阅读说明：本技术 操作台、医生端操控装置及主从超声检测系统 (Operation panel, doctor end controlling device and master-slave ultrasonic detection system ) 是由 官晓龙 熊麟霏 李金福 段宾 吴昊天 姚涛 伍利 于 2019-01-09 设计创作，主要内容包括：本发明提供一种操作台,所述操作台应用于主从超声检测系统中,所述操作台具有一操作面,所述操作面与探头配合以使所述探头可在所述操作面上移动、施压以执行超声检测,所述操作台包括弹性材料层及柔性传感器层,所述弹性材料层各处沿厚度方向具有弹性形变量,所述弹性形变量允许所述弹性材料层在所述探头作用于所述操作面上时发生形变,以使所述操作台模拟人体或动物体皮肤弹性,所述柔性传感器层用于感测所述探头于所述操作面上的位置。本发明还提供一种应用所述操作台的医生端操控装置及主从超声检测系统。应用本发明,可提升医生超声打图的真实感。(The invention provides an operation table, which is applied to a master-slave ultrasonic detection system and comprises an operation surface, wherein the operation surface is matched with a probe so that the probe can move and press on the operation surface to execute ultrasonic detection, the operation table comprises an elastic material layer and a flexible sensor layer, the elastic material layer is provided with an elastic deformation amount along the thickness direction at each position, the elastic deformation amount allows the elastic material layer to deform when the probe acts on the operation surface, so that the operation table simulates the elasticity of the skin of a human body or an animal body, and the flexible sensor layer is used for sensing the position of the probe on the operation surface. The invention also provides a doctor end control device applying the operating table and a master-slave ultrasonic detection system. By applying the invention, the reality of ultrasonic imaging of doctors can be improved.)

1. An operation table, which is applied to a master-slave ultrasonic detection system and is provided with an operation surface, wherein the operation surface is matched with a probe so that the probe can move and press on the operation surface to execute ultrasonic detection, the operation table is characterized by comprising an elastic material layer and a flexible sensor layer, the elastic material layer is provided with an elastic deformation amount along the thickness direction, the elastic deformation amount allows the elastic material layer to deform when the probe acts on the operation surface, so that the operation table simulates the elasticity of the skin of a human body or an animal body, and the flexible sensor layer is used for sensing the position of the probe on the operation surface.

2. The console of claim 1, further comprising a pressure sensing device for sensing the force of the probe on the operating surface.

3. The console of claim 1, wherein said layer of resilient material is bonded to said flexible sensor layer, said layer of resilient material having said operative surface formed thereon; or, the flexible sensor layer is attached to the elastic material layer, and the operation surface is formed on the flexible sensor layer.

4. The console of claim 1, wherein the console comprises a flexible display layer for displaying image information of a detected part of a subject where an ultrasound probe in the master-slave ultrasound system is located.

5. The console of claim 4, wherein the flexible sensor layer is attached to the flexible display layer, the elastic material layer is attached to the flexible sensor layer, the elastic material layer and the flexible sensor layer are made of transparent or semitransparent materials, and the operation surface is formed on the elastic material layer; or, the flexible sensor layer is attached to the flexible display layer, the flexible display layer is attached to the elastic material layer, the flexible sensor layer is made of transparent or semitransparent materials, and the operating surface is formed on the flexible sensor layer.

6. The console of claim 1, wherein the console surface is a curved surface.

7. A physician-end manipulating device comprising the console and the profiling probe of any one of claims 1 to 5.

8. The physician-side steering device of claim 7, wherein the profiling probe is provided with a posture sensor and a conductive layer, the posture sensor is used for sensing and outputting the posture information of the profiling probe in real time, and the conductive layer and the flexible sensor layer form an electric coupling to enable the flexible sensor layer to sense the position of the profiling probe on the operation surface.

9. A master-slave ultrasonic detection system, comprising a doctor end device and a detected person end device, wherein the doctor end device comprises the doctor end control device, the communication device and the display device as claimed in claim 8, the detected person end device comprises a camera device, a mechanical arm, an ultrasonic probe, a control device and a communication device, wherein: the imaging device is used for acquiring three-dimensional image data of each detected part, the control device of the doctor end equipment or the control device of the detected person end equipment processes the three-dimensional image data of each detected part into three-dimensional data and matches the three-dimensional data with the three-dimensional data of the effective area of the operation surface, so that each position of each detected part uniquely corresponds to one position of the effective area of the operation surface.

