Contour probe, remote ultrasound device, and operating method for remote ultrasound device

Abstract

Disclosed are a contour probe, a remote ultrasound device, and an operating method for the remote ultrasound device. The contour probe (100) is applied in the remote ultrasound device to remotely control a robotic arm (400). The contour probe (100) comprises a housing (10), a control assembly (30), and a posture detection assembly (40). One end of the housing (10) is provided with a contact end (121), and the contact end (121) is configured to contact and cooperate with an operating console (200) in the remote ultrasound device. The control assembly (30) is arranged inside the housing (10) and the control assembly (30) comprises a wireless transmission module (33), wherein the wireless transmission module (33) is configured to perform data interaction with the operating console (200) and a control system (300) in the remote ultrasound device. The posture detection assembly (40) is arranged inside the housing (10), the posture detection assembly (40) is electrically connected to the control assembly (30), and the posture detection assembly (40) is configured to detect the posture and motion information of the contour probe (100).

Description

Probe, remote ultrasound device, and method for operating the remote ultrasound device Technical Field

[0001] The present application relates to the technical field of medical equipment, for example, to a contouring probe, a remote ultrasound device, and an operating method of the remote ultrasound device. Background Art

[0002] Remote ultrasound examination is a remote ultrasound scanning function in which a doctor at the doctor's end controls the movement of a robotic arm at the patient's end through a contoured probe.

[0003] All contouring probes exchange data via wired connections. This data cable can easily become tangled when the doctor adjusts their position using the contouring probe, making it inconvenient for the doctor to operate. If the contouring probe cable is too short, the range of motion of the robotic arm controlled by the probe is too limited. If the contouring probe cable is too long, the cable stacking can also affect the doctor's operation.

[0004] Summary of the Invention

[0005] The present application provides a profiling probe, a remote ultrasound device, and an operating method of the remote ultrasound device to solve the problem that the existing profiling probe is inconvenient for doctors to operate due to wired connection.

[0006] A profiling probe is used in a remote ultrasound device to remotely control a robotic arm. The profiling probe comprises: a shell, one end of which is provided with a contact end, the contact end being configured to contact and cooperate with an operating console in the remote ultrasound device; a control component disposed in the shell, the control component comprising a wireless transmission module, the wireless transmission module being configured to exchange data with the operating console and control system in the remote ultrasound device; and a posture detection component disposed in the shell, the posture detection component being electrically connected to the control component and configured to detect posture and motion information of the profiling probe.

[0007] As an optional solution of the above-mentioned profiling probe, the profiling probe further includes a touch component, which is electrically connected to the control component. The triggering state of the touch component can be used as data information for remotely controlling the robotic arm.

[0008] As an optional solution of the above-mentioned profiling probe, the touch component includes a button, the shell is provided with an avoidance hole, and the button extends out of the shell through the avoidance hole; or, the touch component includes a touch part.

[0009] As an optional solution of the above-mentioned profiling probe, a battery is provided in the housing, and the battery is configured to supply power to the control component and the posture detection component.

[0010] As an optional solution of the above-mentioned profiling probe, a charging port is provided on the shell, and the charging port is configured to cooperate with the charging coupling portion to charge the battery through the charging coupling portion.

[0011] As an optional solution of the above-mentioned profiling probe, the control component includes a charging conductive part, and the charging coupling part can pass through the charging port and couple with the charging conductive part.

[0012] As an optional solution of the above-mentioned profiling probe, a counterweight block is provided in the shell, and the counterweight block is located at one end of the shell close to the contact end.

[0013] As an optional solution of the above-mentioned profiling probe, the profiling probe further includes a warning component, which is electrically connected to the control component and is configured to be activated when the force applied by the contact end to the operating table exceeds a preset value.

[0014] As an optional solution of the above-mentioned contour probe, the contact end has a curved surface, and the curved surface is configured to contact and cooperate with the operating table.

[0015] A remote ultrasound device comprises: an operating table, the operating table including an information detection component, the information detection component being configured to detect the force applied to the operating table surface and position information of the force-applied point on the operating table; the above-mentioned profiling probe, the contact end of which is configured to cooperate with the table surface; a control system, the control system being communicatively connected to the operating table and the wireless transmission module respectively, the control system being configured to generate remote control instructions based on the posture of the profiling probe and information detected by the information detection component; and a robotic arm, the end of the robotic arm being connected to the ultrasound probe, the robotic arm being communicatively connected to the control system, and the robotic arm being configured to perform corresponding operations based on the remote control instructions.

