CN215605841U - Ultrasonic imaging apparatus - Google Patents
Ultrasonic imaging apparatus Download PDFInfo
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- CN215605841U CN215605841U CN202022450417.1U CN202022450417U CN215605841U CN 215605841 U CN215605841 U CN 215605841U CN 202022450417 U CN202022450417 U CN 202022450417U CN 215605841 U CN215605841 U CN 215605841U
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Abstract
The utility model relates to an ultrasound imaging device comprising: the ultrasonic imaging device comprises an ultrasonic host and an inertia measurement unit, wherein the ultrasonic host is connected with the inertia measurement unit, and the inertia measurement unit is used for detecting the current space coordinate information of the ultrasonic imaging device; the ultrasonic host is used for planning a driving path for the ultrasonic imaging equipment by adopting the current space coordinate information of the ultrasonic imaging equipment, the space characteristic information of the space where the ultrasonic imaging equipment is located and the destination address of the ultrasonic imaging equipment, and controlling the ultrasonic imaging equipment to drive to the destination address. The ultrasonic imaging device can conveniently move the ultrasonic imaging device back and forth.
Description
Technical Field
The utility model relates to the technical field of medical scanning equipment, in particular to ultrasonic imaging equipment.
Background
Ultrasound scanning is a medical imaging technique that uses the difference in echoes generated by different organs or tissues in the human body by sound waves (mostly in the megarange) with frequencies greater than 20000 Hz.
Generally, a certain ultrasonic imaging device may be commonly used among different departments of a hospital, and at this time, the ultrasonic imaging device needs to be moved back and forth, and the ultrasonic imaging device in the conventional technology is too heavy and heavy, so that a doctor cannot move the ultrasonic imaging device easily.
Therefore, the conventional ultrasonic imaging apparatus has a problem of being difficult to move.
SUMMERY OF THE UTILITY MODEL
Based on this, it is necessary to provide an ultrasound imaging apparatus to solve the problem that the conventional ultrasound imaging apparatus is difficult to move.
An ultrasound imaging device, the ultrasound imaging device comprising: an ultrasonic main machine and an inertia measuring unit, wherein the ultrasonic main machine is connected with the inertia measuring unit,
the inertial measurement unit is used for detecting the current spatial coordinate information of the ultrasonic imaging equipment;
the ultrasonic host is used for planning a driving path for the ultrasonic imaging equipment by adopting the current space coordinate information of the ultrasonic imaging equipment, the space characteristic information of the space where the ultrasonic imaging equipment is located and the destination address of the ultrasonic imaging equipment, and controlling the ultrasonic imaging equipment to drive to the destination address.
In one embodiment, the ultrasound host comprises a first processor, a second processor and a controller, the first processor is connected with the second processor and the controller respectively, wherein,
the second processor is used for identifying the spatial characteristic information and generating a spatial layout;
the first processor is used for planning the driving path for the ultrasonic imaging equipment by adopting the current spatial coordinate information of the ultrasonic imaging equipment, the destination address of the ultrasonic imaging equipment and the spatial layout diagram;
the controller is used for controlling the ultrasonic imaging device to drive to the destination address.
In one embodiment, the ultrasonic imaging device further comprises a driver and a roller, the roller is installed below the ultrasonic main machine, the driver is respectively connected with the ultrasonic main machine and the roller,
the ultrasonic host is also used for sending a first driving instruction to the driver; the first driving instruction is an instruction generated by the ultrasonic host according to the driving path;
the driver is used for driving the roller to operate through the first driving instruction so as to control the ultrasonic imaging device to travel to the destination address.
In one embodiment, the first processor is further configured to send a second driving signal to the driver to drive the roller to move; the second driving signal is a signal generated by the first processor through adjusting the running path of the ultrasonic imaging device in real time according to the current space coordinate information of the ultrasonic imaging device and adopting the adjusted running path.
In one embodiment, the ultrasound imaging apparatus further comprises an image pickup apparatus and a display, the image pickup apparatus is connected with the ultrasound host, the display is connected with the ultrasound host, wherein,
the camera device is used for acquiring spatial characteristic information of a space where the ultrasonic imaging device is located;
the display is used for displaying the destination address of the ultrasonic imaging equipment.
In one embodiment, the ultrasonic imaging device further comprises a plurality of ultrasonic probes, the plurality of ultrasonic probes are connected with the ultrasonic host,
the ultrasonic probes comprise built-in inertial measurement units and are used for sending detection characteristic parameters of the ultrasonic probes to the first processor; wherein the detection characteristic parameters are acquired by the inertial measurement unit;
the first processor is further used for determining a target ultrasonic probe through the detection characteristic parameters sent by the plurality of ultrasonic probes;
the camera equipment is also used for acquiring the information of a detector and the probe information of the target ultrasonic probe and sending the information of the detector and the probe information of the target ultrasonic probe to the second processor;
the second processor is further configured to identify the inspector information and the probe information of the target ultrasonic probe, and obtain image feature information of each part of the inspector, spatial coordinates of each part of the inspector, image feature information of the transmitting end of the target ultrasonic probe, and spatial coordinates of the transmitting end of the target ultrasonic probe;
the first processor is further configured to determine whether the target ultrasonic probe is overlapped with the part of the examiner according to the image feature information of each part of the examiner, the image feature information of the transmitting end of the target ultrasonic probe, and/or the spatial coordinates of each part of the examiner and the spatial coordinates of the transmitting end of the target ultrasonic probe, and activate the target ultrasonic probe.
