技术领域technical field
本发明属于医疗器材技术领域，涉及一种检测装置，特别涉及一种超声检测装置。The invention belongs to the technical field of medical equipment, and relates to a detection device, in particular to an ultrasonic detection device.
背景技术Background technique
超声检测通过向人体内发射超声能量，并接收人体组织反射和散射的回波信号，根据其所携带的有关人体信息，加以检测、放大等处理，并显示出来，为医生提供诊断依据。其基本的检查方法包括超声示波法、超声扫描法、超声显象法、超声多普勒法等，能够用于确定占位病变的物理性质、检查脏器的形态大小及结构、检测血流、监测胎儿生长发育、检测积液等，在临床医学中具有广泛的应用。现有的超声检测通常由医护人员手持超声检测探头与病人的被检测部位接触，但医护人员长期握探头容易导致腕部酸痛，致使图像不清楚甚至瞬间消失等状况。Ultrasonic detection transmits ultrasonic energy into the human body, receives echo signals reflected and scattered by human tissue, detects, amplifies, and displays the information about the human body according to the relevant human body information carried by it, and provides diagnosis basis for doctors. The basic inspection methods include ultrasonic oscillography, ultrasonic scanning, ultrasonic imaging, and ultrasonic Doppler, etc., which can be used to determine the physical properties of space-occupying lesions, check the shape, size and structure of organs, and detect blood flow. , monitoring fetal growth and development, detecting effusion, etc., have a wide range of applications in clinical medicine. In the existing ultrasonic testing, the medical staff usually hold the ultrasonic testing probe in contact with the patient's detected part. However, holding the probe for a long time by the medical staff can easily cause wrist soreness, resulting in unclear or even instant disappearance of the image.
发明内容Contents of the invention
本发明的目的是针对现有技术中存在的上述问题，提供了一种自动检测的超声检测装置。The purpose of the present invention is to provide an automatic detection ultrasonic detection device for the above-mentioned problems in the prior art.
本发明的目的可通过下列技术方案来实现：一种超声检测装置，其特征在于，包括操作台和检测台，所述的检测台用于供被检测者站、卧，所述的检测台上设置有三维扫描模块、定位模块、超声机械手，所述的操作台包括显示模块、控制模块、数据存储模块，所述的三维扫描模块用于对被检测者进行扫描并将扫描数据传输至定位模块，所述的定位模块用于接收、分析扫描数据、产生定位数据并将定位数据发送至控制模块，所述的控制模块用于接收定位数据、产生控制数据并发送至超声机械手，所述的超声机械手具有探头，所述的超声机械手用于接收控制数据并根据控制数据控制探头移动，所述的探头用于检测被检测者并产生检测数据，所述的超声机械手将检测数据发送至数据存储模块，所述的数据存储模块用于接收检测数据并存储，所述的显示模块用于读取数据存储模块中的检测数据并供医护人员观测。The purpose of the present invention can be achieved through the following technical solutions: an ultrasonic detection device, characterized in that it includes an operating table and a detection table, the detection table is used for the person to be tested to stand or lie down, and the detection table is A three-dimensional scanning module, a positioning module, and an ultrasonic manipulator are provided, and the console includes a display module, a control module, and a data storage module, and the three-dimensional scanning module is used to scan the subject and transmit the scanned data to the positioning module , the positioning module is used to receive and analyze scan data, generate positioning data and send the positioning data to the control module, and the control module is used to receive positioning data, generate control data and send it to the ultrasonic manipulator, and the ultrasonic The manipulator has a probe, and the ultrasonic manipulator is used to receive control data and control the movement of the probe according to the control data, and the probe is used to detect the detected person and generate detection data, and the ultrasonic manipulator sends the detection data to the data storage module , the data storage module is used to receive and store the detection data, and the display module is used to read the detection data in the data storage module and observe it for medical personnel.
