CN111356407A - Ultrasonic detection device, ultrasonic control device, ultrasonic system and ultrasonic imaging method - Google Patents
Ultrasonic detection device, ultrasonic control device, ultrasonic system and ultrasonic imaging method Download PDFInfo
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Abstract
An ultrasound system (1) comprises a first terminal and a second terminal which are communicable with each other. The first terminal is used for acquiring ultrasonic image data of a detection area of a detected object, a force signal between the ultrasonic probe (1102) and the detected object, the detection area and first video image data of the ultrasonic probe (1102), and controlling the ultrasonic probe (1102) through the mechanical arm module (130) based on a command signal; the second terminal is used for displaying an ultrasonic image based on ultrasonic image data and a first video image based on the first video image data and outputting a haptic effect based on the force signal, and the second terminal receives an input signal and determines a command signal for controlling the mechanical arm module (130) based on the input signal. An ultrasonic detection device (10), an ultrasonic control device (20) and an ultrasonic imaging method for remote ultrasonic imaging.
Description
The present invention relates to the field of ultrasound detection, and in particular, to an ultrasound device, system and method suitable for remote control.
In the medical field, ultrasonic imaging scans biological tissues with ultrasonic waves, receives echo signals reflected from the biological tissues, and processes the echo signals to acquire images of the biological tissues. Ultrasound imaging is a commonly used medical imaging technique, and ultrasound imaging devices are widely used in clinical medical testing. However, ultrasonic imaging equipment is lacking in many primary facilities and cannot provide ultrasonic imaging testing for residents in the locality. In recent years, this situation has been improved with an increase in government investment in medical equipment and popularization of portable ultrasound imaging equipment, but there are still some problems in ultrasound imaging detection and ultrasound diagnosis.
The existing solution is to set up a remote consultation center through the internet and ask an ultrasonic imaging expert in a high-grade hospital to provide assistance for a basic medical institution. For example, an operator of the basic medical facility is remotely guided by an ultrasound imaging specialist to perform a corresponding ultrasound scan, and then the ultrasound image is remotely viewed by the ultrasound imaging specialist or specialist for diagnosis. However, ultrasound imaging devices typically require direct, hands-on operation by an experienced professional to obtain diagnostic ultrasound images. In the existing remote consultation method, an ultrasonic imaging expert can only check an ultrasonic image of a patient at a client, cannot know the accurate contact position of an ultrasonic imaging device (such as an ultrasonic probe) corresponding to the ultrasonic image and the body of the patient, often needs to remotely guide an operator for many times and repeatedly observe the ultrasonic image to make a diagnosis, and the ultrasonic detection efficiency and the reliability of ultrasonic diagnosis are reduced.
Disclosure of Invention
In view of the above, it is desirable to provide an ultrasound system, an apparatus and an ultrasound imaging method suitable for remote control.
The invention firstly provides an ultrasonic system, which comprises a first terminal and a second terminal;
the first terminal includes:
an ultrasonic detection module for acquiring ultrasonic image data of a detection area of the object to be detected,
the ultrasonic detection module comprises an ultrasonic probe;
the touch sensing module is used for acquiring a force signal between the ultrasonic probe and the measured object;
a robotic arm module to control the ultrasound probe based on a command signal;
the first video module is used for acquiring the detection area and first video image data of the ultrasonic probe; and
a first communication module for sending the ultrasound image data, the force signal and the first video image data to the second terminal and for receiving the command signal from the second terminal;
the second terminal includes:
a second communication module for receiving the ultrasound image data, the force signal and the first video image data from the first terminal and for issuing the command signal to the first terminal;
a second video module for displaying an ultrasound image based on the ultrasound image data and displaying a first video image based on the first video image data; and
a haptic feedback control module comprising a haptic output module that outputs haptic effects through the user interface based on the force signal, a user interface that receives a first input signal, and an identification module that determines the command signal for controlling the robotic arm module based on the first input signal.
Further, the second terminal comprises an ultrasonic control module, wherein the ultrasonic control module is used for receiving a second input signal and obtaining a detection parameter command signal based on the second input signal; the second communication module sends the detection parameter command signal to the first terminal; and the first terminal sets the detection parameters of the ultrasonic detection module based on the detection parameter command signal.
Further, the second terminal comprises a synchronization control module, the ultrasound image data comprises a first time stamp, the force signal comprises a second time stamp, and the first video image data comprises a third time stamp; the synchronization control module aligns the second terminal displaying the ultrasound image, displaying the first video image, outputting the haptic effect based on the first timestamp, and the third timestamp.
Further, the identification module determines a force command signal based on the first input signal, the second communication module transmits the force command signal to the first terminal, and the mechanical arm module changes the force applied to the measured object by the ultrasonic probe based on the force command signal.
Further, the identification module determines a position command signal based on the first input signal, the second communication module transmits the position command signal to the first terminal, and the robot arm module moves the ultrasonic probe to a corresponding position in at least one direction and at least one angle based on the position command signal.
Further, the first terminal comprises a clamping mechanism, the clamping mechanism comprises a clamping portion and a connecting portion, the clamping portion is used for detachably holding the ultrasonic probe, the connecting portion is connected to the tactile sensing module, and the connecting portion is used for transmitting the force between the ultrasonic probe and the measured object to the tactile sensing module.
