CN108994861A - Long-range ultrasound procedure arm device and long-range ultrasonic testing system - Google Patents

Abstract

A remote ultrasonic operating hand device provided by the present invention has an operating hand in the shape of an ultrasonic probe, an attitude sensor is provided on the top of the operating hand to obtain its spatial attitude information, and the bottom of the operating hand is used to touch the position sensor below to obtain Spatial position information, the bottom of the operating hand and/or the position sensor is provided with a force sensor for obtaining contact force information, the spatial posture information, the spatial position information, and the contact force information are fused through a data converter and Output remote control remote robot ultrasonic drawing. The invention simulates the drawing technique of an ultrasonic doctor, and uses the ultrasonic probe as a model to design the operating hand. The doctor can not only flexibly control the six-degree-of-freedom pose movement of the remote patient-side robot, but also control the contact force of the patient-side ultrasonic probe in real time, realizing The dual control of force and position fully simulates the doctor's real drawing technique and improves the quality and efficiency of remote diagnosis.

Description

Remote ultrasonic operator device and remote ultrasonic detection system

technical field

The invention relates to the field of remote ultrasonic technology, in particular to a remote ultrasonic operator device and a remote ultrasonic detection system.

Background technique

This section is intended to provide a background or context for implementations of the invention that are recited in the claims. The descriptions herein are not admitted to be prior art by inclusion in this section.

With the development of medical technology, ultrasonic detection technology is more and more widely used in hospitals because of its simplicity, portability, low cost and no side effects. However, due to economic development and uneven distribution of high-quality medical resources, people in many areas are still unable to perform high-quality ultrasound examinations. Through the remote ultrasonic detection system, a remote robot is configured on the patient side, and the expert doctor remotely controls the ultrasonic diagnosis to realize resource sharing, which can solve the shortage of resources in remote and grassroots areas.

Existing systems use serial or parallel mechanical manipulators to obtain 6-DOF pose information and provide 3D tactile feedback. The system is an exclusive agent, and the cost is too high; the system is closed, and the stability is poor, and the technical support is not in place; the position and posture range are limited during operation, and it is not designed for remote ultrasound. The doctor reported that the operation and experience are not good. It cannot meet the needs of ultrasound doctors for flexible drawing techniques.

Contents of the invention

In view of the above, it is necessary to provide an improved remote ultrasonic manipulator device, which can truly simulate the drawing technique of the ultrasonic doctor, effectively acquire position, posture and contact force information to control the operation of the patient-side robot, and realize real and efficient Remote Ultrasound Diagnosis.

The technical solution provided by the present invention is: a remote ultrasonic operating hand device, which has an operating hand in the shape of an ultrasonic probe, an attitude sensor is provided on the top of the operating hand to obtain its spatial attitude information, and the bottom of the operating hand is used to touch the bottom of the operating hand. position sensor to obtain the spatial position information of the operating hand, the bottom of the operating hand and/or the position sensor is provided with a force sensor for obtaining contact force information, the spatial posture information, the spatial position information, the The contact force information is received by the data converter, fused and output to the remote remote robot for ultrasonic mapping. The profiling design of the operator can effectively improve the doctor's operating experience of using the robot remote ultrasonic diagnosis system, and flexibly control the six degrees of freedom of the remote patient-side robot's pose movement and contact force.

Further, the position sensor includes a touch screen and a bracket, and the bracket is arranged at the bottom and around the touch screen to support and protect the touch screen.

Further, the support includes reinforcing ribs in contact with the bottom of the touch screen, and the reinforcing ribs, the support body, and the touch screen are perpendicular to each other.

Further, the cross-section of the reinforcing rib is triangular.

Further, the cross-section of the bracket body is L-shaped.

Further, the bracket includes a frame surrounding the outline of the touch screen for protecting the touch screen, and the frame is not closed to facilitate disassembly, installation, or replacement of the touch screen.

Further, the top of the support body extends along the edge of the touch screen until it coincides with the edge.

Further, the bracket may further include a support portion, the support portion is in contact with the bottom of the touch screen, and the frame body, the support portion, and the bracket body are integrally formed.

Further, the touch screen is rectangular, and the support is arranged directly below the short side of the touch screen and centrally.