In one embodiment, the ultrasonic imaging apparatus further comprises a mechanical arm connected with the driver, and the image pickup apparatus is mounted on the mechanical arm; the mechanical arm is a multi-degree-of-freedom mechanical arm;
the camera equipment is also used for acquiring the characteristic information of the ultrasonic probe and sending the characteristic information of the ultrasonic probe to the second processor;
the second processor is further used for identifying the characteristic information of the ultrasonic probe to obtain an identification result, and sending a third driving instruction to the controller through the identification result;
the controller is further used for controlling the mechanical arm to operate to drive the camera shooting device to move through the third driving instruction.
An ultrasound imaging device, the ultrasound imaging device comprising:
the ultrasonic probe is connected with the ultrasonic host;
the inertial measurement unit is in communication connection or/and electrical connection with the ultrasonic host;
the camera shooting device is in communication connection or/and electrical connection with the ultrasonic host;
a display in communication and/or electrical connection with the ultrasound host;
the roller is installed below the ultrasonic host.
In one embodiment, the ultrasound imaging apparatus further comprises a driver, the driver is installed on the ultrasound host, and the driver is connected with the roller.
In one embodiment, the inertial measurement unit comprises a micro-electromechanical gyroscope and/or an accelerometer; the image capture device is a depth camera.
The ultrasonic imaging equipment provided by the utility model comprises an ultrasonic host and an inertia measurement unit, wherein the ultrasonic host is connected with the inertia measurement unit, the inertia measurement unit is used for detecting the current space coordinate information of the ultrasonic imaging equipment, the ultrasonic host is used for adopting the space characteristic information of the space where the ultrasonic imaging equipment is located and the destination address of the ultrasonic imaging equipment and receiving the current space coordinate information of the ultrasonic imaging equipment sent by the inertia measurement unit, so that the ultrasonic host can plan the driving path of the ultrasonic imaging equipment through the current space coordinate information of the ultrasonic imaging equipment, the space characteristic information of the space where the ultrasonic imaging equipment is located and the destination address of the ultrasonic imaging equipment and control the ultrasonic imaging equipment to drive to the destination address, therefore, the ultrasonic host of the ultrasonic imaging equipment can control the ultrasonic imaging equipment to move to the destination address, and is convenient and efficient, the ultrasonic imaging device can be conveniently moved back and forth.
Drawings
FIG. 1 is a schematic diagram of an ultrasonic imaging apparatus provided by an embodiment;
FIG. 2 is a schematic diagram of an ultrasound imaging apparatus provided in another embodiment;
FIG. 3 is a schematic diagram of an ultrasound imaging apparatus provided in another embodiment;
FIG. 4a is a schematic diagram of an ultrasound imaging apparatus provided in accordance with another embodiment;
FIG. 4b is a schematic diagram of an ultrasound imaging apparatus provided in accordance with another embodiment;
FIG. 5 is a schematic diagram of a robotic arm according to one embodiment.
Description of reference numerals:
an ultrasonic imaging apparatus 10; an ultrasonic main unit 100; a first processor 1001;
a second processor 1002; a controller 1003; an inertial measurement unit 200;
a driver 300; a roller 400; an image pickup apparatus 500;
a display 600; an ultrasonic probe 700; a robotic arm 800;
a first link 1; a second link 2; a third link 3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is a schematic structural diagram of an ultrasound imaging apparatus 10 according to an embodiment. As shown in fig. 1, the ultrasonic imaging apparatus 10 includes: the ultrasonic measurement system comprises an ultrasonic main machine 100 and an inertia measurement unit 200, wherein the ultrasonic main machine 100 is connected with the inertia measurement unit 200; the inertial measurement unit 200 is configured to detect current spatial coordinate information of the ultrasound imaging apparatus; the ultrasound host 100 is configured to plan a driving path for the ultrasound imaging apparatus 10 by using the current spatial coordinate information of the ultrasound imaging apparatus 10, the spatial feature information of the space where the ultrasound imaging apparatus 10 is located, and the destination address of the ultrasound imaging apparatus 10, and control the ultrasound imaging apparatus 10 to drive to the destination address.