10. The master-slave ultrasonic detection system of claim 9, wherein the control device of the doctor-side equipment or the control device of the detected-side equipment is further configured to generate a position command for controlling the position of the mechanical arm according to the three-dimensional data of each detected part and the matching result of the three-dimensional data of the effective area of the operation surface and the position information of the profiling probe acquired in real time, so that the mechanical arm controls the ultrasonic probe to be located at the position corresponding to the detected part of the detected person.

Technical Field

The invention relates to ultrasonic detection, in particular to an operating console, a doctor end control device and a master-slave ultrasonic detection system for ultrasonic detection.

Background

In the process of economic development, regional development imbalance is an inevitable intermediate process, medical resource imbalance is particularly obvious, and medical conditions of many remote areas are poor and cannot be compared with developed areas. Master-slave ultrasound robot systems have emerged in this context. Because of the particularity of ultrasonic examination, a doctor can diagnose only by operating the machine in person, and the control end needs to restore the site to the maximum extent, so that the real experience of the doctor is enhanced, the accuracy of the examination can be improved, and the practicability of the product is improved. At present, a lot of operators used in the medical field are force feedback operators, but due to the structural limitation, the requirements of clinicians cannot be met, and meanwhile, due to the high price, the large-scale popularization and promotion cannot be achieved, especially the popularization in remote underdeveloped areas.

The manipulator used in the current master-slave operation is a force feedback manipulator which can provide 6 degrees of freedom information and force control information required by the control robot. The widely used system at present adopts a serial or parallel mechanical manipulator to obtain pose information with 6 degrees of freedom and provide 3-dimensional tactile feedback, but the application of the system mainly has the following problems: exclusive agency, cost is too high; the system is closed, meanwhile, the stability is poor, and the technical support is not in place; the position and posture range during operation are limited, and the master-slave ultrasonic design is not adopted, so that the feedback operation and experience effects of doctors are not good enough, and the flexible drawing manipulation requirements of ultrasonic doctors cannot be met.

In addition, in the existing system, because the contact part of the manipulator and the position sensor is in hard contact, the experience of a doctor is poor, and the experience of the doctor in real drawing cannot be truly simulated; the doctor cannot determine the position information of the drawing according to the manipulator and cannot change the operation range according to patients with different body types.

Disclosure of Invention

In view of the above, it is desirable to provide an operation table, a doctor end control device and a master-slave ultrasonic testing system, so as to solve at least one of the above problems.

In one aspect, an operation table is provided, which is applied to a master-slave ultrasonic detection system, and has an operation surface, the operation surface is matched with a probe to enable the probe to move and press on the operation surface to perform ultrasonic detection, the operation table includes an elastic material layer and a flexible sensor layer, the elastic material layer has an elastic deformation amount along the thickness direction at each position, the elastic deformation amount allows the elastic material layer to deform when the probe acts on the operation surface, so that the operation table simulates the elasticity of the skin of a human body or an animal body, and the flexible sensor layer is used for sensing the position of the probe on the operation surface.

Further, the operation panel still includes pressure detection device, pressure detection device is used for sensing the dynamics that the probe acted on the operation face.

Further, the elastic material layer is attached to the flexible sensor layer, and the operation surface is formed on the elastic material layer; or, the flexible sensor layer is attached to the elastic material layer, and the operation surface is formed on the flexible sensor layer.

Further, the operation panel comprises a flexible display layer, and the flexible display layer is used for displaying image information of a detected part of a detected person where the ultrasonic probe in the master-slave ultrasonic system is located.

Furthermore, the flexible sensor layer is attached to the flexible display layer, the elastic material layer is attached to the flexible sensor layer, the elastic material layer and the flexible sensor layer are made of transparent or semitransparent materials, and the operation surface is formed on the elastic material layer; or, the flexible sensor layer is attached to the flexible display layer, the flexible display layer is attached to the elastic material layer, the flexible sensor layer is made of transparent or semitransparent materials, and the operating surface is formed on the flexible sensor layer.

Further, the operating surface is an arc surface.

In another aspect, a doctor end control device is also provided, and the doctor end control device comprises the operating platform and the profiling probe.