[0016] A method for operating a remote ultrasound device, the remote ultrasound device comprising a contouring probe and a robotic arm, the contouring probe comprising a wireless transmission module, the wireless transmission module being configured for wireless communication to remotely control the robotic arm, the method comprising: moving the contouring probe, with the distal end of the robotic arm following the movement of the contouring probe.

[0017] As an optional scheme for the operating method of the above-mentioned remote ultrasound device, the remote ultrasound device also includes an operating table, which has a table top that cooperates with the contouring probe, and the operating table can obtain the coordinates of the contact position between the contouring probe and the table top; moving the contouring probe and the end of the robotic arm following the movement of the contouring probe includes: when the contact end of the contouring probe is in contact with the table top, triggering the touch component of the contouring probe, and the end of the robotic arm follows the movement trajectory of the contouring probe.

[0018] As an optional scheme for the operating method of the above-mentioned remote ultrasound device, the contouring probe includes a posture detection component, which is configured to detect the posture and motion information of the contouring probe; moving the contouring probe and the end of the robotic arm following the movement of the contouring probe includes: when the touch component of the contouring probe is triggered and the contouring probe is moved upward, the end of the robotic arm moves upward.

[0019] As an optional solution to the operating method of the above-mentioned remote ultrasound device, the remote ultrasound device also includes an operating table, which has a table top that cooperates with the contouring probe, and the operating table can obtain the coordinates of the contact position between the contouring probe and the table top; the contouring probe includes a posture detection component, and the posture detection component is configured to detect the posture and movement information of the contouring probe; the moving of the contouring probe and the end of the robotic arm following the movement of the contouring probe also include: when the touch component of the contouring probe is triggered, the contact end of the contouring probe is in contact with the table top, and the posture of the end of the robotic arm is adjusted according to the posture change of the contouring probe; or, after the contact end of the contouring probe is lifted off the table top, the posture of the end of the robotic arm is adjusted according to the posture change of the contouring probe.

[0020] As an optional solution to the operating method of the above-mentioned remote ultrasound device, the remote ultrasound device also includes an operating table, which has a table top that cooperates with the contouring probe, and the operating table can obtain the contact pressure between the contouring probe and the table top; the operating method of the remote ultrasound device also includes: when the contact end of the contouring probe contacts the table top and the contact pressure gradually increases, the end of the robotic arm moves downward.

[0021] As an optional solution to the operating method of the above-mentioned remote ultrasound device, the remote ultrasound device also includes an operating table, which has a table top that cooperates with the contouring probe, and the operating table can obtain the contact pressure between the contouring probe and the table top; the operating method of the remote ultrasound device also includes: when the contact end of the contouring probe applies a force to the table top exceeding a preset value, the warning component of the contouring probe is activated. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a structural schematic diagram of a profiling probe provided in Example 1 of the present application;

[0023] FIG2 is a schematic structural diagram of the profiling probe provided in Example 1 of the present application when the upper cover is not assembled;

[0024] FIG3 is a schematic structural diagram of the profiling probe provided in Example 1 of the present application when the lower cover is not assembled;

[0025] FIG4 is a second structural diagram of the profiling probe provided in Example 1 of the present application;

[0026] FIG5 is a schematic structural diagram of a remote ultrasound device provided in Example 1 of the present application;

[0027] FIG6 is a flow chart of an operating method of a remote ultrasound device provided in Example 2 of the present application.

[0028] In the figure: 100, contour probe; 10, shell; 11, upper cover; 111, positioning sleeve; 12, lower cover; 121, contact end; 1211, arc surface; 122, positioning column; 123, charging port; 13, avoidance hole; 20, touch component; 21, button; 30, control component; 31, charging conductive part; 32, micro-control unit; 33, wireless transmission module; 40, posture detection component; 41, mounting base; 42, posture sensor; 50, battery; 60, polarization motor; 70, counterweight; 80, warning component; 200, operating table; 300, control system; 400, robotic arm. DETAILED DESCRIPTION

[0029] The present application is described below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are intended only to explain the present application and are not intended to limit the present application. It should also be noted that, for ease of description, only portions of the structure relevant to the present application are shown in the accompanying drawings.