Accordingly, the present invention provides an ultrasonic testing apparatus comprising:
the ultrasonic detection module is used for acquiring ultrasonic image data of a detection area of a detected object and comprises an ultrasonic probe;
the touch sensing module is used for acquiring a force signal between the ultrasonic probe and the measured object;
a robotic arm module to control the ultrasound probe based on a command signal;
the video module is used for acquiring video image data of the detection area and the ultrasonic probe; and
and the communication module is used for sending the ultrasonic image data, the force signal and the video image data to a terminal and receiving the command signal.
Further, the ultrasonic detection device further comprises a clamping mechanism, the clamping mechanism comprises a clamping part and a connecting part, the clamping part is used for detachably fixing the ultrasonic probe, the connecting part is connected to the tactile sensing module, and the connecting part is used for transmitting the force between the ultrasonic probe and the measured object to the tactile sensing module.
Accordingly, the present invention provides an ultrasound control device comprising:
the communication module is used for receiving ultrasonic image data, force signals and video image data and sending command signals to a terminal;
a video module for displaying an ultrasound image based on the ultrasound image data and displaying a video image based on the video image data; and
a haptic feedback control module comprising a haptic output module that outputs haptic effects through the user interface based on the force signal, a user interface that receives a first input signal, and an identification module that determines the command signal based on the first input signal.
Further, the ultrasonic control device comprises an ultrasonic control module, wherein the ultrasonic control module is used for receiving a second input signal and obtaining a detection parameter command signal based on the second input signal; the communication module is used for sending the detection parameter command signal to a terminal.
Further, the identification module of the ultrasound control device determines a force command signal based on the first input signal, and the communication module is configured to send the force command signal to a terminal.
Further, the identification module of the ultrasonic control device determines a position command signal based on the first input signal, and the communication module is used for sending the position command signal to a terminal.
The invention also provides an ultrasonic imaging method, which comprises the following steps:
acquiring ultrasonic image data of a detection area of a detected object through an ultrasonic probe;
acquiring a force signal between the ultrasonic probe and the measured object;
acquiring first video image data of the detection area and the ultrasonic probe;
displaying an ultrasound image based on the ultrasound image data and displaying a video image based on the first video image data;
outputting a haptic effect based on the force signal;
receiving a first input signal and determining a command signal based on the first input signal; and
controlling the ultrasound probe based on the command signal.
Compared with the prior art, the ultrasonic system, the ultrasonic device and the ultrasonic method provided by the invention have the advantages that the ultrasonic image, the force signal between the ultrasonic probe and the measured object and the video image are remotely transmitted and presented in the ultrasonic detection process, so that an ultrasonic imaging expert can better acquire an effective ultrasonic detection image in a mode of remotely controlling the ultrasonic probe to act on the measured object according to the information in real time, and the detection efficiency of remote ultrasonic and the reliability of remote ultrasonic diagnosis are improved.
Fig. 1 is a functional block diagram of an ultrasound system provided in a first embodiment of the present invention.
Fig. 2 is a schematic diagram of an ultrasonic testing apparatus according to a second embodiment of the present invention.
FIG. 3 is a partially enlarged view of one embodiment of an ultrasonic testing device provided by the present invention.
Fig. 4 is a functional block diagram of an ultrasound control apparatus according to a third embodiment of the present invention.
Description of the main elements
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1 |
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10 |
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20 |
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110 |
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120 |
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125 |
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130 |
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140 |
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150 |
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160 |
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210 |
| Haptic |
220 |
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240 |
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250 |
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260 |
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300 |
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1102 |
| Ultrasonic |
1104 |
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1210 |
| Connecting |
1251 |
| Clamping |
1253 |
| Fastening |
1255 |
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1320 |
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1410 |
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1420 |
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2210 |
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2230 |
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2250 |
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500 |
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510 |
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5112 |
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530 |
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532 |
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536 |
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538 |
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550 |
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
The technical solution of the present invention will be described below with reference to the preferred embodiments and examples of the present invention. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. 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 this invention belongs. The names of elements or devices used in the description of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.
A first embodiment of the present invention provides an ultrasound system for remote ultrasound testing. The ultrasonic system enables an operator to remotely control the ultrasonic probe to acquire the ultrasonic image of the measured object by transmitting various signals and/or data in real time in the ultrasonic detection process.
Fig. 1 shows an ultrasound system provided by a first embodiment. The ultrasound system 1 comprises a first terminal and a second terminal. The first terminal may be an ultrasonic detection device 10 disposed at a location of a detected object (such as a patient, a physical examination person, etc.), the second terminal may be an ultrasonic control device 20 disposed at a location of a professional ultrasonic operator or a medical imaging specialist, and the first terminal and the second terminal may implement bidirectional transmission of signals and data in a wired or wireless communication manner.