Specifically, the ultrasound imaging apparatus 10 includes an ultrasound host 100 and an inertial measurement unit 200, where the ultrasound host 100 is connected to the inertial measurement unit 200, and the inertial measurement unit 200 is configured to detect current spatial coordinate information of the ultrasound imaging apparatus 10 and send the current spatial coordinate information of the ultrasound imaging apparatus 10 to the ultrasound host 100. It should be noted that an Inertial Measurement Unit (IMU) 200 is a device for measuring three-axis attitude angles (or angular rates) and acceleration of the ultrasound imaging apparatus, one IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of the ultrasound imaging apparatus at three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, measure angular velocities and accelerations of the ultrasound imaging apparatus in a three-dimensional space, and calculate the attitude of the ultrasound imaging apparatus based on the measured angular velocities and accelerations. Optionally, the inertial measurement unit may be in communication connection with the ultrasound host, or may be electrically connected. Optionally, the inertial measurement unit 200 may be built in the ultrasound host, or may be built in the ultrasound probe, or may be built in any position of the ultrasound imaging apparatus as long as the current spatial coordinate information of the ultrasound imaging apparatus can be acquired, and this embodiment is not limited herein. It can be understood that the current spatial coordinate information of the ultrasound imaging apparatus obtained by the inertial measurement unit 200 is spatial coordinate information relative to the starting point, and the ultrasound host 100 may further combine visual information, laser information, and the like to locate more accurate current spatial coordinate information of the ultrasound imaging apparatus. Optionally, in this embodiment, the inertial measurement unit 200 includes a micro-electromechanical gyroscope and an accelerometer.
The ultrasonic host 100 is configured to acquire spatial feature information of a space where the ultrasonic imaging device is located and a destination address of the ultrasonic imaging device, receive current spatial coordinate information of the ultrasonic imaging device sent by the inertia measurement unit 200, plan a driving path of the ultrasonic imaging device by using the received current spatial coordinate information of the ultrasonic imaging device, the acquired spatial feature information of the space where the ultrasonic imaging device is located and the destination address of the ultrasonic imaging device, and control the ultrasonic imaging device to drive to the destination address. Alternatively, the ultrasound host 100 may be a server, a personal computer, a personal digital assistant, or other terminal devices, such as a tablet computer, a mobile phone, or the like. Optionally, the spatial characteristic information of the space where the ultrasonic imaging apparatus is located may be spatial characteristic information of departments of a hospital, or may be spatial characteristic information of an operation space where a doctor is located. Optionally, the ultrasound host 100 may acquire the spatial feature information of the space where the ultrasound imaging apparatus is located through its own camera apparatus, or may acquire the spatial feature information of the space where the ultrasound imaging apparatus is located through the camera apparatus connected to the ultrasound host, which is not limited herein. Optionally, the destination address of the ultrasound imaging apparatus may be input by the user through the display screen of the ultrasound imaging apparatus, or may be the destination address selected by the user on the display screen. Optionally, the ultrasound host 100 may generate a spatial layout diagram according to spatial feature information of a space in which the ultrasound imaging apparatus is located, then label a current spatial position of the ultrasound imaging apparatus in the generated spatial layout diagram according to current spatial coordinate information of the ultrasound imaging apparatus, label a destination address of the ultrasound imaging apparatus in the generated spatial layout diagram according to the destination address of the ultrasound imaging apparatus, and plan a driving path of the ultrasound imaging apparatus according to the current spatial position of the ultrasound imaging apparatus and the destination address of the ultrasound imaging apparatus in the spatial layout diagram.
In this embodiment, the ultrasonic imaging device includes an ultrasonic host and an inertia measurement unit, the ultrasonic host is connected to the inertia measurement unit, the inertia measurement unit is configured to detect current spatial coordinate information of the ultrasonic imaging device, and send the acquired current spatial coordinate information of the ultrasonic imaging device to the ultrasonic host, the ultrasonic host is configured to plan a driving path of the ultrasonic imaging device using the current spatial coordinate information of the ultrasonic imaging device, spatial characteristic information of a space where the ultrasonic imaging device is located, and a destination address of the ultrasonic imaging device, and control the ultrasonic imaging device to drive to the destination address, so that the ultrasonic host of the ultrasonic imaging device can control the ultrasonic imaging device to move to the destination address, and the ultrasonic imaging device can be conveniently moved back and forth.
On the basis of the above embodiments, as shown in fig. 2, in one embodiment, the ultrasound host 100 includes a first processor 1001, a second processor 1002 and a controller 1003, the first processor 1001 is connected to the second processor 1002 and the controller 1003 respectively, wherein the second processor 1002 is configured to identify spatial feature information and generate a spatial layout; the first processor 1001 is configured to plan a driving path for the ultrasound imaging apparatus by using current spatial coordinate information of the ultrasound imaging apparatus, a destination address of the ultrasound imaging apparatus, and a spatial layout; the controller 1003 is used for controlling the ultrasound imaging apparatus to travel to a destination address.
Specifically, the ultrasound host 100 includes a first processor 1001, a second processor 1002, and a controller 1003, where the first processor 1001 is connected to the second processor 1002 and the controller 1003, respectively, and the second processor 1002 is configured to receive spatial feature information of a space where the ultrasound imaging apparatus is located, identify the spatial feature information, generate a spatial layout diagram, and send the generated spatial layout diagram to the first processor 1001. Optionally, the first processor 1001 and the second processor 1002 may be connected by a wireless connection. Optionally, the second processor 1002 may identify the received spatial feature information according to a preset identification algorithm, and generate a spatial layout according to the identification result. It can be understood that, if the spatial feature information is spatial feature information of each department of the hospital, the spatial layout generated by the second processor 1002 is a spatial layout of each department of the hospital; if the spatial feature information is the spatial feature information of the operation space where the doctor is located, the spatial layout generated by the second processor 1002 is the spatial layout of the operation space where the doctor is located. It is to be understood that the second processor 1002 is for identifying the received spatial feature information, and the second processor 1002 may be a Graphics Processing Unit (GPU) or the like. The first processor 1001 is configured to receive the current spatial coordinate information of the ultrasound imaging apparatus, the destination address of the ultrasound imaging apparatus, and the spatial layout sent by the second processor, which are sent by the inertial measurement unit 200, and plan a driving path of the ultrasound imaging apparatus according to the current spatial coordinate information of the ultrasound imaging apparatus, the destination address of the ultrasound imaging apparatus, and the spatial layout. The controller 1003 is used for controlling the ultrasonic imaging device to drive to the destination address according to the driving path planned by the second processor 1002. Alternatively, the controller 1003 may be a Field-Programmable Gate Array (FPGA). Optionally, the controller 1003 may send an acquisition instruction to the first processor 1001 to acquire the planned driving path of the ultrasound imaging apparatus, or may actively receive the driving path planned by the first processor 1001 through a wireless connection with the first processor 1001.