[0030] In the description of this application, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and can refer to internal communication between two components or interaction between two components. A person of ordinary skill in the art will be able to understand the meaning of the above terms in this application according to the circumstances.

[0031] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature's horizontal height is higher than the second feature's horizontal height. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature's horizontal height is lower than the second feature's horizontal height.

[0032] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0033] Example 1

[0034] As shown in Figures 1, 2, and 5, this embodiment provides a remote ultrasound device, including a doctor-side console and a patient-side console. The doctor-side console includes an operating table 200 and a contouring probe 100. The patient-side console includes a control system 300 and a robotic arm 400, with an ultrasound probe mounted at the end of the robotic arm 400. An operator (e.g., a doctor) can operate the contouring probe 100 by holding the operating table 200. The control system 300 is connected to the operating table 200, the contouring probe 100, and the robotic arm, respectively, and remotely controls the robotic arm 400 on the patient side to perform corresponding operations based on data from the operating table 200 and the contouring probe 100, thereby achieving remote ultrasound examination. When the doctor operates the contouring probe 100, he or she imitates the actual operation of the ultrasound probe on the patient to remotely control the robotic arm 400 on the patient side to perform corresponding operations. The robotic arm 400 is connected to the end of the ultrasound probe, thereby driving the ultrasound probe to perform corresponding operations to perform ultrasound examination on the patient.

[0035] The operating table 200 includes a table top and an information detection component. The table top is an interactive component configured to cooperate with the profiling probe 100; the information detection component is configured to detect the force applied to the table top and the position information of the force applied.

[0036] The doctor's console also includes a first display component. This first display component is configured to display the ultrasound image transmitted from the patient's console, facilitating the operator's adjustment of remote commands to scan the patient. Optionally, the first display component can also be configured to display real-time patient-side images, system information from the remote ultrasound device, and other information, including but not limited to the aforementioned information.

[0037] Optionally, the information detection component may include a force sensor and a position sensor, the force sensor being configured to detect the magnitude of the force, and the position sensor being configured to detect the position information of the force-bearing point. The force sensor may be a six-dimensional force sensor. The contouring probe 100 may be in contact with and cooperate with the table, and the contouring probe 100 may be movable on the table. The robotic arm is configured to perform corresponding operations based on the posture of the contouring probe 100 and the force applied to the table. Optionally, the robotic arm may be a six-degree-of-freedom robotic arm to make the angle adjustment of the ultrasound probe more flexible. Optionally, the doctor-side console further includes a sound interaction component, which includes a speaker and a microphone, the speaker being configured to play the sound from the patient side, and the microphone being configured to transmit the sound from the doctor side to the patient side, thereby enabling communication between the doctor and the patient, such as adjusting the patient's posture, to conduct examinations more accurately and efficiently.

[0038] Optionally, the patient-side console also includes a movable base, and the robotic arm can be set on the base, so that the position of the robotic arm can be adjusted by moving the base, so as to flexibly adjust the ultrasound examination location according to the patient's condition to facilitate operation.

[0039] The patient-side console also includes an ultrasound device connected to an ultrasound probe and configured to image the information output by the ultrasound probe to produce an ultrasound image. The patient-side console may also include a second display component, both of which, along with the first display component, are configured to display the ultrasound image. Optionally, the second display component may also be configured to display the physician's real-time view, system information from the remote ultrasound device, and the like, including but not limited to the aforementioned information.

[0040] In the remote ultrasound device provided in this embodiment, a professional ultrasound physician, located at the physician's end, remotely controls the robotic arm 400 at the patient's end console by operating the contouring probe 100 and the operating console 200. The operating console 200 generates control commands and transmits them to the patient's end console via communication. The patient's end console processes the motion control for the robotic arm 400 and controls the robotic arm 400 to perform the corresponding operation. The movement of the robotic arm 400 drives the ultrasound probe to perform an ultrasound examination on the patient.

[0041] During the examination, the ultrasound system generates an image of the real-time output from the ultrasound probe and transmits the image to the doctor's console via the patient's console, where it is displayed on the first display component. The doctor can communicate with the patient via voice or adjust remote control commands for the robotic arm 400 based on the image displayed by the first display component.