As shown in fig. 1, the ultrasonic detection apparatus 10 includes an ultrasonic detection module 110, a tactile sensing module 120, a robot arm module 130, a first video module 140, a first communication module 150, and a first controller 160. Wherein the first controller 160 is electrically connected to the ultrasonic detection module 110, the tactile sensing module 120, the robot arm module 130, the first video module 140 and the first communication module 150 directly or indirectly to transmit and exchange data or signals. The ultrasound detection module 110 is used for acquiring ultrasound image data of an object to be measured. The ultrasonic detection module 110 includes an ultrasonic probe for acquiring an ultrasonic echo signal of a measured object. The tactile sensing module 120 is used for acquiring a force signal between the ultrasonic probe and the measured object. The robotic arm module 130 controls the ultrasound probe 1102 based on command signals. The first video module 140 is configured to acquire first video image data of an ultrasound inspection scene. The first communication module 150 is configured to send the ultrasound image data, the force signal, and the first video image data acquired by the first terminal to a second terminal (e.g., the ultrasound control device 20).
As shown in fig. 1, the ultrasound control device 20 includes a haptic feedback control module 220, a second video module 240, a second communication module 250, and a second controller 260. Wherein the second controller 260 is electrically connected to the haptic feedback control module 220, the second video module 240 and the second communication module 250 directly or indirectly to transmit and exchange data or signals. The second communication module 250 receives the ultrasound image data, the force signal and the first video image data from at least one terminal, such as the ultrasound inspection device 10. The second video module 240 includes at least one display device for displaying an ultrasound image based on the received ultrasound image data and displaying a video image based on the received first video image data. The haptic feedback control module 220 includes a haptic output module 2210, a user interface 2230, and an identification module 2250. The haptic output module 2210 outputs a corresponding haptic effect through the user interface 2230 based on the force signal received by the second communication module 250. The recognition module 2250 may receive a first input signal from the user interface 2230 and determine a command signal based on the first input signal. The second communication module 250 is used for sending the command signal to the first terminal (e.g., the ultrasonic testing device 10).
In the remote ultrasonic testing, the ultrasonic system 1 provided by the first embodiment of the present invention can remotely acquire a variety of test information of the ultrasonic testing device 10 provided at the a site through the ultrasonic control device 20 provided at the B site, and the ultrasonic control device 20 can remotely control the ultrasonic probe of the ultrasonic testing device 10. When the ultrasonic system 1 is adopted, an ultrasonic imaging expert at the site B can change the position of the ultrasonic probe at the site A acting on the measured object and/or the interaction force between the ultrasonic probe and the measured object according to various detection information in real time, and obtain an effective ultrasonic detection image better, so that the ultrasonic detection efficiency and the reliability of ultrasonic diagnosis are improved.
The ultrasonic testing device 10 provided in the second embodiment of the present invention will be described in detail with reference to fig. 2.
In the embodiment shown in fig. 2, the ultrasound detection module 110 includes an ultrasound probe 1102 and an ultrasound signal processing module 1104. It will be appreciated that during ultrasound imaging, the ultrasound probe 1102 is typically in direct contact with the body surface skin of the subject. In the ultrasonic imaging process, the ultrasonic probe 1102 converts an electrical signal into an ultrasonic wave, so that the ultrasonic wave propagates through a target region (such as organs, tissues, blood vessels, etc. in a human body or an animal body) in a measured object, and then receives an ultrasonic echo containing information of the measured object reflected from the target region, and converts the ultrasonic echo into an electrical signal. The ultrasonic signal processing module 1104 receives the electrical signal generated by the conversion and performs a series of processing on the electrical signal to obtain ultrasonic image data. The ultrasound image data includes, but is not limited to, two-dimensional image data such as B-mode, C-mode, D-mode, etc., three-dimensional ultrasound image data, and four-dimensional image data including a time dimension. The ultrasound image data may be one or more image frames or may be a video file formed from a sequence of image frames. Furthermore, the ultrasound image data may further include related information such as a corresponding detection mode for generating the ultrasound echo, detection parameters, and data of the object to be detected (e.g. age, past medical history). The ultrasound probe 1102 and the ultrasound signal processing module 1104 may be directly connected by a wired or wireless connection.
The tactile sensing module 120 includes a force sensing device 1210, which may include one or more force sensors, for acquiring a force signal between the ultrasound probe 1102 and the measured object, thereby providing an operator (e.g., a professional sonographer) of the remotely located ultrasound control apparatus 20 with information about contact between the ultrasound probe 1102 and the measured object. The force sensing device 1210 can be directly or indirectly connected to the ultrasound probe 1102. It is understood that the ultrasonic probe 1102 has a tip end in direct contact with the object to be measured and a distal end located at an end opposite to the tip end. The axial direction of the ultrasound probe 1102 is defined as the direction from the tip to the tip. In one embodiment, a force sensing device 1210 is attached to the distal end of the ultrasound probe 1102. In another embodiment, the force sensing device 1210 is indirectly connected to the ultrasound probe 1102 by a connection mechanism that is capable of transferring forces between the ultrasound probe 1102 and the subject being measured to the force sensing device 1210. The force sensing device 1210 of the tactile sensing module 120 may sense a force in the axial direction of the ultrasonic probe 1102. The force sensing device 1210 may also be further arranged to sense forces in directions in a plane perpendicular to the axial direction of the ultrasound probe 1102, i.e. forces applied by the measurand to the ultrasound probe 1102 from the lateral direction. The force sensing device 1210 may be further configured to sense a tangential force rotating around the axial direction of the ultrasonic probe 1102, so that the tactile sensing module 120 can comprehensively and truly acquire the contact condition between the ultrasonic probe 1102 and the measured object. Additionally, the force signal acquired by the haptic sensing module 120 may also include a time dimension, e.g., the haptic sensing module 120 continuously senses a set of force vectors, each force vector corresponding to a time frame.
