includes a robotic arm moving base disposed on the connection base. The robotic arm moving base includes a first robotic arm, a second robotic arm, and a third robotic arm. The first robotic arm is rotatably connected to the connection base and the rotation axis extends along the y-axis direction. The second robotic arm is rotatably connected to the end of the first robotic arm and the rotation axis extends along the y-axis direction. The third robotic arm is rotatably connected to the end of the second robotic arm and the rotation axis extends along the x-axis direction. The ultrasonic probe is disposed at the end of the third robotic arm.
[0022] According to a remote color Doppler ultrasound diagnostic device provided by the present utility model, a resistance sensor is disposed on the ultrasonic probe, and a vibration motor is disposed on the control mechanism. Both the resistance sensor and the vibration motor are electrically connected to the remote diagnostic host.
[0023] For the remote color Doppler ultrasound diagnostic device provided by the present utility model, a diagnostician can control the movement of the mobile detection mechanism using the control mechanism without facing the subject face to face, and then perform ultrasonic examination on the subject, solving the problem of distance limitation in ultrasonic examination in the traditional technology. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the technical solutions in the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0025] Figure 1 is a schematic structural diagram of the remote color Doppler ultrasound diagnostic device provided by the present utility model;
[0026] Figure 2 is a schematic structural diagram of the control mechanism provided by the present utility model;
[0027] Figure 3 is Figure 2 one of the cross-sectional views of
[0028] Figure 4 is Figure 2 the second cross-sectional view schematic diagram of
[0029] Figure 5 is Figure 2 one of the partial structural diagrams of
[0030] Figure 6 is Figure 2 the second partial structural diagram of
[0031] Figure 7It is a partial structural schematic diagram of the mobile detection component provided by the present utility model;
[0032] Figure 8 It is a partial structural schematic diagram of the mobile detection mechanism provided by the present utility model;
[0033] Figure 9 It is Figure 8 a partial cross-sectional structural schematic diagram of
[0034] Figure 10 It is a structural schematic diagram of the robotic arm moving seat provided by the present utility model.
[0035] Reference numerals: 1, remote color Doppler ultrasound diagnostic device; 10, remote diagnosis component; 11, remote diagnosis host 11; 12, operating mechanism; 121, first motor; 122, first pull rope; 123, second motor; 124, second pull rope; 125, third motor; 126, third pull rope; 127, spring hook; 13, base; 14, rotating seat; 15, bracket; 151, connecting shaft; 152, second swing block; 16, first movable rod; 161, first swing block; 162, transmission belt; 17, second movable rod; 171, movable shaft; 172, first section; 173, second section; 18, third movable rod; 20, mobile detection component; 21, detection fixing frame; 211, lead screw; 212, first driving motor; 22, mobile detection mechanism; 23, ultrasonic probe; 24, mounting frame; 241, rack; 242, pulley positioning strip; 25, connecting seat; 26, second driving motor; 27, transmission gear set; 28, pulley; 29, robotic arm moving seat; 291, first robotic arm; 292, third driving motor; 293, second robotic arm; 294, fourth driving motor; 295, third robotic arm; 296, fifth driving motor. Detailed implementation manners
[0036] The following further describes in detail the implementation manners of the present utility model with reference to the drawings and embodiments. The following embodiments are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model. In the description of the embodiments of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0037] In the description of the embodiments of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.
[0038] In the embodiments of the present utility model, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.
[0039] In the description of this specification, the descriptions with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present utility model. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0040] To make the objectives, technical solutions, and advantages of the present utility model clearer, the technical solutions in the present utility model will be clearly and completely described below with reference to the accompanying drawings in the present utility model. Obviously, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts belong to the scope of protection of the present utility model.
[0041] The following will be combined with Figures 1-10 Describe the remote color Doppler ultrasound diagnostic device 1 provided by the present utility model.
[0042] In view of the problem that ultrasonic exploration diagnosis cannot be carried out remotely in the traditional technology, an embodiment of the utility model provides a remote color Doppler ultrasound diagnosis device 1, which includes a remote diagnosis component 10 and a mobile detection component 20.