[0042] The profiling probe 100 includes a housing 10, a control assembly 30, and a posture detection assembly 40. The housing 10 has a contact terminal 121 at one end, configured to contact and cooperate with an operating console 200 in a remote ultrasound device. Optionally, the contact terminal 121 is provided with a force sensor, and the force sensor of the contact terminal 121 interacts with the force sensor of the operating console 200 to achieve mutual contact and cooperation between the profiling probe 100 and the operating console 200. The control assembly 30 is disposed within the housing 10 and includes a wireless transmission module 33 configured to transmit data. The wireless transmission module 33 can wirelessly exchange data with the operating console 200 and the control system 300. The posture detection assembly 40 is disposed within the housing 10 and is electrically connected to the control assembly 30. The posture detection assembly 40 is configured to detect the posture and motion information of the profiling probe 100 to adjust the posture and motion trajectory of the robotic arm.

[0043] In this embodiment, the control component 30 includes a wireless transmission module 33, which can exchange data with the control system 300 through wireless transmission, without the need for wired connection, thereby avoiding the influence of the length of the data line on the convenience of operation of medical personnel and the range of movement of the profiling probe 100; one end of the profiling probe 100 is a contact end 121, and the operating table 200 includes a force sensor and a position sensor. The force sensor can detect the pressure on the table surface of the operating table 200 to determine the contact state between the contact end 121 and the table surface and obtain the contact state between the contact end 121 and the table surface. The position sensor can detect the position information of the abutment between the contact end 121 and the table surface; the profiling probe 100 is provided with a posture detection component 40, which can detect the posture and movement information of the profiling probe 100 and transmit the posture data of the profiling probe 100 to the operating table 200 through an electrical connection with the control component 30, so that the operating table 200 can adjust the posture of the mechanical arm 400 according to the posture of the profiling probe 100 and the contact state of the contact end 121 and the table surface, thereby improving the accuracy of remote ultrasonic detection.

[0044] The posture detection component 40 includes a mounting base 41 and a posture sensor 42, wherein the mounting base 41 is fixed in the housing 10, and the posture sensor 42 is detachably arranged on the mounting base 41. The posture sensor 42 is a high-performance three-dimensional motion posture measurement system based on micro-electro-mechanical system (MEMS) technology. It includes motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. Through an embedded low-power advanced reduced instruction set microprocessor (ARM) (Advanced RISC Machines, ARM), calibrated angular velocity, acceleration, magnetic data, etc. are output. The motion posture is measured by a sensor data algorithm based on quaternions, and zero-drift three-dimensional posture data represented by quaternions, Euler angles, etc. is output in real time. It should be noted that the posture sensor 42 is a conventional structure in this area. In the present embodiment, the posture sensor 42 of any structure in the relevant technology can be adopted. As long as the posture information of the profiling probe 100 can be detected, the present embodiment will not be repeated.

[0045] To prevent contact end 121 from scratching the surface while moving on it, contact end 121 has a curved surface 1211, which is configured to contact the surface of workbench 200. Providing curved surface 1211 for contact with the surface reduces the sharpness of contact end 121, thus preventing scratches. The curved surface 1211 has a small contact area with the surface, resulting in low resistance to movement, effortless operation, and a comfortable feel.

[0046] When using the contouring probe 100 to control the robotic arm 400, the operator must not only move the robotic arm 400 in three-dimensional space but also adjust the angle of the distal end of the robotic arm 400, requiring extensive manipulation. To facilitate these operations, the contouring probe 100 also includes a touch control assembly 20, which is electrically connected to the control assembly 30. The trigger status of the touch control assembly 20 can be used as data for remotely controlling the ultrasound probe.

[0047] In this embodiment, the touch assembly 20 is a key assembly, which includes a key 21. The housing 10 is provided with an escape hole 13, through which the key 21 extends out of the housing 10. By arranging the touch assembly 20 in conjunction with the posture sensor 42 and the contact end 121, the pressed state of the key 21 can be combined with the posture changes of the profiling probe 100 in various combinations, thereby increasing the number of combinations and the number of operations of the robotic arm 400.

[0048] For ease of understanding, let's take the example of the scanning probe 100 performing the same action one. When the button 21 is pressed, the scanning probe 100 performs action one, corresponding to one combination, and the robotic arm 400 performs action one. When the button 21 is released, the scanning probe 100 performs action one, corresponding to another combination, and the robotic arm 400 performs action two. This configuration allows the robotic arm 400 to perform different actions based on different combinations, increasing the number of operations.