The robot arm module 130 includes a robot arm 1320 that is coupled, directly or indirectly, to the ultrasound probe 1102. The robotic arm 1320 includes a fixed end and a movable end. The robotic arm 1320 may achieve multiple degrees of freedom of motion including, but not limited to, three-dimensional position (x, y, z), three-dimensional angle (x, y, z), and angle of rotation about the axial direction of the ultrasound probe 1102. Preferably, the robotic arm 1320 is a six degree of freedom robotic arm. The first controller 160 controls the robotic arm 1320 to move in one or more directions or angles based on the position command signal, thereby changing the detected position of the ultrasound probe 1102. The first controller 160 may also control the mechanical arm 1320 to change the force applied to the measured object by the ultrasonic probe 1102 based on the force command signal.
It is understood that the force sensing device 1210 described above can be coupled to the moveable end of the robotic arm 1320, as well as to the distal end of the ultrasound probe 1102. In one embodiment of the present embodiment, the ultrasonic testing device 10 further comprises a clamping mechanism 125, the clamping mechanism 125 is connected to a force sensing device 1210, and the force sensing device 1210 is disposed at the movable end of the mechanical arm 1320. In the embodiment shown in fig. 3, clamping mechanism 125 includes a connecting portion 1251 and a clamping portion 1253. The connecting portion 1251 is connected to the force sensing apparatus 1210, and transmits a force between the ultrasonic probe 1102 and the object to be measured to the force sensing apparatus 1210. In this embodiment, the connecting portion 1251 includes two parallel connecting rods, which are disposed on one side of the ultrasound probe and parallel to the axial direction of the ultrasound probe 1102, it is understood that the connecting portion 1251 may also adopt any other arrangement that can transmit the force received by the ultrasound probe 1102 to the force sensing device 1210. The clamping portion 1253 is used to detachably hold the ultrasonic probe 1102, in this embodiment, the clamping portion 1253 includes a fastener 1255, and the ultrasonic probe 1102 is detachably fixed to the clamping portion 1253 by the fastener 1255. In other embodiments, the clamping portion 1253 can be an electric clamping jaw, and the opening and closing of the electric clamping jaw is controlled by a control unit to clamp the ultrasonic probe 1102.
Optionally, the robot arm module 130 may further include a locking unit for controlling the position of the robot arm 1320 and the force between the ultrasonic probe 1102 and the measured object to be constant. Alternatively, when the robot module 130 does not receive the position command signal and/or the force command signal, the locking unit may control the robot arm 1320 to maintain the previous operation state or control the robot arm 1320 to return to a preset initial position.
The first video module 140 at least includes a camera device 1410 for acquiring first video image data of an ultrasound inspection scene. Specifically, the first video image data includes a detection region of a measured object and an ultrasonic probe. The first video image data further includes a measured object, a part or all of the robot arm, and the like. The first video image data is mainly used for providing visual position information of the ultrasonic probe and the measured object for a remote operator. It will be appreciated that the first video image data may also include video acquisition time information, for example, each time an image of a frame is acquired, i.e., an acquisition time is added to the data for that image frame. The camera 1410 may be integrated with the ultrasonic testing apparatus 10, or may be one or more cameras separately provided. The independently provided camera may be provided at a suitable position of the ultrasonic inspection apparatus 10, or may be provided at a suitable position other than the ultrasonic inspection apparatus 10. Further, the first video module 140 further includes a display device 1420, such as a display screen, which can be used to display the ultrasound image obtained by the local ultrasound detection module 110 in real time, and can also be used to display a scene picture of the far end where the ultrasound control apparatus 20 is located. The first video module 140 may further include a voice device (e.g., a microphone, a voice signal processing module, a speaker, etc.) for generating a first voice signal, so as to implement real-time voice and video interaction between the object to be tested of the ultrasonic testing apparatus 10 and the operator of the ultrasonic control apparatus 20 through the first and second communication modules and network transmission. In the embodiment shown in fig. 2, the camera 1410 is a camera and is disposed at the top end of the display device 1420, and the ultrasonic testing apparatus 10 sets the height and angle of the display device 1420 through an adjustable stand. In another embodiment, the camera 1410 is a camera head that is held by a clamping mechanism on a cart on which the ultrasonic testing apparatus 10 is placed. In yet another embodiment, the camera device 1410 is a camera head mounted to the outer surface of the robot 1320. It is understood that the first controller 160 is electrically connected to the ultrasonic probe 1102, the force sensing device 1210, the mechanical arm 1320 and the camera device 1410, respectively, to control the operation of the ultrasonic testing apparatus 10.