In this embodiment, the ultrasound host includes a first processor, a second processor and a controller, the first processor is connected to the second processor and the controller, the second processor is configured to receive spatial characteristic information of a space where the ultrasound imaging apparatus is located, identifying the spatial feature information, generating a spatial layout diagram, and sending the generated spatial layout diagram to a first processor, wherein the first processor is used for receiving the current spatial coordinate information of the ultrasonic imaging device, the destination address of the ultrasonic imaging device and the spatial layout diagram sent by a second processor, and planning a driving path of the ultrasonic imaging equipment according to the current space coordinate information of the ultrasonic imaging equipment, the destination address of the ultrasonic imaging equipment and the generated space layout, so that the controller controls the ultrasonic imaging equipment to drive to the destination address according to the driving path, the ultrasonic imaging equipment is convenient and efficient, and the ultrasonic imaging equipment can be conveniently moved back and forth.
On the basis of the above embodiments, please continue to refer to fig. 2 and fig. 3, in an embodiment, the ultrasound imaging apparatus further includes a driver 300 and a roller 400, the roller 400 is installed below the ultrasound host 100, the driver 300 is respectively connected to the ultrasound host 100 and the roller 400, and the ultrasound host 100 is further configured to send a first driving instruction to the driver 300; the first driving instruction is an instruction generated by the ultrasonic host according to the driving path; the driver 300 is used for driving the roller 400 to operate through the first driving instruction to control the ultrasonic imaging device to travel to the destination address.
Specifically, the ultrasonic imaging apparatus further includes a driver 300 and a roller 400, the roller 400 is installed below the ultrasonic main unit 100, the driver 300 is respectively connected to the ultrasonic main unit and the roller 400, the ultrasonic main unit 100 is further configured to send a first driving instruction to the driver 300 according to the planned driving path, and the driver 300 is configured to receive the first driving instruction and drive the roller 400 to operate according to the received first driving instruction to control the ultrasonic imaging apparatus to travel to the destination address. Alternatively, the driver 300 may be a motor, other driving devices, or the like. Alternatively, the roller 400 may be a folding roller. Optionally, the roller 400 may also be a silent roller. Optionally, the number of the rollers 400 may be 2, or may also be 4, and this embodiment is not limited herein.
In this embodiment, the ultrasonic imaging device further includes a driver and a roller, the roller is installed below the ultrasonic host, the driver is respectively connected with the ultrasonic host and the roller, the ultrasonic host is configured to send a first driving instruction to the driver according to a planned driving path, the driver is configured to receive the first driving instruction, and drive the roller to operate according to the first driving instruction to control the ultrasonic imaging device to drive to a destination address, so that the ultrasonic imaging device is convenient and efficient, and can be conveniently moved back and forth; in addition, the roller arranged below the ultrasonic host is convenient to move the ultrasonic imaging equipment, and the roller is arranged below the ultrasonic host and does not occupy space, so that the practicability of the ultrasonic imaging equipment is improved.
In some scenarios, the ultrasonic imaging device may deviate from the planned driving path in the process of controlling the ultrasonic imaging device to drive to the destination address, and therefore, the driving path of the ultrasonic imaging device needs to be detected in real time and timely adjusted. On the basis of the above embodiments, in one embodiment, the first processor 1001 is further configured to send a second driving signal to the driver 300 to drive the roller to move; the second driving signal is a signal generated by the first processor through adjusting the driving path of the ultrasonic imaging device in real time according to the current space coordinate information of the ultrasonic imaging device and adopting the adjusted driving path.
Specifically, the first processor 1001 is further configured to adjust the traveling path of the ultrasonic imaging device in real time according to the current spatial coordinate information of the ultrasonic imaging device, and send a second driving signal to the driver 300 by using the adjusted traveling path, where the second driving signal is used to drive the roller 400 to move according to the adjusted traveling path. Optionally, the first processor 1001 may analyze current spatial coordinate information of the ultrasound imaging apparatus to obtain a path parameter including current spatial position information and current spatial feature information of the ultrasound imaging apparatus, determine whether the ultrasound imaging apparatus deviates from the planned driving path according to the path parameter, and adjust the driving path of the ultrasound imaging apparatus in real time according to the current spatial coordinate information of the ultrasound imaging apparatus if the ultrasound imaging apparatus deviates from the planned driving path.