Further, the bottom of the operating hand is arc-shaped, and the operating hand is in point contact with the touch screen. The point-touch method makes the doctor's hand feel supported and tactile when drawing, which is more realistic and can reduce the fatigue of his wrist.

Further, a first force sensor is provided on the bottom of the operating hand, and the first force sensor senses the contact force exerted by the operating hand.

Further, the bottom of the support is in contact with the top surface of one end of the second force sensor and the two are fixedly connected, and the second force sensor senses the contact force on the touch screen.

Further, the device includes an electronic system box, the other end of the second force sensor away from the bracket is installed on the bottom cover of the electronic system box, and a convex portion is provided on the bottom cover, and the convex portion part is in contact with the bottom surface of the second force sensor.

Further, the ends of the touch screen, the bracket, and the electronic system box are aligned and the middle part is arranged in the center, the data converter is arranged on the bottom cover and arranged in parallel with the second force sensor, the The transceiver end of the data converter protrudes from the top cover of the electronic system box.

Further, the operating hand is equipped with a placing base, and the base is provided with a groove to support the operating hand.

Further, a calibration switch is provided in the base, and the calibration switch is used to realize the calibration of the attitude sensor.

Further, the operator is provided with a button for drawing pictures, and the information is collected or transmitted by wired or wireless means.

The present invention also provides a remote ultrasonic detection system, including a remote ultrasonic operator device, a doctor-side host computer, and a remote robot, wherein:

The device has an operating hand in the shape of an ultrasonic probe, the top of the operating hand is provided with an attitude sensor to obtain its spatial attitude information, and the bottom of the operating hand is used to touch the position sensor below to obtain the spatial position information of the operating hand The bottom of the operating hand and/or the position sensor is provided with a force sensor for obtaining contact force information, and the spatial attitude information, the spatial position information, and the contact force information are received, fused and output by a data converter To remote control remote robot ultrasound drawing. The profiling design of the operator can effectively improve the doctor's operating experience of using the robot remote ultrasonic diagnosis system, and flexibly control the six degrees of freedom of the remote patient-side robot's pose movement and contact force.

Further, the position sensor includes a touch screen and a bracket, and the bracket is arranged at the bottom and around the touch screen to support and protect the touch screen.

Further, the support includes reinforcing ribs in contact with the bottom of the touch screen, and the reinforcing ribs, the support body, and the touch screen are perpendicular to each other.

Further, the cross-section of the reinforcing rib is triangular.

Further, the cross-section of the bracket body is L-shaped.

Further, the bracket includes a frame surrounding the outline of the touch screen for protecting the touch screen, and the frame is not closed to facilitate disassembly, installation, or replacement of the touch screen.

Further, the top of the support body extends along the edge of the touch screen until it coincides with the edge.

Further, the bracket may further include a support portion, the support portion is in contact with the bottom of the touch screen, and the frame body, the support portion, and the bracket body are integrally formed.

Further, the touch screen is rectangular, and the support is arranged directly below the short side of the touch screen and centrally.

Further, the bottom of the operating hand is arc-shaped, and the operating hand is in point contact with the touch screen. The point-touch method makes the doctor's hand feel supported and tactile when drawing, which is more realistic and can reduce the fatigue of his wrist.

Further, a first force sensor is provided on the bottom of the operating hand, and the first force sensor senses the contact force exerted by the operating hand.

Further, the bottom of the support is in contact with the top surface of one end of the second force sensor and the two are fixedly connected, and the second force sensor senses the contact force on the touch screen.

Further, the device includes an electronic system box, the other end of the second force sensor away from the bracket is installed on the bottom cover of the electronic system box, and a convex portion is provided on the bottom cover, and the convex portion part is in contact with the bottom surface of the second force sensor.

Further, the ends of the touch screen, the bracket, and the electronic system box are aligned and the middle part is arranged in the center, the data converter is arranged on the bottom cover and arranged in parallel with the second force sensor, the The transceiver end of the data converter protrudes from the top cover of the electronic system box.

Further, the operating hand is equipped with a placing base, and the base is provided with a groove to support the operating hand.

Further, a calibration switch is provided in the base, and the calibration switch is used to realize the calibration of the attitude sensor.

Further, the operator is provided with a button for drawing pictures, and the information is collected or transmitted by wired or wireless means.