[0043] Please refer to Figure 1 , the remote diagnosis component 10 includes a remote diagnosis host 11 and a control mechanism 12 arranged on the remote diagnosis host 11. The control mechanism 12 is electrically connected to the remote diagnosis host 11. The remote diagnosis host 11 is similar to a conventional color Doppler ultrasound host and has a display screen and corresponding operation buttons. The difference is that the control mechanism 12 is provided. The mobile detection component 20 includes a detection fixing frame 21 and a mobile detection mechanism 22 movably arranged on the detection fixing frame 21. An ultrasonic probe 23 is arranged at the end of the mobile detection mechanism 22. The detection fixing frame 21 is used to cover the upper part of the subject, and the ultrasonic probe 23 is arranged facing the subject.
[0044] Specifically, the mobile detection mechanism 22 is electrically connected to the remote diagnosis host 11. The control mechanism 12 is used for the diagnostician to manipulate to control the movement direction of the mobile detection mechanism 22 to perform ultrasonic exploration on the subject. It should be noted that in the traditional technology, the color Doppler ultrasound probe is manually held and moved, while in the solution provided by the utility model, the color Doppler ultrasound probe is controlled to move by the control mechanism 12. Therefore, the diagnostician can remotely control the movement of the color Doppler ultrasound probe through the control mechanism 12. Thus, the diagnostician and the subject do not need to be face-to-face, which can solve the problem that ultrasonic exploration diagnosis cannot be carried out remotely in the traditional technology and is beneficial to helping solve the problem of uneven medical resources.
[0045] There are various ways to set the operating mechanism 12. In an alternative embodiment, the operating mechanism 12 can be set statically, specifically including a plurality of buttons, each button representing a different movement direction, and the diagnostician can control the movement of the ultrasonic probe 23 by clicking the buttons; in other alternative embodiments, the operating mechanism 12 can be set to be movable, and the diagnostician can correspondingly control the movement of the color Doppler ultrasound probe by moving the operating mechanism 12. In the technical solution provided by the present utility model, the operating mechanism 12 is movably arranged on the diagnostic host, and the mobile detection mechanism 22 has degrees of freedom in the x-axis direction, y-axis direction, and z-axis direction. The operating mechanism 12 is used for the diagnostician to operate and move, so as to correspondingly control the movement direction of the mobile detection mechanism 22. It should be noted that the operating mechanism 12 can respectively have movements in the x-axis direction, y-axis direction, and z-axis direction, and the movement trajectories of the mobile detection mechanism 22 in these directions are respectively controlled by the movements in each direction. For example, the operating mechanism 12 has chutes in the x-axis direction, y-axis direction, and z-axis direction, and each chute is equipped with a slide bar. The movement directions of the mobile detection mechanism 22 are correspondingly controlled by the movements of each slide bar in different directions. In other embodiments, the movement of the operating mechanism 12 can be set as a composite movement in a three-dimensional space. This composite movement can be further decomposed into component movements in the x-axis direction, y-axis direction, and z-axis direction, and the movement of the operating mechanism 12 is further controlled by these component movements. For example, the operating mechanism 12 can be set as a rocker or a link mechanism, etc.
[0046] To facilitate the operation of the diagnostician and improve the operation feeling, in an embodiment provided by the present utility model, the operating mechanism 12 preferably has a composite movement trajectory in a three-dimensional space. Specifically, please refer to Figures 2-6, the operating mechanism 12 includes a base 13 and a multi-link operating part rotatably arranged on the base 13. The multi-link operating part includes a rotating seat 14, a bracket 15, a first movable rod 16, a second movable rod 17 and a third movable rod 18. The rotating seat 14 is rotatably arranged on the base 13, the bracket 15 is arranged on the rotating seat 14, one end of the first movable rod 16 is hinged to the bracket 15, the second movable rod 17 is hinged to the other end of the first movable rod 16, and the third movable rod 18 is hinged to the end of the second movable rod 17. It should be noted that the third movable rod 18 is for the diagnostician to hold and operate, and the movement track of the third movable rod 18 is used to represent the movement track of the mobile detection mechanism 22. A certain point on the third movable rod 18 can be used as a standard reference point. By determining the composite movement track of this point, the composite movement track of the third movable rod 18 can be determined, and its track can be further split into component movements along the z-axis direction, y-axis direction and z-axis direction to correspondingly control the movement of the color ultrasound probe. It should also be noted that the third movable rod 18 can rotate on the second movable rod 17, the second movable rod 17 can rotate on the first movable rod 16, the first movable rod 16 can rotate on the bracket 15, and the rotating seat 14 can rotate the bracket 15. Through the cooperation of the above mechanisms, the third movable rod 18 has a large degree of freedom in three-dimensional space, which is convenient for the diagnostician to operate.