本发明的工作原理：被检测者站、卧于检测台上，三维扫描模块对人体进行扫描，定位模块根据扫描结果对被检测者进行定位，超声机械手根据定位结果移动至被检测者需检测的身体部位，探头对该部位进行超声检测，医护人员可在显示模块中观测检测结果。本发明中，通过机械手进行超声检测，自动化程度高，无需医护人员手动检测，医护人员仅在显示模块中观测即可，能大大降低医护人员的工作强度，使用方便，尤其是对于特殊病症的患者，能减少医护人员与其接触时间，提升医护人员自身的安全系数。The working principle of the present invention: the subject to be tested stands or lies on the detection platform, the three-dimensional scanning module scans the human body, the positioning module locates the subject according to the scanning result, and the ultrasonic manipulator moves to the place to be detected by the subject according to the positioning result. For body parts, the probe performs ultrasonic detection on the part, and the medical staff can observe the detection results in the display module. In the present invention, the ultrasonic detection is carried out by the manipulator, which has a high degree of automation and does not require manual detection by the medical staff. The medical staff can only observe in the display module, which can greatly reduce the work intensity of the medical staff and is easy to use, especially for patients with special diseases. , can reduce the contact time between medical staff and them, and improve the safety factor of medical staff themselves.
在上述的超声检测装置中，所述的超声机械手还具有耦合剂喷嘴，所述的耦合剂喷嘴用于检测时对被检测者喷涂耦合剂。In the above-mentioned ultrasonic inspection device, the ultrasonic manipulator further has a coupling agent nozzle, and the coupling agent nozzle is used to spray the coupling agent on the inspected person during inspection.
在上述的超声检测装置中，所述的超声机械手上还设置有弹性装置。In the above ultrasonic detection device, the ultrasonic manipulator is further provided with an elastic device.
在上述的超声检测装置中，所述的探头与超声机械手之间可拆卸连接。In the above ultrasonic testing device, the probe is detachably connected to the ultrasonic manipulator.
在上述的超声检测装置中，所述的操作台设置有输入模块，所述的输入模块用于输入机械手运动指令并发送至数据存储模块，所述的数据存储模块用于接收机械手运动指令并存储，所述的控制模块用于读取机械手运动指令、产生控制数据并将控制数据发送至超声机械手，所述的超声机械手用于接收控制数据并运行。In the above-mentioned ultrasonic detection device, the operation console is provided with an input module, the input module is used to input the manipulator movement command and sends it to the data storage module, and the data storage module is used to receive the manipulator movement command and store , the control module is used to read the motion command of the manipulator, generate control data and send the control data to the ultrasonic manipulator, and the ultrasonic manipulator is used to receive the control data and run.
在上述的超声检测装置中，所述的操作台设置有输入模块，所述的输入模块还用于输入机械手控制指令并发送至控制模块，所述的控制模块用于接收机械手控制指令并发送至超声机械手，所述的超声机械手用于接收机械手控制指令并根据机械手控制指令进行运动。In the above-mentioned ultrasonic detection device, the operation table is provided with an input module, and the input module is also used to input the control command of the manipulator and send it to the control module, and the control module is used to receive the control command of the manipulator and send it to the An ultrasonic manipulator, the ultrasonic manipulator is used to receive the manipulator control command and move according to the manipulator control command.
在上述的超声检测装置中，所述的操作台还设置有数据发射模块，所述的数据发射模块用于发射检测算数据至电脑端或移动端。In the above-mentioned ultrasonic detection device, the operation console is further provided with a data transmission module, and the data transmission module is used to transmit detection calculation data to the computer terminal or the mobile terminal.
在上述的超声检测装置中，所述的操作台还设置有数据统计模块，所述的数据统计模块用于读取数据存储模块中的数据并对数据进行统计，所述的数据统计模块能将统计数据发送至显示模块，所述的显示模块还用于接收统计数据并显示。In the above-mentioned ultrasonic detection device, the operating table is also provided with a data statistics module, the data statistics module is used to read the data in the data storage module and perform statistics on the data, and the data statistics module can The statistics data are sent to the display module, and the display module is also used for receiving and displaying the statistics data.
在上述的超声检测装置中，所述的检测台具有床体，所述的床体用于供被检测者躺卧、侧卧或者俯卧，所述床体的测部设置有弧状轨道，所述的三维扫描模块和超声机械手均能沿弧状轨道移动。In the above-mentioned ultrasonic testing device, the testing platform has a bed body, and the bed body is used for the subject to lie down, sideways or prone, and the measuring part of the bed body is provided with an arc-shaped track, and the Both the 3D scanning module and the ultrasonic manipulator can move along the arc track.