[0049] In other embodiments, the touch component 20 may include a touch control part, which may be a structure such as a touch screen that can be triggered by clicking or touching. The touch control part can be combined with the posture changes of the contouring probe 100 in various ways to increase the number of combinations, thereby increasing the number of operations of the robotic arm 400.

[0050] As shown in Figures 1 and 2, the housing 10 includes an upper cover 11 and a lower cover 12. The upper cover 11 and the lower cover 12 are connected to form a closed housing 10. The control component 30, the posture detection component 40, and the touch component 20 are all located within the housing 10 to protect the control component 30, the posture detection component 40, and the touch component 20 from damage caused by bumps. The avoidance hole 13 is provided in the lower cover 12.

[0051] The upper cover 11 and the lower cover 12 are detachably connected to facilitate installation and maintenance of the structure within the housing 10. Optionally, the upper cover 11 and the lower cover 12 can be connected by screws or by a snap connection, which has a simple structure and is easy to assemble and disassemble.

[0052] In order to improve the positioning effect of the upper cover 11 and the lower cover 12, as shown in Figures 2 and 3, the lower cover 12 is provided with a positioning column 122, and the upper cover 11 is provided with a positioning sleeve 111. The positioning sleeve 111 can be sleeved on the outside of the positioning column 122, and the fastener passes through the positioning sleeve 111 and is connected to the positioning column 122 to fix the upper cover 11 and the lower cover 12.

[0053] To improve the positioning effect, positioning posts 122 are provided at both ends of the lower cover 12 in the length direction, and the upper cover 11 is provided with a positioning sleeve 111 corresponding to each positioning post 122 .

[0054] The lower cover 12 is provided with a contact terminal 121. The material of the contact terminal 121 can be the same as or different from that of the rest of the lower cover 12. The contact terminal 121 can be integrally formed with the lower cover 12 or can be a separate structure. For example, the main body of the lower cover 12 can be made of a rigid material to improve strength and structural stability. An elastic layer is provided at one end of the main body, forming the contact terminal 121. The elastic layer contacts the operating table 200, cushioning the impact of contact between the two and preventing scratches or deformation.

[0055] To facilitate powering the control assembly 30 to meet user needs, as shown in FIG3 , a battery 50 is disposed within the housing 10. The battery 50 can store electrical energy to provide power to the control assembly 30 and the posture detection assembly 40. In this embodiment, the battery 50 can be attached to the upper cover 11 using battery adhesive to reduce the number of parts and improve the fixing effect.

[0056] Optionally, the battery 50 can be directly connected to the control component 30 to directly power the control component 30, and power the posture detection component 40 through the control component 30. In some embodiments, the battery 50 can also be directly connected to the posture detection component 40, as long as it can provide power to the posture detection component 40.

[0057] To facilitate charging the battery 50, the housing 10 is provided with a charging port 123, which is configured to cooperate with a charging coupling to charge the battery 50. The control assembly 30 includes a charging conductive portion 31, which is directly opposite the charging port 123 and is configured to couple with the charging coupling. The charging port 123 can be provided on the lower cover 12; the charging conductive portion 31 can be a conductive contact. When the charging coupling is inserted into the charging port 123, the charging coupling and the conductive contact come into contact and conduct electricity, thereby supplying power to the battery 50 through the control assembly 30.

[0058] Optionally, the profiling probe 100 can be placed in a storage box when not in use. The storage box has an integrated charging coupler that can pass through the charging port 123 and mate with the charging conductive portion, thereby charging the profiling probe 100 as soon as it is stored in the storage box. The profiling probe 100 can be stored directly in the storage box, eliminating the need for a charging cable and reducing the space required.

[0059] Optionally, the control component 30 also includes a power module, which is configured to convert the power provided by the battery 50 into a suitable voltage to supply electrical devices in the shell 10, and can transmit the power provided by the charging coupling part to the battery 50 for power storage.

[0060] It should be noted here that the connection circuit between the control component 30 and the battery 50 is a mature technology in this field. This embodiment can adopt a connection circuit of any structure as long as it can realize the power transmission between the battery 50 and the control component 30. It will not be introduced in this embodiment.

[0061] In some embodiments, the battery 50 may be detachably connected to the housing 10 , so that the battery 50 can be replaced to ensure that the contouring probe 100 has sufficient power.