Furthermore, a gesture sensor and a conductive layer are arranged on the profiling probe, the gesture sensor is used for sensing and outputting gesture information of the profiling probe in real time, and the conductive layer and the flexible sensor layer form electric coupling so that the flexible sensor layer senses the position of the profiling probe on the operation surface.

In another aspect, a master-slave ultrasonic testing system is further provided, where the master-slave ultrasonic testing system includes a doctor end device and a tested person end device, the doctor end device includes the doctor end control device, the communication device and the display device, and the tested person end device includes a camera device, a mechanical arm, an ultrasonic probe, the control device and the communication device, where: the imaging device is used for acquiring three-dimensional image data of each detected part, the control device of the doctor end equipment or the control device of the detected person end equipment processes the three-dimensional image data of each detected part into three-dimensional data and matches the three-dimensional data with the three-dimensional data of the effective area of the operation surface, so that each position of each detected part uniquely corresponds to one position of the effective area of the operation surface.

Further, the control device of the doctor end device or the control device of the detected person end device is further configured to generate a position command for controlling the position of the mechanical arm according to the three-dimensional data of the detected part of each detected person and the matching result of the three-dimensional data of the effective area of the operation surface and the position information of the profiling probe acquired in real time, so that the mechanical arm controls the position of the ultrasonic probe corresponding to the detected part of the detected person.

According to the operation table, the doctor end control device and the master-slave ultrasonic detection system provided by the embodiment of the invention, on the first hand, the elastic material layer is arranged on the operation table, so that the elasticity of the skin of a human body (animal body) can be simulated, the scene that an ultrasonic probe contacts the skin of the human body (animal body) is simulated to the greatest extent, and the drawing experience of a doctor is enhanced; in the second aspect, the operating surface of the operating table is arranged to simulate the shape of the detected part, so that a doctor can conveniently draw different parts, for example, the operating surface is arranged to be arc-shaped to simulate the arrangement of the abdomen of a human body, so that the doctor can conveniently scan the side abdomen of the detected person; in the third aspect, the three-dimensional data of the detected part of different detected persons is matched with the three-dimensional data of the operating surface of the operating platform, so that the operating platform can adapt to different detected persons without changing the drawing habit of doctors; in the fourth aspect, the image of the current checking position of the checked person is displayed at the position where the copying probe contacts the operation surface, and the feeling of pressing on real skin can be provided for a doctor by combining the skin-imitating setting of the operation table.

Drawings

Fig. 1 is a perspective view of a doctor end manipulating device according to an embodiment of the present invention.

Fig. 2 is an exploded view of the console of the medical end effector shown in fig. 1 according to a first embodiment.

Fig. 3 is an exploded view of a second embodiment of the console of the medical end effector shown in fig. 1.

Fig. 4 is an exploded view of a third embodiment of the console of the medical end effector shown in fig. 1.

Fig. 5 is an exploded view of a fourth embodiment of the console of the medical end effector shown in fig. 1.

Fig. 6 is a schematic diagram of the hardware connection of a master-slave ultrasound system using the physician-side manipulator shown in fig. 1.

Figure 7 is a schematic diagram of the functional modules and hardware connections of the master-slave ultrasound system shown in figure 6.

Description of the main elements

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components 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 terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, the medical end effector 1 includes a profiling probe 10 and an operation table 20. The profiling probe 10 simulates the whole process of moving and pressing a real ultrasonic probe on the operation table 20 to simulate the real ultrasonic probe to carry out ultrasonic detection on the body part of a detected person. The contact part of the profiling probe 10 and the operating platform 20 is provided with soft rubber materials so as to reduce the rigidity of the contact part of the profiling probe 10 and the operating platform 20, reduce the friction resistance between the profiling probe and the operating platform 20 and prolong the service life of the profiling probe and the operating platform. The console 20 is a skin-like console having a console face 21 that mates with the profiling probe 10. The operation surface 21 is a contoured operation surface 21, in which the overall extension and undulation of the operation surface 21 substantially simulate the surface shape of a body part of a subject to be detected, and in the present embodiment, the operation surface 21 is substantially a curved surface that contours the abdominal position of the subject and includes a first region 211 corresponding to the front abdominal part and a second region 212 corresponding to the side abdominal part. The two second regions 212 corresponding to the abdomen of the user are respectively located at two sides of the first region 211, and each second region 212 is bent backward from the first region 211, so that the operation panel 21 has a stereoscopic impression corresponding to the abdomen of the user.