[0047] In order to facilitate the determination of the movement track of the third movable rod 18, some structures still need to be set to detect the movement of the third movable rod 18. Further, the operating mechanism 12 further includes a first motor 121 and a first pull rope 122. The base 13 is a hollow shell, the first motor 121 is arranged inside the base 13, an installation hole is provided on the bottom side of the rotating seat 14, the first output shaft of the first motor 121 movably passes through the installation hole, and the first pull rope 122 is wound around the first output shaft bidirectionally and the two ends are respectively connected to both sides of the bracket 15. It should be noted that when the diagnostician moves the third movable rod 18, the rotating seat 14 can rotate. When the rotating seat 14 rotates, the first pull rope 122 will drive the first output shaft to rotate. The first motor 121 is electrically connected to the remote diagnosis host 11, and the torque signal of the first output shaft can be sent to the remote diagnosis host 11. The remote diagnosis host 11 can then determine the rotation track of the rotating seat 14 and further determine one of the component movement tracks of the third movable rod 18.
[0048] Further, the operating mechanism 12 further includes a second motor 123 and a second cable 124. The first movable rod 16 is hinged to the inner side of one side of the bracket 15 through a bearing. A first swing block 161 is provided on the first movable rod 16, and the first swing block 161 is arranged in a sector shape. The second motor 123 is provided on the bottom side of the rotating seat 14, and the second output shaft of the second motor 123 extends horizontally. The second cable 124 is wound around the second output shaft in a two-way manner, and both ends are respectively connected to both sides of the first swing block 161. It should be noted that when the diagnostician moves the third movable rod 18, when the third movable rod 18 rotates downward to the limit, it will cause the second movable rod 17 to rotate. When the second movable rod 17 rotates to the limit, it will cause the first movable rod 16 to rotate. When the first movable rod 16 rotates, the first swing block 161 thereon will rotate accordingly, and then the second cable 124 is pulled to drive the second output shaft to rotate. The second motor 123 is electrically connected to the remote diagnosis host 11, and can send the torque signal of the second output shaft to the remote diagnosis host 11. The remote diagnosis host 11 can then determine the rotation trajectory of the first movable rod 16, and further determine the movement trajectory of the third movable rod 18.
[0049] Furthermore, a connecting shaft 151 is rotatably connected to the bracket 15. In order to prevent the movement of the connecting shaft 151 and the first movable rod 16 from affecting each other, the connecting shaft 151 movably penetrates through the first movable rod 16, and the two do not contact each other. An activity shaft 171 is provided at the hinge joint of the second movable rod 17 and the first movable rod 16. The activity shaft 171 rotates as the second movable rod 17 rotates. A transmission belt 162 is also provided on the first movable rod 16. One end of the transmission belt 162 is sleeved on the activity shaft 171, and the other end is sleeved on the connecting shaft 151. When the second movable rod 17 rotates, the activity shaft 171 will rotate accordingly, and then the transmission belt 162 will drive the connecting shaft 151 to rotate. Specifically, a second swing block 152 is provided on the connecting shaft 151. The third motor 125 is provided on one side of the second motor 123, and the third output shaft of the third motor 125 extends horizontally. The third cable 126 is wound around the third output shaft in a two-way manner, and both ends are respectively connected to both sides of the second swing block 152. Approximately, when the second movable rod 17 rotates to drive the connecting shaft 151 to rotate, the second swing block 152 will drive the third cable 126 to move, and the third cable 126 will then drive the third output shaft to rotate. The third motor 125 is electrically connected to the remote diagnosis host 11, and can send the torque signal of the third output shaft to the remote diagnosis host 11. The remote diagnosis host 11 can then determine the rotation trajectory of the second movable rod 17, and further determine the movement trajectory of the third movable rod 18.
[0050] It should be noted that in order to ensure the stability of the cable connection, spring hooks 127 are provided at the ends of the first cable 122, the second cable 124, and the third cable 126.