In this embodiment, the first processor of the ultrasound host is further configured to adjust a running path of the ultrasound imaging device in real time according to current spatial coordinate information of the ultrasound imaging device, send a second driving signal to the driver according to the adjusted running path, and drive the roller of the ultrasound imaging device to move according to the adjusted running path, so that the ultrasound imaging device can accurately run according to a planned running path, thereby preventing the ultrasound imaging device from deviating during running to a destination address and being unable to run to the destination address in time, and improving efficiency of the ultrasound imaging device running to the destination address.
On the basis of the foregoing embodiment, please continue to refer to fig. 2, in an embodiment, the ultrasound imaging apparatus 10 further includes an image capturing apparatus 500, and the image capturing apparatus 500 is connected to the ultrasound host 100, where the image capturing apparatus 500 is configured to acquire spatial feature information of a space where the ultrasound imaging apparatus 10 is located.
Specifically, the ultrasonic imaging apparatus 10 further includes an image capturing apparatus 500, the image capturing apparatus 500 is connected to the ultrasonic host 100, and the image capturing apparatus 500 acquires spatial feature information of a space where the ultrasonic imaging apparatus is located and transmits the spatial feature information to the ultrasonic host. Alternatively, the image capturing apparatus 500 and the ultrasound host 100 may be connected by a wireless connection. Optionally, the camera device 500 may be connected to the ultrasound host in a communication manner, or may be electrically connected. Optionally, the spatial feature information may be spatial feature information of departments of a hospital, or spatial feature information of an operation space where a doctor is located. Optionally, the camera device 500 is a depth camera. It is understood that if the image capturing apparatus 500 is a depth camera, it may be any one of an RGB binocular camera, a TOF camera, and a structured light camera.
In this embodiment, the ultrasonic imaging apparatus further includes a camera apparatus connected to the ultrasonic host, and the camera apparatus can acquire spatial characteristic information of a space where the ultrasonic imaging apparatus is located, and send the acquired spatial characteristic information of the space where the ultrasonic imaging apparatus is located to the ultrasonic host, so that the ultrasonic host can acquire the spatial characteristic information of the space where the ultrasonic imaging apparatus is located accurately in time, and efficiency of the ultrasonic host in processing the spatial characteristic information of the space where the ultrasonic imaging apparatus is located is improved.
Based on the above embodiment, please continue to refer to fig. 2, in an embodiment, the ultrasound imaging apparatus 10 further includes a display 600, and the display 600 is connected to the ultrasound host 100, wherein the display 600 is configured to display a destination address of the ultrasound imaging apparatus and send the destination address of the ultrasound imaging apparatus to the ultrasound host 100.
Specifically, the ultrasound imaging apparatus 10 further includes a display 600, and the display 600 is configured to display a destination address of the ultrasound imaging apparatus 10 and transmit the destination address of the ultrasound imaging apparatus 10 to the ultrasound host 100. Optionally, the display 600 may be communicatively or electrically connected to the ultrasound host. Alternatively, the user may input the destination address of the ultrasound imaging apparatus in the display 600, or may select the destination address of the ultrasound imaging apparatus in the display 600.
In this embodiment, the ultrasound imaging apparatus further includes a display connected to the ultrasound host, where the display is capable of acquiring a destination address of the ultrasound imaging apparatus and sending the acquired destination address of the ultrasound imaging apparatus to the ultrasound host, so that the ultrasound host can process the destination address of the ultrasound imaging apparatus sent by the display in time; in addition, the method for acquiring the destination address of the ultrasonic imaging equipment through the display is simple and efficient, so that the efficiency of acquiring the destination address of the ultrasonic imaging equipment by the ultrasonic host is improved.
On the basis of the foregoing embodiment, please continue to refer to fig. 2, in an embodiment, the ultrasound imaging apparatus further includes a plurality of ultrasound probes 700, the plurality of ultrasound probes 700 are connected to the ultrasound host 100, the plurality of ultrasound probes 700 include a built-in inertial measurement unit, and the plurality of ultrasound probes 700 are configured to send their own detection characteristic parameters to the first processor 1001; wherein the detection characteristic parameters are obtained by an inertia measurement unit; the first processor 1001 is further configured to receive the detection characteristic parameters sent by the multiple ultrasound probes, and determine the ultrasound probe corresponding to the largest characteristic parameter among the detection characteristic parameters as the target ultrasound probe.
Specifically, the ultrasonic imaging apparatus 10 further includes a plurality of ultrasonic probes 700, the plurality of ultrasonic probes 700 are connected to the ultrasonic mainframe 100, the plurality of ultrasonic probes 700 include a built-in inertial measurement unit, and each ultrasonic probe 700 is configured to send its own detection characteristic parameter to the first processor 1001, where the detection characteristic parameter is acquired by the inertial measurement unit of the ultrasonic probe 700 itself. Alternatively, the detection characteristic parameters of the ultrasonic probe 700 itself may include acceleration, angular velocity, and the like. Optionally, the ultrasound host 100 further includes a probe connector port 1004, the probe connector port 1004 is connected to the ultrasound probe 700, the probe connector port 1004 is configured to receive the positioning information of the ultrasound probe sent by the ultrasound probe 700 and send the positioning information of the ultrasound probe to the first processor 1001, and the first processor 1001 is further configured to receive the positioning information of the ultrasound probe 700 sent by the probe connector port 1004 and identify the positioning information of the target ultrasound probe sent by the target ultrasound probe to obtain the spatial coordinate of the transmitting end of the target ultrasound probe. Alternatively, the connection between the plurality of ultrasound probes 700 and the first processor 1001 may be a wireless connection.