Compared with the prior art, the remote ultrasonic manipulator device provided by the present invention has the manipulator in the shape of an ultrasonic probe, the top of the manipulator is provided with a posture sensor to obtain its spatial posture information, and the bottom of the manipulator is touched by touching the bottom of the manipulator. position sensor to obtain the spatial position information of the operating hand, the bottom of the operating hand and/or the position sensor is provided with a force sensor for obtaining contact force information, the spatial posture information, the spatial position information, the The contact force information is fused through a data converter and output to a remote robot for ultrasonic drawing. The invention simulates the drawing technique of an ultrasound doctor, and uses the ultrasound probe as a model to design the operator. The doctor can not only flexibly control the six-degree-of-freedom pose movement of the remote patient-side robot, but also control the contact force of the patient-side ultrasound probe in real time, realizing The dual control of force and position fully simulates the doctor's real drawing technique and improves the quality and efficiency of remote diagnosis.

Description of drawings

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

FIG. 1 is a schematic structural diagram of the remote ultrasonic manipulator device of the present invention.

FIG. 2 is a schematic structural view of the operating hand shown in FIG. 1 .

Fig. 3 is another structural schematic diagram of the operating hand shown in Fig. 1 .

FIG. 4 is a schematic structural diagram of the bracket and the touch screen shown in FIG. 1 .

FIG. 5 is another structural schematic diagram of the bracket and the touch screen shown in FIG. 1 .

FIG. 6 is a schematic structural diagram of the data converter of the present invention.

Fig. 7 is a schematic structural view of the electronic system box (excluding the top cover) of the present invention.

FIG. 8 is an assembly structure diagram of the second force sensor in FIG. 6 , FIG. 7 , and FIG. 1 .

Fig. 9 is a schematic structural view of the electronic system box (only the top cover) of the present invention.

FIG. 10 is a cross-sectional view of the combined structure shown in FIG. 4 , FIG. 8 , and FIG. 9 .

FIG. 11 is a cross-sectional view of the placement base shown in FIG. 1 .

Explanation of reference signs:

The following specific implementation manner will further illustrate the embodiments of the present invention in conjunction with the above-mentioned drawings.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the embodiments of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the features in the embodiments of the present application may be combined with each other.

In the following description, many specific details are set forth in order to fully understand the embodiments of the present invention, and the described implementations are only part of the implementations of the present invention, but not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the embodiments of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments of the invention belong. The terminology used herein in the description of the present invention is only for the purpose of describing specific implementations, and is not intended to limit the embodiments of the present invention.

A remote ultrasonic operator 20 device 100 of the present invention is used for handheld operation by an ultrasonic doctor. The device 100 truly simulates the doctor's drawing technique, and the posture and force information collected by the doctor sends instructions to the doctor's terminal controller (such as a computer). The patient-side robot realizes real and efficient remote ultrasound drawing.

FIG. 1 shows the overall structure of a device 100 for a remote ultrasonic operator 20 according to an embodiment. The device 100 includes an operator 20 , a base 10 , a position sensor 30 , a force sensor, a top cover 40 and a bottom cover 50 , and the like.

The operating hand 20 provided by an embodiment of the present invention will be described in detail below with reference to FIG. 1 , FIG. 2 and FIG. 3 .

As shown in Figure 1, the operating hand 20 has the shape of an ultrasonic probe, its bottom is arc-shaped, and its top surface is rectangular. The size from the bottom to the top becomes smaller, larger, smaller, and larger, and The smaller "neck" adjacent to the top is designed to meet the gripping habits of ultrasound doctors and facilitate the collection of ultrasound doctors' drawing techniques;

The top of the operating hand 20 is provided with an attitude sensor 21 to obtain its spatial attitude information. The attitude sensor 21 is a high-performance three-dimensional motion attitude measurement system based on MEMS (Microelectro Mechanical Systems, microelectromechanical systems) technology, and realizes six freedoms in space. Real-time measurement of attitude;

The bottom of the operating hand 20 is arc-shaped, and the whole is flat.

The bottom of the operating hand 20 is provided with a first force sensor 22 , and the first force sensor 22 senses the contact force exerted by the operating hand 20 .