[0051] In order to further improve the degree of freedom of the third movable rod 18, the second movable rod 17 includes a first section 172 and a second section 173. The second section 173 is rotatably connected to the end of the first section 172, and the rotation axis of the second section 173 extends along the axial direction of the first section 172. A first angle sensor is provided between the first section 172 and the second section 173, which can sense and determine the rotation angle of the second section 173. Further, the third movable rod 18 is rotatably connected to the second movable rod 17, and a second angle sensor is provided on the third movable rod 18. The second angle sensor can sense the rotation angle of the third movable rod 18.
[0052] It should be noted that the movement trajectory of the third movable rod 18 can be conveniently detected by the first motor 121, the second motor 123, the third motor 125, the first angle sensor and the second angle sensor. After determining the movement trajectory of the third movable rod 18, the remote diagnosis host 11 can disassemble it into component movements along the x-axis direction, the y-axis direction and the z-axis direction, and correspondingly control the movement of the ultrasonic probe 23. The movement trajectory of the third movable rod 18 can be disassembled in real time, or can be disassembled every 1 s or 2 s. The present utility model does not limit this.
[0053] Further, please refer to Figures 8-9, the detection fixture 21 is set to be U-shaped and can be placed above the subject, which is more convenient for operation. Both sides of the detection fixture 21 are provided with lead screws 211 and first drive motors 212. The lead screws 211 extend along the x-axis direction, and the first drive motors 212 are used to drive the corresponding lead screws 211 to rotate; the mobile detection mechanism 22 includes a mounting bracket 24, the mounting bracket 24 is correspondingly set to be U-shaped, and both ends of the mounting bracket 24 are threadedly connected to the corresponding lead screws 211, and the ultrasonic probe 23 is arranged on the mounting bracket 24. The first drive motor 212 can drive the corresponding lead screw 211 to rotate, thereby driving the mounting bracket 24 to move, so that the ultrasonic probe 23 has a moving stroke along the x-axis direction. Further, the mobile detection mechanism 22 includes a rack 241 arranged on the mounting bracket 24 and a connecting seat 25 meshingly connected to the rack 241. The rack 241 is also set to be U-shaped, but the line connecting both ends of the rack 241 extends along the y-axis direction. A second drive motor 26 and a transmission gear set 27 are arranged on the connecting seat 25. The second drive motor 26 drives and connects the transmission gear set 27, and the transmission gear set 27 is drivingly connected to the rack 241. The second drive motor 26 can drive the connecting seat 25 to move along the rack 241, and the ultrasonic probe 23 is arranged on the connecting seat 25, that is, the ultrasonic probe 23 can have a moving stroke along the y-axis direction. Specifically, the connecting seat 25 is set to be L-shaped. One side wall is used to install the above structure, and the other side wall is used to install the ultrasonic probe 23. The second drive motor 26 is arranged on one of the side walls and the output shaft movably penetrates through the side wall. The other side of the side wall is provided with a transmission gear set 27. The transmission gear set 27 includes a first transmission gear and two transmission gear shafts. The first transmission gear is arranged on the output shaft of the second drive motor 26 and is respectively meshingly connected to the two transmission gear shafts. The transmission gear shaft includes a shaft body and two second transmission gears arranged at both ends of the shaft body. One second transmission gear is used to mesh with the first transmission gear, the shaft body is used to penetrate through the connecting seat 25, and the other second transmission gear is used to mesh with the rack 241. In order to ensure the stability of the movement of the connecting seat 25, the mobile detection mechanism 22 further includes a pulley positioning strip 242 attached to the rack 241. The pulley positioning strip 242 is correspondingly set to be U-shaped. Pulleys 28 are arranged on the connecting seat 25, and the pulleys 28 are slidably connected to the pulley positioning strip 242. It should be noted that a mounting shaft is arranged on the connecting seat 25, and a pulley 28 is arranged at both ends of the mounting shaft respectively to ensure the stability of the sliding.