在上述的超声检测装置中，所述的检测台具有站立台，所述的站立台用于供被检测者站立于站立台中部，所述的三维扫描模块和超声机械手环状均设置于站立台的外侧。In the above-mentioned ultrasonic detection device, the detection platform has a standing platform, and the standing platform is used for the subject to stand in the middle of the platform, and the three-dimensional scanning module and the ultrasonic manipulator are arranged on the platform in a ring shape outside.
与现有技术相比，本发明具有自动化程度高、降低医护人员工作强度的优点。Compared with the prior art, the present invention has the advantages of high degree of automation and reduced work intensity of medical personnel.
附图说明Description of drawings
图1是本发明的系统示意图。Fig. 1 is a schematic diagram of the system of the present invention.
图2是本发明实施例一的检测台结构示意图。Fig. 2 is a schematic diagram of the structure of the detection platform according to Embodiment 1 of the present invention.
图3是本发明实施例二的检测台俯视结构示意图。Fig. 3 is a schematic top view structure diagram of the detection platform according to the second embodiment of the present invention.
图中，1、操作台；2、检测台；3、三维扫描模块；4、定位模块；5、超声机械手；6、显示模块；7、控制模块；8、数据存储模块；9、探头；10、耦合剂喷嘴；11、输入模块；12、数据发射模块；13、电脑端；14、移动端；15、数据统计模块；16、床体；17、弧状轨道；18、站立台。In the figure, 1. Operating platform; 2. Testing platform; 3. Three-dimensional scanning module; 4. Positioning module; 5. Ultrasonic manipulator; 6. Display module; 7. Control module; 8. Data storage module; 9. Probe; 10 1. Couplant nozzle; 11. Input module; 12. Data transmission module; 13. Computer terminal; 14. Mobile terminal; 15. Data statistics module; 16. Bed body; 17. Arc track; 18. Standing platform.
具体实施方式Detailed ways
以下是本发明的具体实施例并结合附图，对本发明的技术方案作进一步的描述，但本发明并不限于这些实施例。The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.
如图1所示，本超声检测装置包括操作台1和检测台2，检测台2用于供被检测者站、卧，检测台2上设置有三维扫描模块3、定位模块4、超声机械手5，操作台1包括显示模块6、控制模块7、数据存储模块8，三维扫描模块3用于对被检测者进行扫描并将扫描数据传输至定位模块4，定位模块4用于接收、分析扫描数据、产生定位数据并将定位数据发送至控制模块7，控制模块7用于接收定位数据、产生控制数据并发送至超声机械手5，超声机械手5具有探头9，超声机械手5用于接收控制数据并根据控制数据控制探头9移动，探头9用于检测被检测者并产生检测数据，超声机械手5将检测数据发送至数据存储模块8，数据存储模块8用于接收检测数据并存储，显示模块6用于读取数据存储模块8中的检测数据并供医护人员观测。As shown in Figure 1, the ultrasonic testing device includes an operating platform 1 and a testing platform 2. The testing platform 2 is used for standing and lying down for the subject to be tested. The testing platform 2 is provided with a three-dimensional scanning module 3, a positioning module 4, and an ultrasonic manipulator 5. The console 1 includes a display module 6, a control module 7, and a data storage module 8. The three-dimensional scanning module 3 is used to scan the subject and transmit the scanned data to the positioning module 4. The positioning module 4 is used to receive and analyze the scanned data. , generate positioning data and send the positioning data to the control module 7, the control module 7 is used to receive the positioning data, generate control data and send it to the ultrasonic manipulator 5, the ultrasonic manipulator 5 has a probe 9, and the ultrasonic manipulator 5 is used to receive the control data and according to The control data controls the movement of the probe 9, the probe 9 is used to detect the subject and generate detection data, the ultrasonic manipulator 5 sends the detection data to the data storage module 8, the data storage module 8 is used to receive and store the detection data, and the display module 6 is used to The detection data in the data storage module 8 is read and observed by medical personnel.