The first communication module 150 is used for data and/or signal transmission with other terminals, such as the ultrasound control device 20. In the ultrasound system 1 provided by the present invention, the first communication module 150 is adapted to send out the ultrasound image data acquired by the ultrasound detection module 110, the force signal acquired by the tactile sensing module 120, the first video image data acquired by the first video module 140, and is adapted to receive the position command signal for controlling the robot arm module 130 from other terminals. The first communication module 150 may use a network communication technology based on a TCP/UDP protocol, and may also use other communication technologies such as a Wireless Fidelity (Wifi) technology and a Bluetooth technology (Bluetooth).
It is understood that the ultrasonic testing device 10 further comprises a memory, a processor, etc. electrically connected directly or indirectly to the first controller 160 for transmitting and exchanging data or signals. The ultrasonic testing device 10 further includes a power module, a heat dissipation assembly, etc., which will not be described in detail herein.
In the second embodiment, the ultrasonic inspection apparatus 10 is mounted on a movable platform. Specifically, in the embodiment shown in FIG. 2, the ultrasonic testing device 10 is a cart-type ultrasonic testing device, and includes a housing 500, the housing 500 having a top plate portion 510, a housing 530, and a base 550.
In this embodiment, the top board portion 510 is provided with a mounting stage 5112, and the mounting stage 5112 is used for mounting input/output devices (such as an operation panel, a display screen, and the like) in the ultrasonic detection module 110. The mounting base 5112 may be a part of the top plate portion 510, or may be connected to the top plate portion 510 by a connection mechanism. In the latter case, the connection mechanism may include movable members such as a slider and a guide rail, a stretchable bracket, etc. so that the stage 5112 can be moved horizontally and/or vertically within a certain range. It is to be understood that the mounting table 5112 may also be used for mounting a portable ultrasonic diagnostic device for a non-remote ultrasonic imaging system. The fixed end of the robot 1320 is disposed at the top plate 510, connecting the robot 1320 to the housing 500. One or more brackets having a plurality of joints may be further provided on the top plate portion 510, so that the display device 1420 and/or the camera device 1410 of the first video module 140 are also coupled to the housing 500, and the position and angle of the display device 1420 and/or the camera device 1410 can be adjusted by the joints. The base 550 of the case 500 is provided with a caster frame provided at the bottom of the base and a plurality of casters provided on the caster frame.
As shown in fig. 2, a plurality of probe holders 532 for holding ultrasonic probes are provided on an outer surface of an upper portion of the case 530. A handle 536 for pushing and pulling the ultrasonic testing device 10 is also provided on the outer surface of the upper portion of the housing 530. Preferably, the housing 500 has a limiting mechanism, including a manual switch disposed on the handle 536, a transmission mechanism (not shown) and a limiting block 538. The stopper 538 is disposed at the bottom of the case 500 and is located inside the caster. In this embodiment, the limiting mechanism includes a plurality of limiting blocks 538, wherein each limiting block 538 includes an adjusting part and an anti-slip foot. The adjusting part connects the base 550 and the anti-slip foot, and the length thereof can be adjusted by the transmission mechanism. The anti-slip feet can increase friction when contacting with the ground, and the trolley type ultrasonic detection device is prevented from rotating or sliding. The limiting mechanism comprises an unlocking state and a locking state. When the handle 536 is not acted upon by an external force, the stopper mechanism is in an unlocked state, and the adjustment portion of the stopper 538 is in a retracted position, so that the bottom surface of the anti-slip foot is positioned vertically higher than the bottom surface of the caster, i.e., the anti-slip foot is not in contact with the ground in the unlocked state. When an external force is applied to the manual control switch on the handle 536, if the handle 536 is pressed down to a predetermined position, the stopper mechanism is in a locked state, and the adjusting portion of the stopper 538 is in an extended position, so that the bottom surface of the non-slip foot is not higher than the bottom surface of the caster in the vertical direction, that is, the non-slip foot is in contact with the ground in the locked state to fix the position of the cart-type ultrasonic detection apparatus. It is understood that the first controller 160, the memory, the processor, the power module, etc. of the ultrasonic testing device 10 may be housed inside the housing 530. To stabilize the position of the center of gravity of the ultrasonic testing device 10, a weight may also be disposed inside the housing 530.
By adopting the movable ultrasonic detection device 10, the detected object (such as a patient) can not go to a special ultrasonic detection room for ultrasonic imaging any more, and medical workers can push the ultrasonic detection device 10 to a corresponding ward for providing ultrasonic imaging detection for the patient, thereby reducing the difficulty of ultrasonic detection for patients with severe illness or inconvenient action.
Corresponding to the trolley type ultrasonic detection device, the invention also provides a trolley suitable for remote ultrasonic imaging, and the trolley not only can be used for carrying ultrasonic detection equipment, but also can be directly or indirectly electrically connected with the carried ultrasonic detection equipment to transmit and exchange data or signals. The dolly includes the tactile sensing module 120, the robot arm module 130, the first video module 140, the first communication module 150, and the first controller 160 as described above, and an ultrasonic detection apparatus interface is provided on the case 500. The ultrasonic testing device interface is electrically connected to the first controller 160, and the ultrasonic testing device interface can be electrically connected to the ultrasonic testing device, so that data transmission and command control can be performed between the trolley and the ultrasonic testing device. Those skilled in the art will appreciate that the probe of the ultrasound test device is connected in use to the tactile sensing module 120 and the robotic arm module 130 of the trolley, which may acquire ultrasound image data from the ultrasound test device and may also send ultrasound test parameter command signals to the ultrasound test device. The ultrasonic control device 20 according to the third embodiment of the present invention will be described in detail with reference to fig. 4.