[0062] To enhance operational feel, a counterweight 70 is provided within the housing 10. The counterweight 70 is a structural component with a certain mass and is located at one end of the housing 10 near the contact end 121. The counterweight 70 positions the center of gravity of the profiling probe 100 close to the contact end 121. When in use, the contact end 121 is positioned at the lower end due to gravity, making it easier for the operator to operate the profiling probe 100.

[0063] Since the operating end will abut against the table surface, in order to avoid excessive pressure on the table surface and cause damage, the profiling probe also includes a warning component 80. The warning component 80 is electrically connected to the control component 30. The warning component is configured to be activated when the contact end 121 applies a force exceeding a preset value to the operating table 200 to alert the operator.

[0064] In this embodiment, the warning assembly 80 includes a polarization motor 60, which is disposed within the housing 10 and electrically connected to the control assembly 30. When the pressure applied to the table surface exceeds a preset value, the console 200 sends a warning message to the control assembly 30. Based on the warning message, the control assembly 30 activates the polarization motor 60, causing the contouring probe 100 to vibrate. This allows the operator to adjust the pressure of the contouring probe 100 in a timely manner. This in turn controls the robotic arm 400 to reduce the pressure applied by the ultrasound probe at the distal end of the robotic arm 400, preventing the robotic arm from exerting excessive pressure on the patient and causing discomfort.

[0065] In some embodiments, the warning component 80 may include a warning light or a voice component to alert the operator through light or voice, etc. The warning component 80 may also include at least two of the warning light, the voice component, and the polarization motor 60 to alert the operator through at least two combined means.

[0066] As shown in FIG4 , the control assembly 30 may include a microcontroller unit (MCU) 32 . The MCU 32 , also known as a single-chip microcomputer or single-chip microcomputer, is a CPU that reduces the frequency and specifications of a central processing unit (CPU) and integrates peripheral interfaces such as memory, a timer, a universal serial bus (USB), an analog to digital (A / D) converter, a universal asynchronous receiver / transmitter (UART), a programmable logic controller (PLC), and direct memory access (DMA), and even a liquid crystal display (LCD) driver circuit, all on a single chip, forming a chip-level computer that provides different control combinations for different applications.

[0067] In this embodiment, the control system 300 performs wireless data transmission with the wireless transmission module 33 to transmit the pressure exerted on the table and feedback information such as the position and posture of the robotic arm 400 to the profiling probe; the micro-control unit 32 performs data interaction with the wireless transmission module 33 and the posture detection component 40 respectively, so as to transmit information to the operating table 200 through the wireless transmission module 33, obtain the posture information of the posture detection component 40 and feedback it; the button sends information to the micro-control unit 32 after the pressing state changes, so as to facilitate the micro-control unit 32 to obtain the pressing state of the button; the micro-control unit 32 can control the start and stop of the polarization motor 60, so as to provide timely information to the operator when the table pressure is too large, and control the polarization motor 60 to turn off after the pressure is adjusted to an appropriate range.

[0068] Example 2

[0069] This embodiment provides a method for operating a remote ultrasound device, which can be applied to the ultrasound device in Embodiment 1. As shown in FIG6 , the method for operating the remote ultrasound device includes: S1: moving the profiling probe 100, and the end of the robotic arm 400 follows the profiling probe 100 to achieve remote control.

[0070] When the contact end 121 is in contact with the table, the contouring probe 100 is moved, and the distal end of the robotic arm 400 moves along the motion trajectory of the contouring probe 100, thereby moving the ultrasonic probe. The motion trajectory of the contouring probe 100 can be obtained by detecting the three-dimensional motion posture of the contouring probe 100 through the posture detection component 40, or by obtaining the coordinates of the contact position between the contouring probe and the table through the operating console 200, and then obtaining the motion trajectory of the contouring probe 100 based on the changes in the contact position coordinates.

[0071] In this operating method, the distal end of the robotic arm 400 can be controlled by translating the contouring probe 100 only when the contact end 121 is in contact with the table surface, that is, when the table surface is under pressure. This avoids the safety hazard of moving the contouring probe 100 before the operation begins, thereby improving operational safety. The distal end of the robotic arm 400 moves according to the motion trajectory of the contouring probe 100, ensuring synchronization between the operator's movement of the contouring probe 100 and the distal end of the robotic arm 400 at the patient end, thereby improving the accuracy of remote ultrasonic testing.

[0072] On the basis of ensuring that the contact end 121 is in contact with the table, after pressing the button 21, the end of the robot arm 400 follows the movement trajectory of the profiling probe 100, thereby further avoiding the movement of the robot arm 400 due to misoperation and ensuring safe operation.