As shown in Figures 2 and 3, a fixing part 24 is provided under one side of the operating hand 20, the section of the fixing part 24 is circular, and the circular protrusion corresponds to the head side of the ultrasonic probe. Indicative point, which will appear in the ultrasound image at the same time as a reference point for identification (ultrasound mode can be set to appear on the right or left), that is, used to distinguish the direction of the ultrasound probe to analyze the ultrasound image information , so the fixing part 24 is used to distinguish the direction of the operating hand 20, and is also fixed to the base 10;

On the same side of the top of the fixing part 24, a button 23 for playing a picture is provided, and the button 23 for playing a picture is a strip-shaped protrusion;

A groove is provided on the top of the side of the operating hand 20 away from the drawing button 23, and the groove is used to install a push switch and accommodate the wire for the switch. Pressing the switch is used to control the robotic arm to quickly end drawing. When the switch is pressed, the robotic arm will lift a certain height away from the surface of the human body, and the drawing is over.

In other embodiments, the fixing part 24 and the drawing button 23 may not be arranged on the same side; the fixing part 24 is not limited to a circle; the drawing button 23 is not limited to a strip shape; The drawing button 23 described above can also be a touch or other sensing methods, and is not limited to this embodiment. The position and shape of the grooves are not limited to this embodiment.

The placement base 10 provided by an embodiment of the present invention will be described in detail below with reference to FIGS. 1 and 11 .

As shown in Figures 1 and 11, the operating hand 20 is equipped with a placement base 10, and the base 10 is placed on the entire right side of the device 100 for easy access. The base 10 includes a bottom plate 12, a boss 11, Mounting groove 13 and fixing groove 14,

in:

The bottom plate 12 is placed on the lowest floor and is in contact with the placement plane. In this embodiment, the bottom plate 12 is square;

The boss 11 is fixed on the bottom plate 12 and is the main part for placing the operating hand 20. In this embodiment, the concave platform is a cuboid, and the middle part of the boss 11 and the bottom plate 12 is centered. alignment;

The installation groove 13 is an accommodating cavity opened inwardly along the central axis of the concave platform, and the bottom surface of the installation groove 13 is arc-shaped, which is matched with the bottom of the operator 20;

The fixing groove 14 is opened on one side of the top of the boss 11 along the vertical direction, and the fixing groove 14 is used for the fixing part 24 to be inserted into or removed from the base 10;

When the fixing part 24 is inserted into the corresponding position of the fixing groove 14, the calibration switch 15 in the fixing groove 14 is triggered, and the attitude sensor 21 starts an automatic calibration operation, and the calibration operation takes less than 1 second. The calibration switch 15 interferes with the fixing portion 24 .

In other embodiments, the shape of the base 10 can be integrally formed; the shape, size and positional relationship of the bottom plate 12 and the boss 11 are not limited to this embodiment; the number of the fixing grooves 14 can be 2, located in symmetrical positions, to avoid directionality during placement and improve use efficiency.

The position sensor 30 provided by an embodiment of the present invention will be described in detail below with reference to FIG. 4 and FIG. 5 .

As shown in FIGS. 4 and 5 , the position sensor 30 includes a touch screen 32 and a bracket 33;

in:

The touch screen 32 is flat;

Described support 33 comprises:

The frame body 31 surrounds the outline of the touch screen 32 and is used to protect the touch screen 32. The frame body 31 is not closed to facilitate the removal, installation, or replacement of the touch screen 32;

The reinforcing rib 34 is in contact with the bottom of the touch screen 32, and the cross section of the reinforcing rib 34 in this embodiment is triangular;

The body of the bracket 33 is L-shaped in section, close to an edge of the touch screen 32, and the top extends along the edge of the touch screen 32 to coincide with the edge;

In this embodiment, the reinforcing rib 34 , the main body of the bracket 33 , and the touch screen 32 are perpendicular to each other. The frame body 31 , the reinforcing rib 34 and the bracket 33 are integrally formed. The touch screen 32 shown in Fig. 4 and Fig. 5 is a rectangle, and the end of the body of the bracket 33 coincides with a short side of the touch screen 32, and the body of the bracket 33, the rib 34, and the touch screen 32 are centered. set up.

In other implementation manners, the bracket 33 may further include a support portion set off below the bottom of the touch screen 32 , and the reinforcing rib 34 is in contact with the bottom of the support portion. The touch screen 32 can be in other shapes such as square or circular; the cross section of the reinforcing rib 34 can be a hollow frame shape, which is not limited to this embodiment; the frame body 31, the reinforcing rib 34, and the bracket 33 body It can be combined and fixed, not necessarily integrally formed.