The second communication module 250 is used for data transmission with other terminals, such as the ultrasonic detection device 10. In the ultrasound system 1 provided by the present invention, the second communication module 250 is adapted to receive ultrasound image data, force signals and first video image data from other terminals and to issue position command signals. The second communication module 250 may use a network communication technology based on a TCP/UDP protocol, and may also use other communication technologies such as a Wireless Fidelity (Wifi) technology and a Bluetooth technology (Bluetooth).
The second video module 240 includes a display device for displaying the ultrasound image data from the ultrasound inspection apparatus 10 and the image corresponding to the first video image data. The second video module 240 may further include a camera and a voice device (such as a microphone, a voice signal processing module, a speaker, etc.), which are respectively configured to generate a second video image and a second audio signal, and implement real-time voice and video interaction between an operator of the ultrasonic control apparatus 20 and a measured object of the ultrasonic detection apparatus 10 through the first communication module, the second communication module, and the network.
The haptic feedback control module 220 is mainly used for outputting a force (or a haptic sense) corresponding to the force signal received by the second communication module 250, and generating a corresponding position command signal according to an action and/or a force applied by an operator, so that the operator of the ultrasound control apparatus 20 located at a far end can feel a contact force between the ultrasound probe 1102 of the ultrasound test apparatus 10 and a measured object, observe the ultrasound image and the first video image displayed by the second video module 240, and then control the mechanical arm 1320 to change a position where the ultrasound probe 1102 acts on the measured object. The haptic output module 2210, the user interface 2230 and the recognition module 2250 of the haptic feedback control module 220 may be integrated into a force feedback operator.
The haptic output module 2210 includes at least one actuator to output a haptic effect (e.g., an electrostatic haptic effect, a vibrotactile haptic effect, a deformation haptic effect, etc., or a combination of several haptic effects) in response to a force signal from the ultrasonic detection device 10. The actuators include, but are not limited to, electric motors, electromagnetic actuators, voice coils, shape memory alloys, electroactive polymer ("enap") actuators, solenoids, eccentric rotating mass motors ("ERM"), harmonic ERM motors ("HERM"), linear resonance actuators ("LRA"), piezoelectric actuators, high bandwidth actuators, electrostatic friction displays, or ultrasonic vibration generators. In certain embodiments, the actuator may include an actuator drive circuit.
The user interface 2230 includes an output unit for human-computer interaction, and the haptic effect output by the haptic output module 2210 can be experienced at the output unit of the user interface 2230. The output unit may be a key, an analog or digital lever, a driving wheel, a trigger, etc.
The user interface 2230 also includes an input unit for human-computer interaction. The input unit includes, but is not limited to, a joystick, a handle, a mouse, a keyboard, a trackball, a touch screen, a wearable device, and the like. Alternatively, the input unit includes a motion transfer mechanism having a plurality of degrees of freedom, and the motion transfer mechanism may have a number of degrees of freedom matching that of the robot arm 1320 of the ultrasonic testing apparatus 10, or may have a number of degrees of freedom less than that of the robot arm 1320. The output unit and the input unit of the user interface 2230 may be provided separately or integrated.
The recognition module 2250 is configured to recognize a first input signal from the input unit of the user interface 2230 and determine a command signal based on the first input signal. The recognition module 2250 includes one or more sensors including, but not limited to, a pressure sensor, a motion sensor, and a position sensor. The sensors may be used to sense, such as but not limited to, sound, movement, acceleration, force/pressure/stress/bending, linear position, orientation/tilt, rotational position, rotational speed, switching operation, and the like. The recognition module 2250 converts the physical quantity detected by the sensor into an electrical signal, and the recognition module 2250 determines a command signal for remotely controlling the robot arm based on the converted electrical signal. The command signals may include position command signals, and the ultrasonic testing device 10 controls the robotic arm 1320 to move in at least one direction and at least one angle based on the received position command signals to move the ultrasonic probe 1102 to a corresponding position. The command signals may also include force command signals, and the ultrasonic testing device 10 controls the mechanical arm 1320 to adjust the force applied to the object to be tested by the ultrasonic probe 1102 based on the received force command signals.
It is understood that the ultrasound control device 20 further comprises a memory, a processor, etc. electrically connected directly or indirectly to the second controller 260 for transmitting and exchanging data or signals.