Referring to fig. 2, in the embodiment shown in fig. 2, the console 20 further includes a console body 22, a pressure detecting device 23 disposed below the console body 22, and a flexible display layer 24, a flexible sensor layer 25 and an elastic material layer 26 disposed above the console body 22. The console body 22, the pressure detection device 23, the flexible display layer 24, the flexible sensor layer 25, and the elastic material layer 26 have the same dimensions in a direction perpendicular to the stacking direction, that is, in a direction perpendicular to the thickness direction, the pressure detection device 23 is attached to the lower side of the console body 22, and the flexible display layer 24 is attached to the upper side of the console body 22. The flexible sensor layer 25 is attached to the upper side of the flexible display layer 24, and the elastic material layer 26 is attached to the upper side of the flexible sensor layer 25. The operating face 21 is formed on the elastic material layer 26. The upper surface of the console body 22 is formed in an arc shape following the abdominal region of the subject, so that the operation surface 21 formed on the elastic material layer 26 also follows the surface shape of the abdominal region of the subject. Elastic material layer 26 adopts the transparent or translucent material that allows light to pass through, and has the elasticity deformation volume along its thickness direction, can take place to deform along the thickness direction under the exogenic action, preferably, elastic material layer 26 each department has evenly elasticity, more preferably, elastic material layer 26 is an imitative skin elastic layer, the laminating mode between each part is for adopting glue, optical cement etc. to laminate completely. The flexible sensor layer 25 is made of transparent or semitransparent material.

Referring to fig. 3, in the embodiment shown in fig. 3, the elastic material layer 26 is attached to the upper side of the console body 22, the flexible display layer 24 is attached to the upper side of the elastic material layer 26, the flexible sensor layer 25 is attached to the upper side of the flexible display layer 24, and the console surface 21 is formed on the flexible sensor layer 25. The flexible sensor layer 25 is made of transparent or semitransparent material, and the elastic material layer can be made of transparent or semitransparent material or opaque material for preventing light from passing through.

Referring to fig. 4, in the embodiment shown in fig. 4, the flexible display layer is omitted, the flexible sensor layer 25 is directly attached to the upper side of the console body 22, the elastic material layer 26 is attached to the flexible sensor layer 25, and both the flexible sensor layer 25 and the elastic material layer 26 may be made of transparent, semitransparent, or opaque materials.

Referring to fig. 5, in the embodiment shown in fig. 5, the flexible display layer is also omitted, the elastic material layer 26 is attached to the upper side of the console body 22, and the flexible sensor layer 25 is directly attached to the elastic material layer 26. Both the flexible sensor layer 25 and the elastomeric layer 26 may be made of transparent, translucent, or opaque materials.

In the above embodiments, the elastic material layer 26 is disposed to make the operation table 20 obtain skin elasticity similar to that of a human body or an animal body, so as to improve the experience and acceptance of a doctor, the flexible sensor layer 25 is disposed to obtain the position and/or the moving track of the copying probe 10 on the operation surface 21, the flexible display layer 24 is disposed to display image information of the examined part of the examinee, and the pressure detection device 23 is disposed to sense the force applied by the copying probe 10 on the operation surface 21. For better sensitivity, when the elastic material layer 26 is attached to the flexible sensor layer 25, preferably, the thickness of the elastic material layer 26 is less than 12mm, and the thickness of the flexible sensor layer 25 is less than 5 mm. Preferably, when the flexible sensor layer 25 is placed on the uppermost layer and contacts with the profiling probe 10, in order to prolong the service life of the flexible sensor layer 25, the surface of the flexible sensor layer 25 can be subjected to film pasting treatment, and the thickness is about 1 mm.

Please refer to fig. 6, which is a schematic diagram of the hardware connection of a master-slave ultrasonic inspection system. The master-slave ultrasonic detection system 3 comprises a doctor end device 4 and a detected person end device 5. The doctor end equipment 4 mainly comprises a profiling probe 10, an operation table 20, a control device 41, a communication device 42 and a display device 43, and the detected person end equipment 5 mainly comprises a camera device 51, a mechanical arm 52, an ultrasonic probe 53, a control device 54 and a communication device 55. The doctor end device 4 and the detected end device 5 communicate through respective communication devices 42 and 55, for example, when the doctor end device 4 and the detected end device 5 are in a close physical distance, the doctor end device 4 and the detected end device 5 can communicate through a surface-to-surface transmission mode such as data lines or bluetooth, or, no matter the distance is far or near, the doctor end device 4 and the detected end device 5 can also be communicated by carrying a wired and/or wireless network through respective communication devices 42 and 55.