Accordingly, the first processor 1001 is further configured to receive the detection characteristic parameters sent by the multiple ultrasound probes 700, and determine the ultrasound probe corresponding to the largest characteristic parameter among the detection characteristic parameters as the target ultrasound probe. It is understood that the target ultrasound probe is the operating ultrasound probe picked up by the doctor, and the target probe should be moved, rotated, etc., so that the ultrasound probe with the largest detection characteristic parameter sent by the ultrasound probe corresponds to the operating ultrasound probe picked up by the doctor.
In this embodiment, the ultrasonic imaging apparatus further includes a plurality of ultrasonic probes connected to the ultrasonic host, the built-in inertial measurement units included in the plurality of ultrasonic probes can acquire the detection characteristic parameters of the ultrasonic probes themselves, the ultrasonic probes send the detection characteristic parameters of the ultrasonic probes to the first processor, the first processor can determine the ultrasonic probe corresponding to the largest characteristic parameter of the plurality of detection characteristic parameters as the target ultrasonic probe, the determination process is very simple, and therefore the efficiency of the first processor in determining the target ultrasonic probe is improved.
In the scenario where the first processor determines the target ultrasound probe, the target ultrasound probe needs to be activated. In one embodiment, on the basis of the above embodiment, the image capturing apparatus 500 is further configured to acquire inspector information and probe information of the target ultrasonic probe, and send the inspector information and the probe information of the target ultrasonic probe to the second processor 1002; the second processor 1002 is further configured to identify the information of the examiner and the probe information of the target ultrasonic probe, obtain image feature information of each part of the examiner, spatial coordinates of each part of the examiner, image feature information of the transmitting end of the target ultrasonic probe, and spatial coordinates of the transmitting end of the target ultrasonic probe, and send the image feature information of each part of the examiner, the spatial coordinates of each part of the examiner, the image feature information of the transmitting end of the target ultrasonic probe, and the spatial coordinates of the transmitting end of the target ultrasonic probe to the first processor 1001; the first processor 1001 is further configured to receive image feature information of each part of the examiner, spatial coordinates of each part of the examiner, image feature information of the transmission end of the target ultrasonic probe, and spatial coordinates of the transmission end of the target ultrasonic probe, and determine whether the target ultrasonic probe coincides with the part of the examiner according to the image feature information of each part of the examiner, the image feature information of the transmission end of the target ultrasonic probe, and/or the spatial coordinates of each part of the examiner and the spatial coordinates of the transmission end of the target ultrasonic probe, and activate the target ultrasonic probe if the target ultrasonic probe coincides with the part of the examiner.
Specifically, the above-described image capturing apparatus 500 is further configured to acquire inspector information and probe information of the target ultrasonic probe, and transmit the inspector information and the probe information of the target ultrasonic probe to the second processor 1002. Alternatively, the examiner information may be image information of each part of the examiner, or may be spatial coordinate information of each part of the examiner. Optionally, the probe information of the target ultrasonic probe may be image information of a transmitting end of the target ultrasonic probe, or may be spatial coordinate information of the transmitting end of the target ultrasonic probe.
The second processor 1002 is further configured to receive the inspector information and the probe information of the target ultrasonic probe sent by the camera device 500, identify the received inspector information to obtain image feature information of each part of the inspector and spatial coordinates of each part of the inspector, identify the received probe information of the target ultrasonic probe to obtain image feature information of the transmitting end of the target ultrasonic probe and spatial coordinates of the transmitting end of the target ultrasonic probe, and send the obtained image feature information of each part of the inspector, spatial coordinates of each part of the inspector, image feature information of the transmitting end of the target ultrasonic probe and spatial coordinates of the transmitting end of the target ultrasonic probe to the first processor 1001. Optionally, the second processor 1002 may use a preset first recognition algorithm to recognize the inspector information to obtain image feature information of each part of the inspector and spatial coordinates of each part of the inspector, or may input the inspector information into a preset recognition model to recognize the inspector information to obtain image feature information of each part of the inspector and spatial coordinates of each part of the inspector. Optionally, the second processor 1002 may use a preset second recognition algorithm to recognize probe information of the target ultrasonic probe to obtain image characteristic information of the transmitting end of the target ultrasonic probe and a spatial coordinate of the transmitting end of the target ultrasonic probe, or may input the probe information of the target ultrasonic probe into a preset recognition model to recognize the probe information of the target ultrasonic probe to obtain image characteristic information of the transmitting end of the target ultrasonic probe and a spatial coordinate of the transmitting end of the target ultrasonic probe.