[0054] Further, please refer to Figure 10, the movement detection mechanism 22 further includes a robotic arm moving base 29 provided on the connecting base 25. The robotic arm moving base 29 includes a first robotic arm 291, a second robotic arm 293, and a third robotic arm 295. The first robotic arm 291 is driven and connected by a third driving motor 292. The third driving motor 292 is provided on the connecting base 25. The third driving motor 292 is connected to the first robotic arm 291 through a coupling, so that the rotation axis of the first robotic arm 291 extends along the y-axis direction; the second robotic arm 293 is driven by a fourth driving motor 294. The fourth driving motor 294 is provided on the first robotic arm 291. The fourth driving motor 294 is connected to the second robotic arm 293 through a coupling, so that the rotation axis of the second robotic arm 293 extends along the y-axis direction; the third robotic arm 295 is driven by a fifth driving motor 296. The fifth driving motor 296 is provided on the second robotic arm 293 and is connected to the third robotic arm 295 through a coupling, so that the rotation axis of the third robotic arm 295 extends along the x-axis direction. The ultrasonic probe 23 is provided at the end of the third robotic arm 295. The ultrasonic probe 23 is detachably connected to the third robotic arm 295. A positioning sensor is further provided on the third robotic arm 295 for assisting in replacing the ultrasonic probe 23. It should be noted that the first robotic arm 291 rotates around the y-axis direction, the second robotic arm 293 rotates around the y-axis direction, and the third robotic arm 295 rotates around the x-axis direction, which can make the ultrasonic probe 23 approach or move away from the connecting base 25, regarded as the movement along the z-axis direction.
[0055] It should also be noted that a resistance sensor is provided on the ultrasonic probe 23, and a vibration motor is provided on the operating mechanism 12. In this embodiment, the vibration motor is provided on the third movable rod 18. Both the resistance sensor and the vibration motor are electrically connected to the remote diagnosis host 11. The resistance signal sensed by the resistance sensor is transmitted to the remote diagnosis host 11. The remote diagnosis host 11 analyzes the resistance signal and transmits the resistance signal to the first motor 121, the second motor 123, and the third motor 125 respectively, controlling the first motor 121, the second motor 123, or the third motor 125 to reverse, giving the diagnostician an operating feeling. Further, when the resistance exceeds a certain value, it will cause the vibration of the vibration motor, reminding the diagnostician that the resistance is too large and suggesting adjusting the orientation.
[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.
Claims
1. A remote color Doppler ultrasound diagnostic device, characterized in that, Comprising: A remote diagnosis component, including a remote diagnosis host and a manipulation mechanism provided on the remote diagnosis host, the manipulation mechanism being electrically connected to the remote diagnosis host; And, A mobile detection component, including a detection fixing frame and a mobile detection mechanism movably provided on the detection fixing frame, an ultrasonic probe being provided at an end of the mobile detection mechanism, the detection fixing frame being used to cover above a subject, and the ultrasonic probe being arranged facing the subject; Wherein, the mobile detection mechanism is electrically connected to the remote diagnosis host, and the manipulation mechanism is for a diagnostician to manipulate to control the movement direction of the mobile detection mechanism so as to perform ultrasonic exploration on the subject; The manipulation mechanism is movably provided on the diagnosis host, the mobile detection mechanism has degrees of freedom in the x-axis direction, y-axis direction, and z-axis direction, and the manipulation mechanism is for a diagnostician to operate and move to correspondingly control the movement direction of the mobile detection mechanism.
2. The remote color Doppler ultrasound diagnostic device according to claim 1, wherein The manipulation mechanism includes a base and a multi-link manipulation part rotatably provided on the base. The multi-link manipulation part includes a rotating seat, a bracket, a first movable rod, a second movable rod, and a third movable rod. The rotating seat is rotatably provided on the base, the bracket is provided on the rotating seat, one end of the first movable rod is hinged to the bracket, the second movable rod is hinged to the other end of the first movable rod, the third movable rod is hinged to the end of the second movable rod, the third movable rod is for a diagnostician to hold and manipulate, and the movement track of the third movable rod is used to represent the movement track of the mobile detection mechanism.
3. The remote color Doppler ultrasound diagnostic device according to claim 2, wherein The manipulation mechanism further includes a first motor and a first pull rope. The first motor is provided in the base, an installation hole is provided on the bottom side of the rotating seat, a first output shaft of the first motor movably passes through the installation hole, the first pull rope is wound around the first output shaft bidirectionally and both ends are respectively connected to two sides of the bracket, and the first pull rope is used to drive the first output shaft to rotate when the rotating seat rotates. The first motor is electrically connected to the remote diagnosis host.