Specifically, the copying probe 10 includes an attitude sensor 11, and the attitude sensor 11 senses and outputs attitude information of the copying probe 10 to the control device 41 in real time. The operation table 20 comprises a flexible sensor 251, a flexible display 241 and a pressure detection device 23, which are connected with the control device 41, wherein the flexible sensor 251 forms part or all of the flexible sensor layer 25, and the flexible sensor 251 is used for acquiring and outputting the position information of the copying probe 10 to the control device 41 in real time. Specifically, in one embodiment, a conductive layer is disposed on the profiling probe 10, and the profiling probe 10 and the flexible sensor 251 form an electric coupling by using capacitive touch sensing, inductive touch sensing or similar sensing technologies, so that the flexible sensor 251 can acquire a specific position of the profiling probe 10 on the operation surface 21 in real time; in another embodiment, a resistive touch sensing or similar sensing technology is used between the copying probe 10 and the flexible sensor 251 to achieve real-time acquisition of the specific position of the copying probe 10 by the flexible sensor 251. The flexible display 241 forms part or all of the flexible display layer 24, and the flexible display 241 is used for displaying image information of a current examination part of the examinee in real time. In other embodiments, the flexible display 241 displays the whole image information of the detected part of the detected person, for example, the image information of the whole abdominal surface. The doctor can be provided with the feeling of pressing on the real skin through the image presentation of the examined part of the examined person. The pressure detection device 23 is used for sensing the force applied by the profiling probe 10 to the operation surface 21 of the operation table 20 in real time and outputting force information to the control device 41.

The control device 41 generates a control command for controlling the robot 52 based on the attitude information and the positional information of the scanning probe 10 acquired in real time and the force information applied to the operation surface 21 by the scanning probe 10, and the robot 52 controls the ultrasonic probe 53 based on the control command. The ultrasonic probe 53 is usually in direct contact with the body surface skin of the subject, and during the ultrasonic imaging process, the ultrasonic probe 53 converts the electrical signal into an ultrasonic wave, so that the ultrasonic wave propagates in a target region (such as organs, tissues, blood vessels, etc. in the human body or animal body) in the subject, and then receives an ultrasonic echo containing information of the subject region, which is emitted from the target region, and converts the ultrasonic echo into the electrical signal.

Referring to fig. 7, the communication devices 42 and 55 are not shown in fig. 7, but it should be understood that the control devices 41 and 54 communicate with each other directly or via the communication devices 42 and 55 carried on a wired and/or wireless network.

The control device 41 further includes a control command generating module 411, a position information displaying module 412 and an ultrasound image displaying module 413. The control command generating module 411 generates a control command for controlling the mechanical arm 52 according to the attitude information and the position information of the scanning probe 10 acquired in real time and the force information applied to the operation surface 21 by the scanning probe 10, wherein the control command generating module 411 generates an attitude command for controlling the attitude of the mechanical arm 52 according to the attitude information of the scanning probe 10, so that the mechanical arm 52 controls the ultrasonic probe 53 to copy the attitude of the scanning probe 10. Wherein the attitude is the spatial azimuthal orientation of the profiling probe 10. The control command generating module 411 generates a position command for controlling the position of the mechanical arm 52 according to the position information of the profiling probe 10, so that the mechanical arm 52 controls the ultrasonic probe 53 to move to a position corresponding to the body of the subject. The control command generating module 411 generates a force command for controlling the force of the mechanical arm 52 according to the force information applied to the operation surface 21 by the profiling probe 10, so that the mechanical arm controls the force of the ultrasonic probe 53 acting on the body of the person to be detected.