[0073] To adjust the distance between the end of the robotic arm 400 and the location to be inspected, the end of the robotic arm 400 moves upward when the button 21 is pressed and the profiling probe 100 is raised. The profiling probe 100 can be lifted off the table or moved upward without contacting the table. Alternatively, the end of the robotic arm 400 can move vertically upward or follow the trajectory of the profiling probe 100.

[0074] When contact end 121 contacts the table surface and the contact pressure gradually increases, the distal end of robotic arm 400 moves downward. The abutting force on the table surface can be measured by a force sensor in operating table 200. Alternatively, the distal end of robotic arm 400 can move vertically downward or follow the movement trajectory of profiling probe 100.

[0075] The upward movement state and the downward movement state of the profiling probe 100 can be obtained by the posture detection component 40 detecting the three-dimensional movement posture of the profiling probe 100 .

[0076] To adjust the posture of the ultrasound probe on the end of the robotic arm 400, the operator presses button 21 while the contact end 121 remains in contact with the table. The posture of the end of the robotic arm 400 adjusts in accordance with the posture of the contouring probe 100. Alternatively, after the contact end 121 is lifted off the table, the posture of the end of the robotic arm 400 adjusts in accordance with the posture of the contouring probe 100. The operator adjusts the posture of the ultrasound probe by adjusting the placement angle of the contouring probe 100, which is convenient and helps improve detection accuracy. The posture of the contouring probe 100 refers to the placement angle of the contouring probe 100 in three-dimensional space.

[0077] To prevent excessive pressure between the profiling probe 100 and the table, when the pressure of the contact end 121 on the table exceeds a preset value, the warning assembly 80 activates to remind the operator to reduce the force. The polarization motor 60 in the warning assembly 80 activates, vibrating the profiling probe to alert the operator, thereby controlling the pressure between the profiling probe 100 and the table within a reasonable range.

[0078] The operating method of the remote ultrasound device provided in this application can be applied to the above-mentioned remote ultrasound device, is easy to operate, and has high detection accuracy.

Claims

1. A profiling probe, used in a remote ultrasound device to remotely control a robotic arm (400), comprising: A housing (10), one end of the housing (10) being provided with a contact end (121), the contact end (121) being configured to contact and cooperate with an operating console (200) in the remote ultrasound device; A control component (30) is disposed in the housing (10), the control component (30) comprising a wireless transmission module (33), the wireless transmission module (33) being configured to perform data exchange with an operating console 200 and a control system 300 in the remote ultrasound device; A posture detection component (40) is disposed in the housing (10), the posture detection component (40) is electrically connected to the control component (30), and the posture detection component (40) is configured to detect the posture and motion information of the profiling probe.

2. The contour-forming probe according to claim 1 further comprises a touch component (20), wherein the touch component (20) is electrically connected to the control component (30), and the trigger state of the touch component (20) can be used as data information for remotely controlling the robotic arm (400).

3. The profiling probe according to claim 2, wherein: The touch control component (20) includes a button (21), and a relief hole (13) is provided on the housing. The button (21) passes through the relief hole (13) and extends out of the housing (10); Alternatively, the touch control component (20) includes a touch control component.

4. The profiling probe according to claim 1, wherein: A battery (50) is provided in the housing (10), and the battery (50) is configured to supply power to the control component (30) and the posture detection component (40).

5. The profiling probe according to claim 4, wherein: The housing (10) is provided with a charging port (123), and the charging port (123) is configured to cooperate with a charging coupling portion to charge the battery (50) through the charging coupling portion.

6. The profiling probe according to claim 5, wherein: The control component (30) includes a charging conductive portion (31), and the charging coupling portion can pass through the charging port (123) to couple with the charging conductive portion (31).

7. The profiling probe according to any one of claims 1 to 6, wherein: A counterweight (70) is provided in the housing (10), and the counterweight (70) is located at one end of the housing (10) close to the contact end (121).

8. The contour-forming probe according to any one of claims 1 to 6 further comprises an alarm component (80), wherein the alarm component (80) is electrically connected to the control component (30), and the alarm component (80) is configured to be activated when the force applied by the contact end (121) to the operating table (200) exceeds a preset value.