The ultrasound control device 20 may further include an ultrasound control module 210, and the ultrasound control module 210 is configured to remotely set and control the ultrasound inspection device 10 to perform a certain mode of ultrasound imaging inspection. It is understood that, by operating the ultrasound control module 210, an operator at a remote location may preset a plurality of ultrasound detection parameters before the ultrasound detection, or may change one or more ultrasound detection parameters during the ultrasound detection, thereby improving the ultrasound imaging effect. The ultrasonic testing parameters include, but are not limited to, the imaging mode (e.g., B-mode, doppler, M-mode, or three-dimensional imaging mode) of the ultrasonic testing device 10, the size and/or angle of the ultrasonic imaging range, the frequency of the fundamental frequency or harmonic used for ultrasonic imaging, the system gain (system gain), the time gain (time gain), the focal region, and so forth. The ultrasound control module 210 includes an ultrasound control input unit (e.g., a touch-tone or touch-screen input panel) for receiving a second input signal. The ultrasound control module 210 translates the operation from the operator into a second input signal and further generates a sensed parameter command signal. The test parameter command signal is sent by the second communication module 250 to the first communication module 150 of the ultrasonic testing device 10, and the first controller 160 of the ultrasonic testing device 10 sets the ultrasonic test parameters based on the received test parameter command signal. By arranging the ultrasonic control module 210 on the ultrasonic control device 20 at the far end, the operator at the far end can observe the ultrasonic image data from the ultrasonic detection device 10 presented by the display device of the second video module 240 in real time, and remotely control the ultrasonic detection device 10 to change the ultrasonic detection parameters through the ultrasonic control module 210. The arrangement facilitates the operator to directly and remotely control the ultrasonic imaging detection process in real time based on abundant experience, and the operator at the end of the ultrasonic detection device 10 is not required to be guided by remote voice and/or video to assist in changing the ultrasonic detection parameters, so that the labor cost of the ultrasonic imaging detection is saved. In addition, considering that one ultrasonic control device 20 can be matched with one or more ultrasonic detection devices 10, the design reduces the cost and the complexity of operation of the ultrasonic detection devices 10, and is beneficial to the application and popularization of the ultrasonic system provided by the invention.
Further, the ultrasound system 1 provided by the present invention further includes a synchronization control module 300 for performing synchronization processing on various signals or/and data. Preferably, the synchronization control module 300 is disposed on the ultrasound control device 20 and coupled to the haptic feedback control module 220, the second video module 240 and the second controller 260, respectively, for performing time synchronization processing on the ultrasound image data, the force signal and the first video image data from the ultrasound detection device 10. By adding the first, second and third time stamps to the ultrasound image data, the force signal and the first video image data, respectively, the synchronization control module 300 aligns the time stamps of the three to control the synchronous presentation of the ultrasound image data and the first video image data displayed by the second video module 240 and the haptic effect output by the haptic output module 2210. It will be understood by those skilled in the art that, based on the time characteristics of the ultrasound system 1 during the signal and data transmission process, the synchronization control module 300 may include a preprocessing unit for time stamping the ultrasound image data, the force signal and the first video image data, so as to play a certain set of signals/data in advance or in a delayed manner to achieve the synchronous presentation of the visual and tactile effects. It is understood that, for the first video module 140 and the second video module 240 having the voice device, a time stamp may also be added to the first voice signal acquired by the first video module 140, and the synchronization control module 300 controls the voice content played by the second video module 240 to be presented synchronously with the first video image data displayed by the second video module according to the time stamp of the voice signal. Similarly, the synchronization control module 300 may also be disposed on the ultrasonic detection device 10, and respectively coupled to the mechanical arm module 130, the first video module 140 and the first controller 160, for performing time synchronization processing on the position command signal (and/or the force command signal), the second video image and the second audio signal from the ultrasonic control device 20, which will not be described in detail herein.
Corresponding to the ultrasonic system, the invention also discloses an ultrasonic imaging method, which comprises the following steps:
Step S120, a force signal between the ultrasonic probe and the measured object is obtained.
Step S130, acquiring the detection region and the first video image data of the ultrasonic probe.
Step S160, displaying the ultrasound image based on the ultrasound image data and displaying the video image based on the first video image data.
Step S170, outputting a haptic effect based on the force signal.
Step S180 receives a first input signal and determines a command signal based on the first input signal.
Step S190, controlling the ultrasound probe based on the command signal.
Steps S110, S120 and S130 may be performed by the ultrasonic detection apparatus 10 disclosed above. Steps S160, S170 and S180 may be performed by the ultrasound control device 20 disclosed above. Wherein the command signal may be a position command signal for moving the ultrasound probe to a corresponding position; the command signal may also be a force command signal for varying the force applied by the ultrasound probe to the measurand.
Further, between steps S130 and S160, a step S140 is further included, in which the ultrasound image data, the force signal and the first video image data are transmitted to a terminal, such as the ultrasound control apparatus 20 disclosed above. The transmission may be a wired transmission or a wireless transmission.
Further, between steps S130 and S160, a step S150 of aligning the displaying of the ultrasound image, the displaying of the first video image, and the outputting of the haptic effect based on the ultrasound image data, the force signal, and the time frame included in the first video image data may be further included.
Further, between steps S180 and S190, step S185 is further included, and the command signal is sent to an ultrasonic testing terminal, such as the ultrasonic testing device 10.
Optionally, after step S170, step S182 may be further included, receiving a second input signal, and determining a detection parameter command signal based on the second input signal; step S187, sending the detection parameter command signal to an ultrasonic detection end; in step S192, ultrasonic inspection parameters are set based on the inspection parameter command signal.
The specific embodiments of the ultrasound imaging method can be referred to the corresponding contents above, and are not described in detail herein.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and the above embodiments are only used for explaining the claims. Any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present disclosure are included in the scope of the present invention.