进一步细说，超声机械手5还具有耦合剂喷嘴10，耦合剂喷嘴10用于检测时对被检测者喷涂耦合剂。在临床使用中，为了起到润滑作用，减小探测面与皮肤之间的摩擦，使探头9能灵活的滑动探查，通常使用超声耦合剂。超声耦合剂的目的首先是充填接触面之间的微小空隙，不使这些空隙间的微量空气影响超声的穿透，其次是通过耦合剂过渡作用，使探头9与皮肤之间的声阻抗差减小，从而减小超声能量在此界面的反射损失。而超声耦合剂也通常由医护人员涂抹，大大增加了医护人员的工作量，浪费大量人力资源。In further detail, the ultrasonic manipulator 5 also has a couplant nozzle 10, which is used to spray a couplant to the subject during testing. In clinical use, in order to lubricate, reduce the friction between the detection surface and the skin, and enable the probe 9 to slide and explore flexibly, an ultrasonic coupling agent is usually used. The purpose of the ultrasonic coupling agent is first to fill the tiny gaps between the contact surfaces, so that the trace air in these gaps does not affect the penetration of ultrasound, and secondly, through the transitional effect of the coupling agent, the acoustic impedance difference between the probe 9 and the skin is reduced. Small, thereby reducing the reflection loss of ultrasonic energy at this interface. Ultrasonic coupling agents are usually applied by medical staff, which greatly increases the workload of medical staff and wastes a lot of human resources.
进一步细说，超声机械手5上还设置有弹性装置。由于本发明用于检测人体，弹性装置能够使得探头9与人体之间弹性接触，能使探头9根据人体曲线始终与被检测部接触，防止检测画面突然消失，且使得被检测者在被检测过程中更加舒适，防止戳伤患者，提升用户体验。In further detail, the ultrasonic manipulator 5 is also provided with an elastic device. Because the present invention is used to detect the human body, the elastic device can make the elastic contact between the probe 9 and the human body, so that the probe 9 can always be in contact with the detected part according to the curve of the human body, so as to prevent the detection screen from disappearing suddenly, and make the detected person in the process of being detected It is more comfortable in the middle, prevents the patient from being stabbed, and improves the user experience.
进一步细说，探头9与超声机械手5之间可拆卸连接。由于超声检测的方法包括超声示波法、超声扫描法、超声显象法、超声多普勒法等，该设置使得本发明根据检测需求更换探头9，使用方便、适用范围广。To elaborate further, the probe 9 is detachably connected to the ultrasonic manipulator 5 . Since the methods of ultrasonic detection include ultrasonic oscillometric method, ultrasonic scanning method, ultrasonic imaging method, ultrasonic Doppler method, etc., this setting enables the present invention to replace the probe 9 according to the detection requirements, which is convenient to use and has a wide application range.
进一步细说，操作台1还设置有输入模块11，输入模块11用于输入机械手运动指令并发送至数据存储模块8，数据存储模块8用于接收机械手运动指令并存储，控制模块7用于读取机械手运动指令、产生控制数据并将控制数据发送至超声机械手5，超声机械手5用于接收控制数据并运行。由于根据不同的检测方法会使用不同类型的探头9，且检测不同脏器时也需要使用不同的测检手法，本发明中，医护人员可将各种测检手法进行编辑，使探头9根据需求沿不同的轨迹运行，操作方便，检测范围广泛。In further detail, the console 1 is also provided with an input module 11, the input module 11 is used to input the movement command of the manipulator and send it to the data storage module 8, the data storage module 8 is used to receive and store the movement command of the manipulator, and the control module 7 is used to read Take the manipulator movement command, generate control data and send the control data to the ultrasonic manipulator 5, and the ultrasonic manipulator 5 is used to receive the control data and run. Since different types of probes 9 are used according to different detection methods, and different detection methods are required to detect different organs, in the present invention, medical personnel can edit various detection methods so that the probe 9 Running along different trajectories, it is easy to operate and has a wide detection range.
进一步细说，输入模块11还用于输入机械手控制指令并发送至控制模块7，控制模块7用于接收机械手控制指令并发送至超声机械手5，超声机械手5用于接收机械手控制指令并根据机械手控制指令进行运动。医护人员可根据需求输入指令控制机械手运动，进一步提升测检的精确度。In further detail, the input module 11 is also used to input the manipulator control command and send it to the control module 7, the control module 7 is used to receive the manipulator control command and send it to the ultrasonic manipulator 5, and the ultrasonic manipulator 5 is used to receive the manipulator control command and send it to the control module 7 according to the manipulator control command. command to move. Medical staff can input instructions to control the movement of the manipulator according to the needs, further improving the accuracy of detection.