4. The remote color Doppler ultrasound diagnostic device according to claim 3, characterized in that, The manipulation mechanism further includes a second motor and a second pull rope. The first movable rod is hinged to one side of the bracket, a first swing block is provided on the first movable rod, the second motor is provided on the bottom side of the rotating seat and a second output shaft of the second motor extends horizontally, the second pull rope is wound around the second output shaft bidirectionally and both ends are respectively connected to two sides of the first swing block, and the second pull rope is used to drive the second output shaft to rotate when the first movable rod rotates. The second motor is electrically connected to the remote diagnosis host.
5. The remote color Doppler ultrasound diagnostic device according to claim 4, characterized in that, A connecting shaft is rotatably connected to the bracket, the connecting shaft movably passes through the first movable rod, a movable shaft is provided at the hinged joint of the second movable rod and the first movable rod, and a transmission belt is further provided on the first movable rod. One end of the transmission belt is sleeved on the movable shaft and the other end is sleeved on the connecting shaft; The operating mechanism further includes a third motor and a third pulling rope. A second swing block is provided on the connecting shaft. The third motor is disposed on one side of the second motor, and a third output shaft of the third motor extends horizontally. The third pulling rope is wound around the third output shaft bidirectionally, and both ends are respectively connected to two sides of the second swing block. The third pulling rope is configured to drive the third output shaft to rotate when the movable shaft rotates. The third motor is electrically connected to the remote diagnosis host.
6. The remote color Doppler ultrasound diagnostic device according to claim 5, characterized in that, Spring hooks are provided at the ends of the first pulling rope, the second pulling rope, and the third pulling rope.
7. The remote color Doppler ultrasound diagnostic device according to claim 2, wherein The second movable rod includes a first section and a second section. The second section is rotatably connected to an end of the first section, and a rotation shaft of the second section extends along the axial direction of the first section. A first angle sensor is provided between the first section and the second section. A second angle sensor is provided on the third movable rod.
8. The remote color Doppler ultrasound diagnostic device according to claim 1, wherein, Threaded rods and first driving motors are provided on both sides of the detection fixing frame. The threaded rods extend along the x-axis direction, and the first driving motors are configured to drive the corresponding threaded rods to rotate; the mobile detection mechanism includes a mounting frame. Both ends of the mounting frame are threadedly connected to the corresponding threaded rods, and the ultrasonic probe is provided on the mounting frame so that the ultrasonic probe has a moving stroke along the x-axis direction.
9. The remote color Doppler ultrasound diagnostic device according to claim 8, wherein The mobile detection mechanism includes a rack provided on the mounting frame and a connecting seat meshed with the rack. A connection line between both ends of the rack extends along the y-axis direction. A second driving motor and a transmission gear set are provided on the connecting seat. The second driving motor is drivingly connected to the transmission gear set, and the transmission gear set is drivingly connected to the rack. The ultrasonic probe is provided on the connecting seat to have a moving stroke along the y-axis direction.
10. The remote color Doppler ultrasound diagnostic device according to claim 9, characterized in that, The mobile detection mechanism further includes a pulley positioning strip attached to the rack. A pulley is provided on the connecting seat, and the pulley is slidably connected to the pulley positioning strip.
11. The remote color Doppler ultrasound diagnostic device according to claim 9, characterized in that, The mobile detection mechanism further includes a robotic arm moving seat provided on the connecting seat. The robotic arm moving seat includes a first robotic arm, a second robotic arm, and a third robotic arm. The first robotic arm is rotatably connected to the connecting seat, and a rotation shaft extends along the y-axis direction. The second robotic arm is rotatably connected to an end of the first robotic arm, and a rotation shaft extends along the y-axis direction. The third robotic arm is rotatably connected to an end of the second robotic arm, and a rotation shaft extends along the x-axis direction. The ultrasonic probe is provided at an end of the third robotic arm.
12. The remote color Doppler ultrasound diagnostic device according to claim 1, characterized in that, A resistance sensor is provided on the ultrasonic probe, and a vibration motor is provided on the operating mechanism. Both the resistance sensor and the vibration motor are electrically connected to the remote diagnosis host.