The electronic system box provided by an embodiment of the present invention will be described in detail below with reference to FIG. 1 , FIG. 7 and FIG. 9 .

FIG. 1 shows that the device 100 is provided with an electronic system box, and the electronic system box includes a top cover 40 ( FIG. 9 ) and a bottom cover 50 ( FIG. 7 );

in:

The bottom cover 50 is a cuboid structure, including an integrally formed bottom surface and side walls,

The bottom surface includes:

The convex part 52 is arranged on the bottom surface and connected to the middle part of the shorter side wall;

the side walls, the short side of which top is set higher than the long side,

And a first opening 53 is defined at the upper middle of the side wall away from the protrusion 52 , and the first opening 53 is used for installing the bracket 33 .

The top cover 40 is a rectangular structure, including an integrally formed top surface and a flange 44,

The top surface includes a second opening 41 and a third opening 43,

The second opening 41 is used for passing through the transceiver end 71 of the data converter 70 .

The third opening 43 is located in the middle of the short side and opened to the inside, and the third opening 43 cooperates with the first opening 53 to install the bracket 33;

The long side of the flange 44 located on the top surface extends toward the bottom cover 50 , the flange 44 is elongated, and the flange 44 cooperates with the side wall to facilitate quick and precise assembly.

In other embodiments, the top cover 40 and the bottom cover 50 may be combined, and the combination of the two is not limited to the snap-fit type of the flange 44 .

The internal components of the electronic system box provided by an embodiment of the present invention and the partial or overall assembly relationship of the device 100 will be described in detail below with reference to FIGS. 8 and 10 .

Referring to FIG. 8, the device 100 also includes a data converter 70 and a second force sensor 60,

The second force sensor 60 is in contact with the convex portion 52 and the side wall, and the overlapping area between the second force sensor 60 and the convex portion 52 is provided with two holes penetrating through the bottom cover 50 . holes, the second force sensor 60 and the bottom cover 50 can be fixed by using screws or pins. The second force sensor 60 is a cuboid. The other end of the second force sensor 60 (away from the protrusion 52 ) is also provided with two through holes for connecting to the connecting hole 35 at the bottom of the bracket 33 ( FIG. 10 ).

The data converter 70 is placed on the bottom cover 50, the vertical side is parallel to the side of the second force sensor 60, the data converter 70 is connected to the second force sensor 60 and the bottom The side walls of the cover 50 all have certain gaps and are not in direct contact to avoid heat accumulation. The data converter 70 includes a data transceiving end 71 and an extension portion 72 , and the transceiving end 71 extends out of the top cover 40 . The extension 72 is a triangular wing, the surface of the extension 72 and the data converter 70 are parallel to the second force sensor 60 , the extension 72 is close to the side wall of the bottom cover 50 , And away from the second force sensor 70 .

The assembly sequence of the device 100 can be as follows:

The operating hand 20 is placed on the base 10;

The second force sensor 60 is fixedly installed with the bottom cover 50 through a through hole;

The data converter 70 is installed on the bottom cover 50, and in practical application, a groove can be opened on the bottom cover 50 to accommodate the data converter 70;

The position sensor 30 and the second force sensor 60 are fixedly installed through the connecting hole 35;

The top cover 40 is engaged with the bottom cover 50 .

The information collection process of the remote ultrasonic operator device 100 provided by an embodiment of the present invention will be described in detail below.

The spatial attitude information acquisition of the device 100:

The sonographer holds the operating hand 20 and operates according to drawing techniques, and collects its three-dimensional spatial attitude information through the built-in attitude sensor 21 of the operating hand 20 .

The spatial position information acquisition of the device 100:

FIG. 1 shows that the bottom of the operating hand 20 obtains the spatial position information of the operating hand 20 by touching the position sensor 30 below, wherein:

The operating hand 20 is in point contact with the touch screen 32 shown in FIG. 1, and the operating hand 20 touches any position on the touch screen 32, and the spatial position information is collected, and at the same time, the point touch mode enables the doctor to draw a picture. When the hands are supported and tactile, it is more realistic and can reduce the fatigue of their wrists.