进一步细说，操作台1还设置有数据发射模块12，数据发射模块12用于发射检测算数据至电脑端13或移动端14。该设置能使得医护人员能够远程读取检测数据，实现远程诊断。In further detail, the console 1 is also provided with a data transmitting module 12 for transmitting detection calculation data to the computer terminal 13 or the mobile terminal 14 . This setting enables medical staff to remotely read test data and realize remote diagnosis.
进一步细说，操作台1还设置有数据统计模块15，数据统计模块15用于读取数据存储模块8中的数据并对数据进行统计，数据统计模块15能将统计数据发送至显示模块6，显示模块6还用于接收统计数据并显示。本发明能够对大量的检测进行统计，医护人员可根据统计数据对本发明进行调整，使得该检测装置检测更加精确。In further detail, the console 1 is also provided with a data statistics module 15, the data statistics module 15 is used to read the data in the data storage module 8 and perform statistics on the data, the data statistics module 15 can send the statistical data to the display module 6, The display module 6 is also used for receiving statistical data and displaying it. The present invention can carry out statistics on a large number of detections, and medical personnel can adjust the present invention according to the statistical data, so that the detection by the detection device is more accurate.
实施例一：如图2所示，检测台2具有床体16，床体16用于供被检测者躺卧、侧卧或者俯卧，床体16的测部设置有弧状轨道17，三维扫描模块3和超声机械手5均能沿弧状轨道17移动。该实施例能够针对站立不便的被检测者，使其卧于床体16上，方便检测。Embodiment 1: As shown in Figure 2, the detection table 2 has a bed body 16, and the bed body 16 is used for lying down, lying on the side or lying on the stomach for the subject to be tested. 3 and the ultrasonic manipulator 5 can move along the arc track 17. This embodiment can make the subject lying on the bed body 16 for the testee who is inconvenient to stand, so as to facilitate the test.
实施例二：如图3所示，检测台2具有站立台18，站立台18用于供被检测者站立于站立台18中部，三维扫描模块3和超声机械手5均环状设置于站立台18的外侧。该实施例中，被检测者站立于站立台18上，检测装置环绕于检测者的四环，使其能被全方位检测且无需转身，检测方便简单。Embodiment 2: As shown in Figure 3, the detection platform 2 has a standing platform 18, and the standing platform 18 is used for standing on the middle part of the standing platform 18 for the subject to be detected, and the three-dimensional scanning module 3 and the ultrasonic manipulator 5 are all ring-shapedly arranged on the standing platform 18 outside. In this embodiment, the person to be tested stands on the standing platform 18, and the detection device surrounds the four rings of the person to be detected, so that it can be detected in all directions without turning around, and the detection is convenient and simple.
本文中所描述的具体实施例仅仅是对本发明精神作举例说明。本发明所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，但并不会偏离本发明的精神或者超越所附权利要求书所定义的范围。The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.
尽管本文较多地使用了操作台1、检测台2、三维扫描模块3、定位模块4、超声机械手5、显示模块6、控制模块7、数据存储模块8、探头9、耦合剂喷嘴10、输入模块11、数据发射模块12、电脑端13、移动端14、数据统计模块15、床体16、弧状轨道17、站立台18等术语，但并不排除使用其它术语的可能性。使用这些术语仅仅是为了更方便地描述和解释本发明的本质；把它们解释成任何一种附加的限制都是与本发明精神相违背的。Although this article uses a lot of operation console 1, detection table 2, three-dimensional scanning module 3, positioning module 4, ultrasonic manipulator 5, display module 6, control module 7, data storage module 8, probe 9, coupling agent nozzle 10, input Module 11, data transmission module 12, computer terminal 13, mobile terminal 14, data statistics module 15, bed body 16, arc track 17, standing platform 18 and other terms, but the possibility of using other terms is not excluded. These terms are used only for the purpose of describing and explaining the essence of the present invention more conveniently; interpreting them as any kind of additional limitation is against the spirit of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711272502.XACN108577885A (en) | 2017-12-06 | 2017-12-06 | A kind of supersonic detection device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711272502.XACN108577885A (en) | 2017-12-06 | 2017-12-06 | A kind of supersonic detection device |
| Publication Number | Publication Date |
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| CN108577885Atrue CN108577885A (en) | 2018-09-28 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711272502.XAPendingCN108577885A (en) | 2017-12-06 | 2017-12-06 | A kind of supersonic detection device |
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| CN (1) | CN108577885A (en) |
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