The control device 41 further includes a position matching module 414, the position matching module 414 matches the three-dimensional data of the detected portion of each detected person with the three-dimensional data of the effective area of the operation surface 21, so that each position of the detected portion of each detected person can uniquely correspond to one of the positions of the effective area of the operation surface 21, and each detected person can effectively correspond to the effective area of the operation surface 21 regardless of the size and shape of the detected portion, so that a doctor operating ultrasonic detection does not need to adjust the position or the mode of ultrasonic imaging of each detected person according to the difference of the detected portion shape of each detected person, thereby facilitating the ultrasonic imaging operation of the doctor. The effective area of the operation surface 21 is a set of all position points at which the operation table 20 can detect the position of the scanning probe 10 and the degree of force applied when the scanning probe 10 acts on the operation surface 21. In the present embodiment, the operation surface 21 follows the abdominal position of the subject, and has a first region 211 corresponding to the front abdominal part and two second regions 212 corresponding to the two side abdominal parts, so that the three-dimensional data of each abdominal position of the subject is divided into three regions, namely, the front abdominal part and the two side abdominal parts, and the position matching module 414 matches the three-dimensional data of the front abdominal part with the three-dimensional data of the effective region of the first region 211 of the operation surface 21, so as to obtain the one-to-one correspondence relationship between each position point of the front abdominal part of the subject and each position point of the effective region of the first region 211 of the operation surface 21. Preferably, the effective area of the first area 211 is the whole first area 211. The position matching module 414 matches the three-dimensional data of the left abdomen of the two side abdomens with the three-dimensional data of the effective area of the second area 212 on the left side of the operation surface 21, so as to obtain a one-to-one correspondence relationship between each position point of the left abdomen of each detected person and each position point of the effective area of the second area 212 on the left side of the operation surface 21; the position matching module 414 matches the three-dimensional data of the right abdomen of the two side abdomens with the three-dimensional data of the effective area of the second area 212 on the right side of the operation surface 21, so as to obtain a one-to-one correspondence relationship between each position point of the right abdomen of each detected person and each position point of the effective area of the second area 212 on the right side of the operation surface 21. Preferably, the effective area of the left second area 212 is the entire left second area 212, and the effective area of the right second area 212 is the entire right second area 212. In the process of matching the detected part of the detected person with the effective area of the operation panel 21, according to one embodiment, the position matching module 414 compares the size of each detected area of the detected person with the size of the corresponding area of the operation panel 21, and obtains corresponding ratio data by scaling up and down each detected area to the corresponding area of the operation panel 21. For example, when the width of the front abdominal part of a subject is smaller than the width of the first region 211 of the operation panel 21 and the height is larger than the height of the first region 211 of the operation panel 21, the position matching module 414 obtains the ratio of the width of the front abdominal part of the subject to the width of the first region 211 of the operation panel 21 and the ratio of the height of the front abdominal part of the subject to the height of the first region 211 of the operation panel 21, and associates each position in the width and height directions of the front abdominal part of the subject with each position in the width and height directions of the first region 211 according to the two ratios, so as to fit the detected parts of different subjects with different body differences with the effective region of the operation panel 21, and adapt the operation console 20 to each subject.

The location matching module 414 starts the matching operation according to the operation of the doctor and returns a matching result after the matching is completed, for example, the location matching module 414 is started according to the operation of the doctor on a specific button, after the matching is completed, the location matching module 414 returns a matching completion message to the doctor end device 4, or simultaneously to the detected end device 5, and the doctor end device 4 and the detected end device 5 prompt the matching result in a display and/or voice manner. In other embodiments, the location matching module 414 may also automatically initiate a matching operation after each ultrasound detection task is initiated.

After the position matching module 414 completes the matching, the control command generating module 411 may generate a position command for controlling the position of the robot arm 52 according to the matching data provided by the position matching module 414, such as the ratio data between the detected part of the detected person and the effective area of the operation surface 21, and the position information of the copying probe 10 acquired in real time. The position information display module 412 can display the position information of the ultrasonic probe 53 on the corresponding position of the operation panel 21 according to the matching data provided by the position matching module 414 and the position information of the ultrasonic probe 53. In one embodiment, the position information is image information of the position of the ultrasound probe 53 captured by the imaging device 51.

The ultrasound image display module 413 is configured to display the ultrasound image information returned from the subject-side device 5 on the display device 43 for the doctor to view.