The contact force information acquisition of the device 100:

Mode 1: the first force sensor 22 at the bottom of the operating hand 20 directly collects contact force information between the operating hand 20 and the touch screen 32;

Way 2: The second force sensor 60 collects the deformation of the touch screen 32 and converts it into contact force information between the operating hand 20 and the touch screen 32 .

Method 3: Combine method 1 and method 2 to obtain contact force information.

The operation mechanism of the remote ultrasonic operator 20 device 100 provided by an embodiment of the present invention will be further described in detail below.

The operating mechanism of the device 100:

1) Signal acquisition

The attitude sensor 21 collects space attitude information;

The force sensor collects contact force information;

The position sensor 30 collects spatial position information;

2) Data Fusion

All the data information collected is fused with a sensor fusion algorithm through the data converter 70;

3) Data communication

Send the fused data to the doctor's host (such as a computer) via wired or wireless means;

4) Ultrasonic drawing

The host computer transmits data information to the patient-side remote robot through the network, and the robot receives the information to simulate the posture, strength and drawing position of the remote ultrasound doctor to perform ultrasound drawing.

The present invention also applies the above-mentioned device 100 to build a remote ultrasonic detection system, the system also includes a doctor-end host computer and a remote robot, and the profiling design based on the operator 20 can effectively improve the doctor's operating experience in using the robot remote ultrasonic diagnosis system, through Set the pose sensor and force sensor to collect, fuse, and transmit information to flexibly control the six-degree-of-freedom pose movement and contact force of the remote patient-side robot. It is suitable for the remote ultrasonic detection system, and the detection process of the system is real and efficient.

The above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention without limitation. Although the embodiments of the present invention have been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solutions of the embodiments of the present invention can be Any modification or equivalent replacement of the solutions should not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A remote ultrasonic operating hand device, characterized in that: an operating hand with an ultrasonic probe shape, the top of the operating hand is provided with an attitude sensor to obtain its spatial attitude information, and the bottom of the operating hand is used to touch the position below sensor to obtain the spatial position information of the operating hand, the bottom of the operating hand and/or the position sensor is provided with a force sensor for obtaining contact force information, the spatial posture information, the spatial position information, the contact force The information is received by the data converter, fused and output to the remote remote robot for ultrasonic drawing. 2 . The remote ultrasonic operation hand device according to claim 1 , wherein the position sensor includes a touch screen and a bracket, and the bracket is arranged at the bottom and around the touch screen to support and protect the touch screen. 3. The remote ultrasonic operation hand device according to claim 2, characterized in that: the bottom of the operation hand is arc-shaped, and the operation hand is in point contact with the touch screen. 4 . The remote ultrasonic manipulator device according to claim 3 , wherein a first force sensor is provided at the bottom of the manipulator, and the first force sensor senses the contact force exerted by the manipulator. 5 . 5. The remote ultrasonic manipulator device according to claim 3, characterized in that: the bottom of the support is in contact with the top surface of one end of the second force sensor and the two are fixedly connected, and the second force sensor senses the touch screen the contact force received. 6. The remote ultrasonic manipulator device according to claim 5, characterized in that: the device includes an electronic system box, and the other end of the second force sensor away from the bracket is installed on the bottom of the electronic system box On the cover, the bottom cover is provided with a convex part, and the convex part is in contact with the bottom surface of the second force sensor. 7. The remote ultrasonic operation hand device according to claim 6, characterized in that: the ends of the touch screen, the bracket, and the electronic system box are aligned and the middle is centered, and the data converter is arranged on the bottom Covered and arranged parallel to the second force sensor, the transceiver end of the data converter protrudes from the top cover of the electronic system box. 8. The remote ultrasonic manipulator device according to claim 1, characterized in that: the manipulator is equipped with a base, the base is provided with a groove to support the manipulator, and a calibration switch is provided inside the base, The calibration switch is used to realize the calibration of the attitude sensor. 9. The remote ultrasonic operation hand device according to claim 1, characterized in that: the operation hand is provided with a drawing button, and the information is collected or transmitted by wired or wireless means. 10. A remote ultrasonic detection system according to any one of claims 1 to 9, characterized in that it comprises the remote ultrasonic manipulator device, a doctor-end host computer, and a remote robot.