Claims (13)
- An ultrasound system comprising a first terminal and a second terminal;the first terminal includes:the ultrasonic detection module is used for acquiring ultrasonic image data of a detection area of a detected object and comprises an ultrasonic probe;the touch sensing module is used for acquiring a force signal between the ultrasonic probe and the measured object;a robotic arm module to control the ultrasound probe based on a command signal;the first video module is used for acquiring the detection area and first video image data of the ultrasonic probe; anda first communication module for sending the ultrasound image data, the force signal and the first video image data to the second terminal and for receiving the command signal from the second terminal;the second terminal includes:a second communication module for receiving the ultrasound image data, the force signal and the first video image data from the first terminal and for issuing the command signal to the first terminal;a second video module for displaying an ultrasound image based on the ultrasound image data and displaying a first video image based on the first video image data; anda haptic feedback control module comprising a haptic output module that outputs haptic effects through the user interface based on the force signal, a user interface that receives a first input signal, and an identification module that determines the command signal for controlling the robotic arm module based on the first input signal.
- The ultrasound system of claim 1, wherein the second terminal further comprises an ultrasound control module for receiving a second input signal and deriving a detection parameter command signal based on the second input signal; the second communication module sends the detection parameter command signal to the first terminal; and the first terminal sets the detection parameters of the ultrasonic detection module based on the detection parameter command signal.
- The ultrasound system of claim 1, wherein the second terminal further comprises a synchronization control module, the ultrasound image data comprises a first time stamp, the force signal comprises a second time stamp, the first video image data comprises a third time stamp; the synchronization control module aligns the second terminal displaying the ultrasound image, displaying the first video image, outputting the haptic effect based on the first timestamp, and the third timestamp.
- The ultrasound system of claim 1, wherein the recognition module determines a force command signal based on the first input signal, the second communication module sends the force command signal to the first terminal, and the robotic arm module varies the force applied by the ultrasound probe to the measurand based on the force command signal.
- The ultrasound system of claim 1, wherein the identification module determines a position command signal based on the first input signal, the second communication module sends the position command signal to the first terminal, and the robotic arm module moves the ultrasound probe to a corresponding position in at least one direction and at least one angle based on the position command signal.
- The ultrasound system of claim 1, wherein the first terminal further comprises a clamping mechanism comprising a clamping portion for detachably holding the ultrasound probe and a connecting portion connected to the tactile sensing module for transferring forces between the ultrasound probe and the measured object to the tactile sensing module.
- An ultrasonic testing device comprising:the ultrasonic detection module is used for acquiring ultrasonic image data of a detection area of a detected object and comprises an ultrasonic probe;the touch sensing module is used for acquiring a force signal between the ultrasonic probe and the measured object;a robotic arm module to control the ultrasound probe based on a command signal;the video module is used for acquiring video image data of the detection area and the ultrasonic probe; andand the communication module is used for sending the ultrasonic image data, the force signal and the video image data to a terminal and receiving the command signal.
- The ultrasonic testing device according to claim 7, further comprising a clamping mechanism including a clamping portion for detachably holding the ultrasonic probe and a connecting portion connected to the tactile sensing module for transmitting a force between the ultrasonic probe and the object to be tested to the tactile sensing module.
- An ultrasound control device comprising:the communication module is used for receiving ultrasonic image data, force signals and video image data and sending command signals to a terminal;a video module for displaying an ultrasound image based on the ultrasound image data and displaying a video image based on the video image data; anda haptic feedback control module comprising a haptic output module that outputs haptic effects through the user interface based on the force signal, a user interface that receives a first input signal, and an identification module that determines the command signal based on the first input signal.
- The ultrasound control device according to claim 9, further comprising an ultrasound control module for receiving a second input signal and deriving a detection parameter command signal based on the second input signal; the communication module is used for sending the detection parameter command signal to a terminal.
- The ultrasound control device of claim 9, wherein the identification module determines a force command signal based on the first input signal, the communication module to issue the force command signal to a terminal.
- The ultrasound control device of claim 9, wherein the identification module determines a position command signal based on the first input signal, the communication module for issuing the position command signal to a terminal.
- An ultrasound imaging method, comprising the steps of:acquiring ultrasonic image data of a detection area of a detected object through an ultrasonic probe;acquiring a force signal between the ultrasonic probe and the measured object;acquiring first video image data of the detection area and the ultrasonic probe;displaying an ultrasound image based on the ultrasound image data and displaying a video image based on the first video image data;outputting a haptic effect based on the force signal;receiving a first input signal and determining a command signal based on the first input signal; andcontrolling the ultrasound probe based on the command signal.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2017/107018 WO2019075719A1 (en) | 2017-10-20 | 2017-10-20 | Ultrasonic detection device, ultrasonic control device, ultrasonic system and ultrasonic imaging method |
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| CN116990391A (en) * | 2023-09-27 | 2023-11-03 | 江苏迪莫工业智能科技有限公司 | Bearing detection system and detection method |
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| CN113180738A (en) * | 2021-05-25 | 2021-07-30 | 山东大学 | Virtual probe for remote cardiac ultrasound and diagnosis and treatment system |
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