The first processor 1001 is configured to receive the image feature information of each part of the examiner, the spatial coordinates of each part of the examiner, the image feature information of the transmitting end of the target ultrasonic probe, and the spatial coordinates of the transmitting end of the target ultrasonic probe, which are sent by the second processor 1002, and determine whether the target ultrasonic probe coincides with the part of the examiner according to the received image feature information of each part of the examiner, the image feature information of the transmitting end of the target ultrasonic probe, and/or the spatial coordinates of each part of the examiner and the spatial coordinates of the transmitting end of the target ultrasonic probe, and activate the target ultrasonic probe if the target ultrasonic probe coincides with the part of the examiner. Optionally, the first processor 1001 may determine whether the target ultrasonic probe coincides with the part of the examiner according to the image feature information of each part of the examiner and the image feature information of the transmitting end of the target ultrasonic probe, may also determine whether the target ultrasonic probe coincides with the part of the examiner according to the spatial coordinates of each part of the examiner and the spatial coordinates of the transmitting end of the target ultrasonic probe, or may determine whether the transmitting end of the target ultrasonic probe coincides with the part of the examiner according to the image feature information of each part of the examiner and the spatial coordinates of the transmitting end of the target ultrasonic probe, and if the transmitting end of the target ultrasonic probe coincides with the detecting part, then determine whether the target ultrasonic probe coincides with the part of the examiner according to the spatial coordinates of each part of the examiner and the spatial coordinates of the transmitting end of the target ultrasonic probe. Optionally, in this embodiment, the display 600 is further configured to display a name of the target ultrasound probe, a scanning mode, and a scanning result of the examiner.
In this embodiment, the image capturing apparatus of the ultrasonic imaging apparatus is further configured to acquire the inspector information and the probe information of the target ultrasonic probe, and send the inspector information and the probe information of the target ultrasonic probe to the second processor, so that the second processor can identify the inspector information to obtain image feature information of each part of the inspector and spatial coordinates of each part of the inspector, identify the probe information of the target ultrasonic probe to obtain image feature information of the transmitting end of the target ultrasonic probe and spatial coordinates of the transmitting end of the target ultrasonic probe, and send the obtained image feature information of each part of the inspector, spatial coordinates of each part of the inspector, image feature information of the transmitting end of the target ultrasonic probe and spatial coordinates of the transmitting end of the target ultrasonic probe to the first processor, so that the first processor can perform the image feature information, the spatial coordinates, and the spatial coordinates of the transmitting end of the target ultrasonic probe according to the image feature information of each part of the inspector, Accurately judging whether the target ultrasonic probe is superposed with the part of the detector or not according to the image characteristic information of the transmitting end of the target ultrasonic probe, and/or the space coordinates of all parts of the detector and the space coordinates of the transmitting end of the target ultrasonic probe to obtain an accurate judgment result, and further accurately activating the target ultrasonic probe according to the judgment result; in addition, the first processor is the target ultrasonic probe which is activated when the target ultrasonic probe is judged to coincide with the part of the detector, so that the energy loss of the target ultrasonic probe can be reduced, and the effects of energy conservation and environmental protection are achieved.
In some scenarios, the imaging device of the ultrasound imaging device may not be able to acquire probe information of the ultrasound probe, and the imaging device needs to be moved so that it can acquire the information. With reference to fig. 2, fig. 4a and fig. 4b, the ultrasonic imaging apparatus 10 further includes a robot arm 800, the robot arm 800 is connected to the driver 300, and the image capturing apparatus 500 is mounted on the robot arm 800; the camera device 500 is further configured to acquire characteristic information of the ultrasound probe 700 and send the characteristic information of the ultrasound probe 700 to the second processor 1002; the second processor 1002 is further configured to identify characteristic information of the ultrasound probe 700, obtain an identification result, and send a third driving instruction to the controller 1003 according to the identification result; the controller 1003 is further configured to control the robot arm 800 to operate to drive the image capturing apparatus 500 to move through a third driving instruction.
Specifically, the ultrasonic imaging apparatus 10 further includes a robot arm 800, the robot arm 800 is connected to the driver 300, the image capturing apparatus 500 is mounted on the robot arm 800, the image capturing apparatus 500 is further configured to acquire characteristic information of the ultrasonic probe 700 and send the acquired characteristic information of the ultrasonic probe to the second processor 1002, and the second processor 1002 is configured to identify the characteristic information of the ultrasonic probe sent by the image capturing apparatus 500, obtain an identification result, and send a third driving instruction to the controller 1003 according to the obtained identification result. Alternatively, if the recognition result obtained by the processor 1002 is that the feature information of the ultrasound probe is not recognized, the processor 1002 may transmit a third driving instruction to the controller 1003 to move the image pickup apparatus. Correspondingly, the controller 1003 is further configured to receive the third driving instruction, and control the robot arm 800 to operate to drive the image capturing apparatus to move through the third driving instruction. Optionally, the robotic arm 800 is a multi-degree of freedom robotic arm. For example, in the present embodiment, the mechanical arm 800 may be a three-degree-of-freedom mechanical arm, a four-degree-of-freedom mechanical arm, or a six-degree-of-freedom mechanical arm, and it is understood that if the mechanical arm 800 is a three-degree-of-freedom mechanical arm, the mechanical arm 800 may be a movable platform with any three degrees of freedom among six degrees of freedom, i.e., up, down, front, rear, left, and right; if the mechanical arm 800 is a four-degree-of-freedom mechanical arm, the mechanical arm 800 can be a movable platform with any three degrees of freedom among six degrees of freedom, up, down, front, rear, left and right; if the robot arm 800 is a six-degree-of-freedom robot arm, the robot arm 800 is a movable platform with six degrees of freedom up, down, front, rear, left, and right. Illustratively, as shown in fig. 5, when the mechanical arm 800 is in operation, the output shaft of the driver 300 drives the base of the mechanical arm 800 to rotate, the base of the mechanical arm 800 drives the first connecting rod 1 to move, the first connecting rod 1 drives the second connecting rod 2 to move, the second connecting rod 2 drives the third connecting rod 3 to move, and the third connecting rod 3 finally drives the image pickup apparatus 500 to move, so that the image pickup apparatus 500 can collect characteristic information of the ultrasonic probe.