9. The profiling probe according to any one of claims 1 to 6, wherein: The contact end (121) has a curved surface (1211), and the curved surface (1211) is configured to contact and cooperate with the operating table (200).

10. A remote ultrasound device comprising: An operating table (200), the operating table (200) comprising an information detection component, the information detection component being configured to detect a force applied to a tabletop of the operating table (200) and position information of a location where the force is applied to the operating table (200); The contour probe (100) according to any one of claims 1 to 7, wherein the contact end (121) is configured to cooperate with the table; A control system (300), the control system (300) being communicatively connected to the operating console (200) and the wireless transmission module (33), the control system (300) being configured to generate remote control instructions based on the posture of the profiling probe (100) and the information detected by the information detection component; A robotic arm (400), wherein an ultrasonic probe is connected to the end of the robotic arm (400), the robotic arm (400) is communicatively connected to the control system (300), and the robotic arm (400) is configured to perform corresponding operations according to the remote control instructions.

11. A method for operating a remote ultrasound device, wherein: The remote ultrasound device comprises a profiling probe (100) and a mechanical arm (400), wherein the profiling probe (100) comprises a wireless transmission module (33), and the wireless transmission module (33) is configured for wireless communication to remotely control the mechanical arm (400). The operating method of the remote ultrasound device comprises: The profiling probe (100) is moved, and the end of the mechanical arm (400) follows the movement of the profiling probe (100).

12. The method for operating a remote ultrasound device according to claim 11, wherein: The remote ultrasound device further comprises an operating table (200), wherein the operating table (200) has a table surface that cooperates with the profiling probe (100), and the operating table (200) is capable of obtaining the coordinates of the contact position between the profiling probe (100) and the table surface; The step of moving the profiling probe (100) so that the end of the robotic arm (400) follows the movement of the profiling probe (100) comprises: When the contact end (121) of the profiling probe (100) is in contact with the table, the touch component (20) of the profiling probe (100) is triggered, and the end of the mechanical arm (400) moves along the motion trajectory of the profiling probe (100).

13. The method for operating a remote ultrasound device according to claim 11, wherein: The profiling probe (100) comprises a posture detection component (40), wherein the posture detection component (40) is configured to detect posture and motion information of the profiling probe (100); The step of moving the profiling probe (100) so that the end of the robotic arm (400) follows the movement of the profiling probe (100) comprises: When the touch control component (20) of the profiling probe (100) is triggered and the profiling probe (100) is moved upward, the end of the mechanical arm (400) moves upward.

14. The method for operating a remote ultrasound device according to claim 11, wherein: The remote ultrasound device further comprises an operating table (200), wherein the operating table (200) has a table surface that cooperates with the profiling probe (100), and the operating table (200) is capable of obtaining the coordinates of the contact position between the profiling probe (100) and the table surface; The profiling probe (100) comprises a posture detection component (40), wherein the posture detection component (40) is configured to detect posture and motion information of the profiling probe (100); The step of moving the profiling probe (100) so that the end of the robotic arm (400) follows the movement of the profiling probe (100) further comprises: When the touch component (20) of the profiling probe (100) is triggered, the contact end (121) of the profiling probe (100) is in contact with the table, and the posture of the end of the robotic arm (400) is adjusted to follow the posture change of the profiling probe (100); Alternatively, after the contact end (121) of the profiling probe (100) is lifted off the table, the posture of the end of the robotic arm (400) is adjusted to follow the posture change of the profiling probe (100).

15. The method for operating a remote ultrasound device according to claim 11, wherein: The remote ultrasound device further comprises an operating table (200), wherein the operating table (200) has a tabletop that cooperates with the profiling probe (100), and the operating table (200) is capable of obtaining the contact pressure between the profiling probe (100) and the tabletop; The operating method of the remote ultrasound device also includes: When the contact end (121) of the profiling probe (100) contacts the table surface and the contact pressure gradually increases, the end of the robotic arm (400) moves downward.

16. The method for operating a remote ultrasound device according to any one of claims 11 to 15, wherein: The remote ultrasound device further comprises an operating table (200), wherein the operating table (200) has a tabletop that cooperates with the profiling probe (100), and the operating table (200) is capable of obtaining the contact pressure between the profiling probe (100) and the tabletop; The operating method of the remote ultrasound device also includes: When the contact end (121) of the profiling probe (100) applies a force exceeding a preset value to the table surface, the warning component (80) of the profiling probe (100) is activated.

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