The control device 54 further includes a three-dimensional data processing module 540, a control command analyzing module 541, an ultrasonic signal processing module 542, and a position information providing module 543. The three-dimensional data processing module 540 is connected to the camera device 51, the camera device 51 may include a camera, the camera may move under the control of the control device 54 or other control components to shoot three-dimensional image data of the detected part of the detected person, the camera device 51 may also include a plurality of cameras, each camera obtains three-dimensional image data of one of the regions of the detected part of the detected person, and the three-dimensional image data of the whole detected part may be obtained by stitching the three-dimensional image data obtained by all the cameras. The three-dimensional data processing module 540 obtains three-dimensional image data of the detected part captured by the camera 51 and processes the three-dimensional image data into three-dimensional data, which in one embodiment includes stitching (for the multi-camera case), removing color data, and the like. The three-dimensional data processing module 540 transmits the three-dimensional data to the control device 41 through the communication devices 55 and 42, so that the position matching module 414 can perform matching operation. In one embodiment, after the position matching module 414 is started, the position matching module 414 sends a request signal to the three-dimensional data processing module 540, and the three-dimensional data processing module 540 starts the transmission of the three-dimensional data according to the request signal sent by the position matching module 414. In another embodiment, the three-dimensional data processing module 540 initiates data processing and three-dimensional data transmission according to the request signal sent by the position matching module 414.

The control command analyzing module 541 analyzes the control command generated by the control command generating module 411 to generate control for each degree of freedom of the robot arm 52, so that the robot arm 52 controls the ultrasonic probe 53 to copy the posture, position, and force applied to the person to be examined of the copying probe 10. The ultrasonic signal processing module 542 receives the electrical signal returned by the ultrasonic probe 53 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. Further, the ultrasound image data may further include relevant information such as a corresponding detection mode for generating the ultrasound echo, detection parameters, and subject data (such as age, past medical history, etc.). The ultrasound image data is transmitted to the control device 41 in real time and displayed on the display device 43 in real time by the ultrasound image display module 413. In another embodiment, the device 5 at the subject side may further include a display device on which the ultrasound image data is displayed at the same time. The position information providing module 543 is connected to the camera 51 in a wired or wireless manner, so as to obtain the image information of the position of the ultrasound probe 53 captured by the camera 51, and provide the image information to the position information display module 412.

In summary, in the operation console 20 and the master-slave ultrasonic detection system 3 provided by the embodiment of the present invention, on the first hand, the elastic material layer 26 is disposed on the operation console 20, so that the elasticity of the skin of the human body (animal body) can be simulated, the scene that the ultrasonic probe contacts the skin of the human body (animal body) can be simulated to the greatest extent, and the experience of a doctor in drawing can be enhanced; in the second aspect, the operating surface 21 of the operating table 20 simulates the shape of the detected part, so that a doctor can conveniently draw different parts, for example, the operating surface 21 is set to be arc-shaped to simulate the abdomen of a human body, so that the doctor can conveniently scan the side abdomen of the detected person; in a third aspect, the three-dimensional data of the detected part of different detected persons is matched with the three-dimensional data of the operation surface 21 of the operation table 20, so that the operation table 20 can adapt to different detected persons without changing the drawing habit of doctors; in the fourth aspect, an image of the current examination position of the examinee is displayed at the position where the copying probe 10 contacts the operation surface 21, and the feeling of pressing on the real skin can be provided to the doctor in conjunction with the skin-like setting of the operation table 20.

It will be appreciated that in the above described embodiment the profiled probe 10 is designed to mimic the structural shape of a real ultrasound probe, and in other embodiments the profiled probe 10 may be replaced by other probes that are not profiled.

It is understood that when the flexible display layer 24 is omitted from the console 20, the position information display module 412 of the control device 41 and the position information providing module 543 of the control device 54 can be omitted.

It is understood that, in other embodiments, the control command generating module 411 and the position matching module 414 may also be disposed in the control device 54, and at this time, the posture information, the position information, the force information, and the like obtained by the doctor-side device 4 may be transmitted to the control device 54.

It is understood that, in other embodiments, the three-dimensional data processing module 540, the ultrasonic signal processing module 542 and the position information providing module 543 may also be disposed in the control device 41, and at this time, the three-dimensional image data obtained by the device 5 at the detected person end, the electric signal obtained by the ultrasonic probe, the image information obtained by the image pickup device, and the like may be transmitted to the control device 54.

It will be appreciated that the control devices 41, 54 may comprise suitable processing units and memory units to perform the functions required by the control devices 41, 54.

It is understood that the processing unit in the control device 41, 54 may execute a series of software programs, and the storage unit stores the software programs executed by the processing unit and simultaneously stores some result data obtained by the processing unit executing the software programs, so as to realize the above functions, and the modules presented in the present specification are the generalization and description of the respective functions of the software programs executed by the control device 41, 54.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.