In this embodiment, the ultrasonic imaging device further includes a mechanical arm, the camera device sends the acquired characteristic information of the ultrasonic probe to the second processor, the second processor can identify the received characteristic information of the ultrasonic probe to obtain an identification result, and sends a third driving instruction to the controller according to the identification result, so that the controller can control the mechanical operation to drive the camera device to move according to the third driving instruction, and therefore the camera device can acquire the characteristic information of the ultrasonic probe completely and accurately, and the integrity and accuracy of the characteristic information of the ultrasonic probe acquired by the camera device are improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An ultrasound imaging apparatus, characterized in that the ultrasound imaging apparatus comprises: the ultrasonic main machine is electrically connected with the inertia measuring unit, wherein the inertia measuring unit comprises a micro-electromechanical gyroscope and an accelerometer;
the inertial measurement unit is used for detecting the current spatial coordinate information of the ultrasonic imaging equipment;
the ultrasonic host is used for planning a driving path for the ultrasonic imaging equipment by adopting the current space coordinate information of the ultrasonic imaging equipment, the space characteristic information of the space where the ultrasonic imaging equipment is located and the destination address of the ultrasonic imaging equipment, and controlling the ultrasonic imaging equipment to drive to the destination address.
2. The ultrasound imaging device of claim 1, wherein the ultrasound host comprises a first processor, a second processor, and a controller, the first processor being connected to the second processor and the controller, respectively.
3. The ultrasound imaging apparatus according to claim 2, further comprising a driver and a roller, the roller being installed below the ultrasound main unit, the driver being connected with the ultrasound main unit and the roller, respectively,
the ultrasonic host is also used for sending a first driving instruction to the driver; the first driving instruction is an instruction generated by the ultrasonic host according to the driving path;
the driver is used for driving the roller to operate through the first driving instruction so as to control the ultrasonic imaging device to travel to the destination address.
4. The ultrasonic imaging device of claim 3, wherein the first processor is further configured to send a second driving signal to the driver to drive the roller to move; the second driving signal is a signal generated by the first processor through adjusting the running path of the ultrasonic imaging device in real time according to the current space coordinate information of the ultrasonic imaging device and adopting the adjusted running path.
5. The ultrasound imaging apparatus according to claim 4, further comprising a camera and a display, the camera being connected with the ultrasound mainframe and the display being connected with the ultrasound mainframe, wherein,
the camera device is used for acquiring spatial characteristic information of a space where the ultrasonic imaging device is located;
the display is used for displaying the destination address of the ultrasonic imaging equipment.
6. The ultrasound imaging device of claim 5, further comprising a plurality of ultrasound probes connected with the ultrasound mainframe,
the ultrasonic probes comprise built-in inertial measurement units and are used for sending detection characteristic parameters of the ultrasonic probes to the first processor; wherein the detection characteristic parameter is acquired by the inertial measurement unit.
7. The ultrasonic imaging apparatus according to claim 6, further comprising a robot arm connected to the driver, the image pickup apparatus being mounted on the robot arm; the mechanical arm is a multi-degree-of-freedom mechanical arm;
the camera equipment is also used for acquiring the characteristic information of the ultrasonic probe and sending the characteristic information of the ultrasonic probe to the second processor;
the second processor is further used for identifying the characteristic information of the ultrasonic probe to obtain an identification result, and sending a third driving instruction to the controller through the identification result;
the controller is further used for controlling the mechanical arm to operate to drive the camera shooting device to move through the third driving instruction.
8. An ultrasound imaging apparatus, characterized in that the ultrasound imaging apparatus comprises:
the ultrasonic probe is connected with the ultrasonic host;
the inertial measurement unit is in communication connection or/and electrical connection with the ultrasonic host;
the camera shooting device is in communication connection or/and electrical connection with the ultrasonic host;
a display in communication and/or electrical connection with the ultrasound host;
the roller is installed below the ultrasonic host.
9. The ultrasound imaging device of claim 8, further comprising a driver mounted to the ultrasound mainframe, the driver being connected to the scroll wheel.
10. Ultrasound imaging apparatus according to claim 5, 6 or 8, characterized in that the inertial measurement unit comprises a microelectromechanical gyroscope and/or an accelerometer; the image capture device is a depth camera.
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